Initial commit of Ceres Solver.
diff --git a/internal/ceres/block_sparse_matrix.h b/internal/ceres/block_sparse_matrix.h
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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Implementation of the SparseMatrix interface for block sparse
+// matrices.
+
+#ifndef CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
+
+#include "ceres/block_structure.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+class SparseMatrixProto;
+class TripletSparseMatrix;
+
+// A further extension of the SparseMatrix interface to support block-oriented
+// matrices. The key addition is the RowBlockValues() accessor, which enables
+// the lazy block sparse matrix implementation.
+class BlockSparseMatrixBase : public SparseMatrix {
+ public:
+ BlockSparseMatrixBase() {}
+ virtual ~BlockSparseMatrixBase() {}
+
+ // Convert this matrix into a triplet sparse matrix.
+ virtual void ToTripletSparseMatrix(TripletSparseMatrix* matrix) const = 0;
+
+ // Returns a pointer to the block structure. Does not transfer
+ // ownership.
+ virtual const CompressedRowBlockStructure* block_structure() const = 0;
+
+ // Returns a pointer to a row of the matrix. The returned array is only valid
+ // until the next call to RowBlockValues. The caller does not own the result.
+ //
+ // The returned array is laid out such that cells on the specified row are
+ // contiguous in the returned array, though neighbouring cells in row order
+ // may not be contiguous in the row values. The cell values for cell
+ // (row_block, cell_block) are found at offset
+ //
+ // block_structure()->rows[row_block].cells[cell_block].position
+ //
+ virtual const double* RowBlockValues(int row_block_index) const = 0;
+
+ private:
+ DISALLOW_COPY_AND_ASSIGN(BlockSparseMatrixBase);
+};
+
+// This class implements the SparseMatrix interface for storing and
+// manipulating block sparse matrices. The block structure is stored
+// in the CompressedRowBlockStructure object and one is needed to
+// initialize the matrix. For details on how the blocks structure of
+// the matrix is stored please see the documentation
+//
+// internal/ceres/block_structure.h
+//
+class BlockSparseMatrix : public BlockSparseMatrixBase {
+ public:
+ // Construct a block sparse matrix with a fully initialized
+ // CompressedRowBlockStructure objected. The matrix takes over
+ // ownership of this object and destroys it upon destruction.
+ //
+ // TODO(sameeragarwal): Add a function which will validate legal
+ // CompressedRowBlockStructure objects.
+ explicit BlockSparseMatrix(CompressedRowBlockStructure* block_structure);
+
+ // Construct a block sparse matrix from a protocol buffer.
+#ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS
+ explicit BlockSparseMatrix(const SparseMatrixProto& proto);
+#endif
+
+ BlockSparseMatrix();
+ virtual ~BlockSparseMatrix();
+
+ // Implementation of SparseMatrix interface.
+ virtual void SetZero();
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual void LeftMultiply(const double* x, double* y) const;
+ virtual void SquaredColumnNorm(double* x) const;
+ virtual void ScaleColumns(const double* scale);
+ virtual void ToDenseMatrix(Matrix* dense_matrix) const;
+#ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS
+ virtual void ToProto(SparseMatrixProto* proto) const;
+#endif
+ virtual int num_rows() const { return num_rows_; }
+ virtual int num_cols() const { return num_cols_; }
+ virtual int num_nonzeros() const { return num_nonzeros_; }
+ virtual const double* values() const { return values_.get(); }
+ virtual double* mutable_values() { return values_.get(); }
+
+ // Implementation of BlockSparseMatrixBase interface.
+ virtual void ToTripletSparseMatrix(TripletSparseMatrix* matrix) const;
+ virtual const CompressedRowBlockStructure* block_structure() const;
+ virtual const double* RowBlockValues(int row_block_index) const {
+ return values_.get();
+ }
+
+ private:
+ int num_rows_;
+ int num_cols_;
+ int max_num_nonzeros_;
+ int num_nonzeros_;
+ scoped_array<double> values_;
+ scoped_ptr<CompressedRowBlockStructure> block_structure_;
+ DISALLOW_COPY_AND_ASSIGN(BlockSparseMatrix);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
