| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2022 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
| // 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 <memory> |
| #include <random> |
| #include <vector> |
| |
| #include "ceres/crs_matrix.h" |
| #include "ceres/internal/disable_warnings.h" |
| #include "ceres/internal/eigen.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/sparse_matrix.h" |
| #include "ceres/types.h" |
| |
| namespace ceres::internal { |
| |
| // 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 CERES_NO_EXPORT TripletSparseMatrix final : public SparseMatrix { |
| public: |
| TripletSparseMatrix(); |
| TripletSparseMatrix(int num_rows, int num_cols, int max_num_nonzeros); |
| TripletSparseMatrix(int num_rows, |
| int num_cols, |
| const std::vector<int>& rows, |
| const std::vector<int>& cols, |
| const std::vector<double>& values); |
| |
| TripletSparseMatrix(const TripletSparseMatrix& orig); |
| |
| TripletSparseMatrix& operator=(const TripletSparseMatrix& rhs); |
| |
| ~TripletSparseMatrix() override; |
| |
| // Implementation of the SparseMatrix interface. |
| void SetZero() final; |
| void RightMultiplyAndAccumulate(const double* x, double* y) const final; |
| void LeftMultiplyAndAccumulate(const double* x, double* y) const final; |
| void SquaredColumnNorm(double* x) const final; |
| void ScaleColumns(const double* scale) final; |
| void ToCRSMatrix(CRSMatrix* matrix) const; |
| void ToDenseMatrix(Matrix* dense_matrix) const final; |
| void ToTextFile(FILE* file) const final; |
| // clang-format off |
| int num_rows() const final { return num_rows_; } |
| int num_cols() const final { return num_cols_; } |
| int num_nonzeros() const final { return num_nonzeros_; } |
| const double* values() const final { return values_.get(); } |
| double* mutable_values() final { return values_.get(); } |
| // clang-format on |
| 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); |
| |
| // clang-format off |
| 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(); } |
| // clang-format on |
| |
| // 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 std::unique_ptr<TripletSparseMatrix> CreateSparseDiagonalMatrix( |
| const double* values, int num_rows); |
| |
| // Options struct to control the generation of random |
| // TripletSparseMatrix objects. |
| struct RandomMatrixOptions { |
| int num_rows; |
| int num_cols; |
| // 0 < density <= 1 is the probability of an entry being |
| // structurally non-zero. A given random matrix will not have |
| // precisely this density. |
| double density; |
| }; |
| |
| // Create a random CompressedRowSparseMatrix whose entries are |
| // normally distributed and whose structure is determined by |
| // RandomMatrixOptions. |
| static std::unique_ptr<TripletSparseMatrix> CreateRandomMatrix( |
| const TripletSparseMatrix::RandomMatrixOptions& options, |
| std::mt19937& prng); |
| |
| // Load a triplet sparse matrix from a text file. |
| static std::unique_ptr<TripletSparseMatrix> CreateFromTextFile(FILE* file); |
| |
| 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. |
| std::unique_ptr<int[]> rows_; |
| std::unique_ptr<int[]> cols_; |
| std::unique_ptr<double[]> values_; |
| }; |
| |
| } // namespace ceres::internal |
| |
| #include "ceres/internal/reenable_warnings.h" |
| |
| #endif // CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H__ |