| // 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 |
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| // 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_COMPRESSED_ROW_SPARSE_MATRIX_H_ |
| #define CERES_INTERNAL_COMPRESSED_ROW_SPARSE_MATRIX_H_ |
| |
| #include <glog/logging.h> |
| #include "ceres/sparse_matrix.h" |
| #include "ceres/triplet_sparse_matrix.h" |
| #include "ceres/internal/eigen.h" |
| #include "ceres/internal/macros.h" |
| #include "ceres/types.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| class SparseMatrixProto; |
| |
| class CompressedRowSparseMatrix : public SparseMatrix { |
| public: |
| // Build a matrix with the same content as the TripletSparseMatrix |
| // m. TripletSparseMatrix objects are easier to construct |
| // incrementally, so we use them to initialize SparseMatrix |
| // objects. |
| // |
| // We assume that m does not have any repeated entries. |
| explicit CompressedRowSparseMatrix(const TripletSparseMatrix& m); |
| #ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS |
| explicit CompressedRowSparseMatrix(const SparseMatrixProto& proto); |
| #endif |
| |
| // Use this constructor only if you know what you are doing. This |
| // creates a "blank" matrix with the appropriate amount of memory |
| // allocated. However, the object itself is in an inconsistent state |
| // as the rows and cols matrices do not match the values of |
| // num_rows, num_cols and max_num_nonzeros. |
| // |
| // The use case for this constructor is that when the user knows the |
| // size of the matrix to begin with and wants to update the layout |
| // manually, instead of going via the indirect route of first |
| // constructing a TripletSparseMatrix, which leads to more than |
| // double the peak memory usage. |
| CompressedRowSparseMatrix(int num_rows, |
| int num_cols, |
| int max_num_nonzeros); |
| |
| // Build a square sparse diagonal matrix with num_rows rows and |
| // columns. The diagonal m(i,i) = diagonal(i); |
| CompressedRowSparseMatrix(const double* diagonal, int num_rows); |
| |
| virtual ~CompressedRowSparseMatrix(); |
| |
| // 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 void ToTextFile(FILE* file) const; |
| virtual int num_rows() const { return num_rows_; } |
| virtual int num_cols() const { return num_cols_; } |
| virtual int num_nonzeros() const { return rows_[num_rows_]; } |
| virtual const double* values() const { return values_.get(); } |
| virtual double* mutable_values() { return values_.get(); } |
| |
| // Delete the bottom delta_rows. |
| // num_rows -= delta_rows |
| void DeleteRows(int delta_rows); |
| |
| // Append the contents of m to the bottom of this matrix. m must |
| // have the same number of columns as this matrix. |
| void AppendRows(const CompressedRowSparseMatrix& m); |
| |
| // Low level access methods that expose the structure of the matrix. |
| const int* cols() const { return cols_.get(); } |
| int* mutable_cols() { return cols_.get(); } |
| |
| const int* rows() const { return rows_.get(); } |
| int* mutable_rows() { return rows_.get(); } |
| |
| private: |
| scoped_array<int> cols_; |
| scoped_array<int> rows_; |
| scoped_array<double> values_; |
| |
| int num_rows_; |
| int num_cols_; |
| |
| int max_num_nonzeros_; |
| |
| CERES_DISALLOW_COPY_AND_ASSIGN(CompressedRowSparseMatrix); |
| }; |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_INTERNAL_COMPRESSED_ROW_SPARSE_MATRIX_H_ |