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 "ceres/sparse_matrix.h" 37 #include "ceres/internal/eigen.h" 38 #include "ceres/internal/macros.h" 39 #include "ceres/internal/scoped_ptr.h" 40 #include "ceres/types.h" 41 42 namespace ceres { 43 namespace internal { 44 45 class TripletSparseMatrix; 46 47 class DenseSparseMatrix : public SparseMatrix { 48 public: 49 // Build a matrix with the same content as the TripletSparseMatrix 50 // m. This assumes that m does not have any repeated entries. 51 explicit DenseSparseMatrix(const TripletSparseMatrix& m); 52 explicit DenseSparseMatrix(const ColMajorMatrix& m); 53 54 DenseSparseMatrix(int num_rows, int num_cols); 55 DenseSparseMatrix(int num_rows, int num_cols, bool reserve_diagonal); 56 57 virtual ~DenseSparseMatrix() {} 58 59 // SparseMatrix interface. 60 virtual void SetZero(); 61 virtual void RightMultiply(const double* x, double* y) const; 62 virtual void LeftMultiply(const double* x, double* y) const; 63 virtual void SquaredColumnNorm(double* x) const; 64 virtual void ScaleColumns(const double* scale); 65 virtual void ToDenseMatrix(Matrix* dense_matrix) const; 66 virtual void ToTextFile(FILE* file) const; 67 virtual int num_rows() const; 68 virtual int num_cols() const; 69 virtual int num_nonzeros() const; 70 virtual const double* values() const { return m_.data(); } 71 virtual double* mutable_values() { return m_.data(); } 72 73 ConstColMajorMatrixRef matrix() const; 74 ColMajorMatrixRef mutable_matrix(); 75 76 // Only one diagonal can be appended at a time. The diagonal is appended to 77 // as a new set of rows, e.g. 78 // 79 // Original matrix: 80 // 81 // x x x 82 // x x x 83 // x x x 84 // 85 // After append diagonal (1, 2, 3): 86 // 87 // x x x 88 // x x x 89 // x x x 90 // 1 0 0 91 // 0 2 0 92 // 0 0 3 93 // 94 // Calling RemoveDiagonal removes the block. It is a fatal error to append a 95 // diagonal to a matrix that already has an appended diagonal, and it is also 96 // a fatal error to remove a diagonal from a matrix that has none. 97 void AppendDiagonal(double *d); 98 void RemoveDiagonal(); 99 100 private: 101 ColMajorMatrix m_; 102 bool has_diagonal_appended_; 103 bool has_diagonal_reserved_; 104 }; 105 106 } // namespace internal 107 } // namespace ceres 108 109 #endif // CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_ 110
