1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 3 // http://code.google.com/p/ceres-solver/ 4 // 5 // Redistribution and use in source and binary forms, with or without 6 // modification, are permitted provided that the following conditions are met: 7 // 8 // * Redistributions of source code must retain the above copyright notice, 9 // this list of conditions and the following disclaimer. 10 // * Redistributions in binary form must reproduce the above copyright notice, 11 // this list of conditions and the following disclaimer in the documentation 12 // and/or other materials provided with the distribution. 13 // * Neither the name of Google Inc. nor the names of its contributors may be 14 // used to endorse or promote products derived from this software without 15 // specific prior written permission. 16 // 17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 // POSSIBILITY OF SUCH DAMAGE. 28 // 29 // Author: keir (at) google.com (Keir Mierle) 30 // 31 // A dense matrix implemented under the SparseMatrix interface. 32 33 #ifndef CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_ 34 #define CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_ 35 36 #include <glog/logging.h> 37 #include "ceres/sparse_matrix.h" 38 #include "ceres/internal/eigen.h" 39 #include "ceres/internal/macros.h" 40 #include "ceres/internal/scoped_ptr.h" 41 #include "ceres/types.h" 42 43 namespace ceres { 44 namespace internal { 45 46 class SparseMatrixProto; 47 class TripletSparseMatrix; 48 49 class DenseSparseMatrix : public SparseMatrix { 50 public: 51 // Build a matrix with the same content as the TripletSparseMatrix 52 // m. This assumes that m does not have any repeated entries. 53 explicit DenseSparseMatrix(const TripletSparseMatrix& m); 54 explicit DenseSparseMatrix(const Matrix& m); 55 #ifndef CERES_NO_PROTOCOL_BUFFERS 56 explicit DenseSparseMatrix(const SparseMatrixProto& proto); 57 #endif 58 59 DenseSparseMatrix(int num_rows, int num_cols); 60 DenseSparseMatrix(int num_rows, int num_cols, bool reserve_diagonal); 61 62 virtual ~DenseSparseMatrix() {} 63 64 // SparseMatrix interface. 65 virtual void SetZero(); 66 virtual void RightMultiply(const double* x, double* y) const; 67 virtual void LeftMultiply(const double* x, double* y) const; 68 virtual void SquaredColumnNorm(double* x) const; 69 virtual void ScaleColumns(const double* scale); 70 virtual void ToDenseMatrix(Matrix* dense_matrix) const; 71 #ifndef CERES_NO_PROTOCOL_BUFFERS 72 virtual void ToProto(SparseMatrixProto* proto) const; 73 #endif 74 virtual void ToTextFile(FILE* file) const; 75 virtual int num_rows() const; 76 virtual int num_cols() const; 77 virtual int num_nonzeros() const; 78 virtual const double* values() const { return m_.data(); } 79 virtual double* mutable_values() { return m_.data(); } 80 81 ConstAlignedMatrixRef matrix() const; 82 AlignedMatrixRef mutable_matrix(); 83 84 // Only one diagonal can be appended at a time. The diagonal is appended to 85 // as a new set of rows, e.g. 86 // 87 // Original matrix: 88 // 89 // x x x 90 // x x x 91 // x x x 92 // 93 // After append diagonal (1, 2, 3): 94 // 95 // x x x 96 // x x x 97 // x x x 98 // 1 0 0 99 // 0 2 0 100 // 0 0 3 101 // 102 // Calling RemoveDiagonal removes the block. It is a fatal error to append a 103 // diagonal to a matrix that already has an appended diagonal, and it is also 104 // a fatal error to remove a diagonal from a matrix that has none. 105 void AppendDiagonal(double *d); 106 void RemoveDiagonal(); 107 108 private: 109 Matrix m_; 110 bool has_diagonal_appended_; 111 bool has_diagonal_reserved_; 112 }; 113 114 } // namespace internal 115 } // namespace ceres 116 117 #endif // CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_ 118
