| // 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) |
| |
| #include "ceres/dynamic_compressed_row_sparse_matrix.h" |
| |
| #include <cstring> |
| |
| namespace ceres { |
| namespace internal { |
| |
| DynamicCompressedRowSparseMatrix::DynamicCompressedRowSparseMatrix( |
| int num_rows, int num_cols, int initial_max_num_nonzeros) |
| : CompressedRowSparseMatrix(num_rows, num_cols, initial_max_num_nonzeros) { |
| dynamic_cols_.resize(num_rows); |
| dynamic_values_.resize(num_rows); |
| } |
| |
| void DynamicCompressedRowSparseMatrix::InsertEntry(int row, |
| int col, |
| const double& value) { |
| CHECK_GE(row, 0); |
| CHECK_LT(row, num_rows()); |
| CHECK_GE(col, 0); |
| CHECK_LT(col, num_cols()); |
| dynamic_cols_[row].push_back(col); |
| dynamic_values_[row].push_back(value); |
| } |
| |
| void DynamicCompressedRowSparseMatrix::ClearRows(int row_start, int num_rows) { |
| for (int r = 0; r < num_rows; ++r) { |
| const int i = row_start + r; |
| CHECK_GE(i, 0); |
| CHECK_LT(i, this->num_rows()); |
| dynamic_cols_[i].resize(0); |
| dynamic_values_[i].resize(0); |
| } |
| } |
| |
| void DynamicCompressedRowSparseMatrix::Finalize(int num_additional_elements) { |
| // `num_additional_elements` is provided as an argument so that additional |
| // storage can be reserved when it is known by the finalizer. |
| CHECK_GE(num_additional_elements, 0); |
| |
| // Count the number of non-zeros and resize `cols_` and `values_`. |
| int num_jacobian_nonzeros = 0; |
| for (int i = 0; i < dynamic_cols_.size(); ++i) { |
| num_jacobian_nonzeros += dynamic_cols_[i].size(); |
| } |
| |
| SetMaxNumNonZeros(num_jacobian_nonzeros + num_additional_elements); |
| |
| // Flatten `dynamic_cols_` into `cols_` and `dynamic_values_` |
| // into `values_`. |
| int index_into_values_and_cols = 0; |
| for (int i = 0; i < num_rows(); ++i) { |
| mutable_rows()[i] = index_into_values_and_cols; |
| const int num_nonzero_columns = dynamic_cols_[i].size(); |
| if (num_nonzero_columns > 0) { |
| memcpy(mutable_cols() + index_into_values_and_cols, |
| &dynamic_cols_[i][0], |
| dynamic_cols_[i].size() * sizeof(dynamic_cols_[0][0])); |
| memcpy(mutable_values() + index_into_values_and_cols, |
| &dynamic_values_[i][0], |
| dynamic_values_[i].size() * sizeof(dynamic_values_[0][0])); |
| index_into_values_and_cols += dynamic_cols_[i].size(); |
| } |
| } |
| mutable_rows()[num_rows()] = index_into_values_and_cols; |
| |
| CHECK_EQ(index_into_values_and_cols, num_jacobian_nonzeros) |
| << "Ceres bug: final index into values_ and cols_ should be equal to " |
| << "the number of jacobian nonzeros. Please contact the developers!"; |
| } |
| |
| } // namespace internal |
| } // namespace ceres |