Initial commit of Ceres Solver.
diff --git a/internal/ceres/triplet_sparse_matrix.h b/internal/ceres/triplet_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)
+
+#ifndef CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_
+
+#include "ceres/sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class SparseMatrixProto;
+
+// An implementation of the SparseMatrix interface to store and
+// manipulate sparse matrices in triplet (i,j,s) form. This object is
+// inspired by the design of the cholmod_triplet struct used in the
+// SuiteSparse package and is memory layout compatible with it.
+class TripletSparseMatrix : public SparseMatrix {
+ public:
+ TripletSparseMatrix();
+ TripletSparseMatrix(int num_rows, int num_cols, int max_num_nonzeros);
+ explicit TripletSparseMatrix(const TripletSparseMatrix& orig);
+#ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS
+ explicit TripletSparseMatrix(const SparseMatrixProto& proto);
+#endif
+
+ TripletSparseMatrix& operator=(const TripletSparseMatrix& rhs);
+
+ ~TripletSparseMatrix();
+
+ // Implementation of the 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(); }
+ virtual void set_num_nonzeros(int num_nonzeros);
+
+ // Increase max_num_nonzeros and correspondingly increase the size
+ // of rows_, cols_ and values_. If new_max_num_nonzeros is smaller
+ // than max_num_nonzeros_, then num_non_zeros should be less than or
+ // equal to new_max_num_nonzeros, otherwise data loss is possible
+ // and the method crashes.
+ void Reserve(int new_max_num_nonzeros);
+
+ // Append the matrix B at the bottom of this matrix. B should have
+ // the same number of columns as num_cols_.
+ void AppendRows(const TripletSparseMatrix& B);
+
+ // Append the matrix B at the right of this matrix. B should have
+ // the same number of rows as num_rows_;
+ void AppendCols(const TripletSparseMatrix& B);
+
+ // Resize the matrix. Entries which fall outside the new matrix
+ // bounds are dropped and the num_non_zeros changed accordingly.
+ void Resize(int new_num_rows, int new_num_cols);
+
+ int max_num_nonzeros() const { return max_num_nonzeros_; }
+ const int* rows() const { return rows_.get(); }
+ const int* cols() const { return cols_.get(); }
+ int* mutable_rows() { return rows_.get(); }
+ int* mutable_cols() { return cols_.get(); }
+
+ // Returns true if the entries of the matrix obey the row, column,
+ // and column size bounds and false otherwise.
+ bool AllTripletsWithinBounds() const;
+
+ bool IsValid() const { return AllTripletsWithinBounds(); }
+
+ // Build a sparse diagonal matrix of size num_rows x num_rows from
+ // the array values. Entries of the values array are copied into the
+ // sparse matrix.
+ static TripletSparseMatrix* CreateSparseDiagonalMatrix(const double* values,
+ int num_rows);
+
+ private:
+ void AllocateMemory();
+ void CopyData(const TripletSparseMatrix& orig);
+
+ int num_rows_;
+ int num_cols_;
+ int max_num_nonzeros_;
+ int num_nonzeros_;
+
+ // The data is stored as three arrays. For each i, values_[i] is
+ // stored at the location (rows_[i], cols_[i]). If the there are
+ // multiple entries with the same (rows_[i], cols_[i]), the values_
+ // entries corresponding to them are summed up.
+ scoped_array<int> rows_;
+ scoped_array<int> cols_;
+ scoped_array<double> values_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H__
