| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2015 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: richie.stebbing@gmail.com (Richard Stebbing) |
| // |
| // A compressed row sparse matrix that provides an extended interface to |
| // allow dynamic insertion of entries. This is provided for the use case |
| // where the sparsity structure and number of non-zero entries is dynamic. |
| // This flexibility is achieved by using an (internal) scratch space that |
| // allows independent insertion of entries into each row (thread-safe). |
| // Once insertion is complete, the `Finalize` method must be called to ensure |
| // that the underlying `CompressedRowSparseMatrix` is consistent. |
| // |
| // This should only be used if you really do need a dynamic sparsity pattern. |
| |
| #ifndef CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_SPARSE_MATRIX_H_ |
| #define CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_SPARSE_MATRIX_H_ |
| |
| #include <vector> |
| |
| #include "ceres/compressed_row_sparse_matrix.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| class DynamicCompressedRowSparseMatrix : public CompressedRowSparseMatrix { |
| public: |
| // Set the number of rows and columns for the underlyig |
| // `CompressedRowSparseMatrix` and set the initial number of maximum non-zero |
| // entries. Note that following the insertion of entries, when `Finalize` |
| // is called the number of non-zeros is determined and all internal |
| // structures are adjusted as required. If you know the upper limit on the |
| // number of non-zeros, then passing this value here can prevent future |
| // memory reallocations which may improve performance. Otherwise, if no |
| // upper limit is available a value of 0 is sufficient. |
| // |
| // Typical usage of this class is to define a new instance with a given |
| // number of rows, columns and maximum number of non-zero elements |
| // (if available). Next, entries are inserted at row and column positions |
| // using `InsertEntry`. Finally, once all elements have been inserted, |
| // `Finalize` must be called to make the underlying |
| // `CompressedRowSparseMatrix` consistent. |
| DynamicCompressedRowSparseMatrix(int num_rows, |
| int num_cols, |
| int initial_max_num_nonzeros); |
| |
| // Insert an entry at a given row and column position. This method is |
| // thread-safe across rows i.e. different threads can insert values |
| // simultaneously into different rows. It should be emphasised that this |
| // method always inserts a new entry and does not check for existing |
| // entries at the specified row and column position. Duplicate entries |
| // for a given row and column position will result in undefined |
| // behavior. |
| void InsertEntry(int row, int col, const double& value); |
| |
| // Clear all entries for rows, starting from row index `row_start` |
| // and proceeding for `num_rows`. |
| void ClearRows(int row_start, int num_rows); |
| |
| // Make the underlying internal `CompressedRowSparseMatrix` data structures |
| // consistent. Additional space for non-zero entries in the |
| // `CompressedRowSparseMatrix` can be reserved by specifying |
| // `num_additional_elements`. This is useful when it is known that rows will |
| // be appended to the `CompressedRowSparseMatrix` (e.g. appending a diagonal |
| // matrix to the jacobian) as it prevents need for future reallocation. |
| void Finalize(int num_additional_elements); |
| |
| private: |
| std::vector<std::vector<int>> dynamic_cols_; |
| std::vector<std::vector<double>> dynamic_values_; |
| }; |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_SPARSE_MATRIX_H_ |