1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2014 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: richie.stebbing (at) gmail.com (Richard Stebbing) 30 31 #include <cstring> 32 #include "ceres/dynamic_compressed_row_sparse_matrix.h" 33 34 namespace ceres { 35 namespace internal { 36 37 DynamicCompressedRowSparseMatrix::DynamicCompressedRowSparseMatrix( 38 int num_rows, 39 int num_cols, 40 int initial_max_num_nonzeros) 41 : CompressedRowSparseMatrix(num_rows, 42 num_cols, 43 initial_max_num_nonzeros) { 44 dynamic_cols_.resize(num_rows); 45 dynamic_values_.resize(num_rows); 46 } 47 48 void DynamicCompressedRowSparseMatrix::InsertEntry(int row, 49 int col, 50 const double& value) { 51 CHECK_GE(row, 0); 52 CHECK_LT(row, num_rows()); 53 CHECK_GE(col, 0); 54 CHECK_LT(col, num_cols()); 55 dynamic_cols_[row].push_back(col); 56 dynamic_values_[row].push_back(value); 57 } 58 59 void DynamicCompressedRowSparseMatrix::ClearRows(int row_start, 60 int num_rows) { 61 for (int r = 0; r < num_rows; ++r) { 62 const int i = row_start + r; 63 CHECK_GE(i, 0); 64 CHECK_LT(i, this->num_rows()); 65 dynamic_cols_[i].resize(0); 66 dynamic_values_[i].resize(0); 67 } 68 } 69 70 void DynamicCompressedRowSparseMatrix::Finalize(int num_additional_elements) { 71 // `num_additional_elements` is provided as an argument so that additional 72 // storage can be reserved when it is known by the finalizer. 73 CHECK_GE(num_additional_elements, 0); 74 75 // Count the number of non-zeros and resize `cols_` and `values_`. 76 int num_jacobian_nonzeros = 0; 77 for (int i = 0; i < dynamic_cols_.size(); ++i) { 78 num_jacobian_nonzeros += dynamic_cols_[i].size(); 79 } 80 81 SetMaxNumNonZeros(num_jacobian_nonzeros + num_additional_elements); 82 83 // Flatten `dynamic_cols_` into `cols_` and `dynamic_values_` 84 // into `values_`. 85 int index_into_values_and_cols = 0; 86 for (int i = 0; i < num_rows(); ++i) { 87 mutable_rows()[i] = index_into_values_and_cols; 88 const int num_nonzero_columns = dynamic_cols_[i].size(); 89 if (num_nonzero_columns > 0) { 90 memcpy(mutable_cols() + index_into_values_and_cols, 91 &dynamic_cols_[i][0], 92 dynamic_cols_[i].size() * sizeof(dynamic_cols_[0][0])); 93 memcpy(mutable_values() + index_into_values_and_cols, 94 &dynamic_values_[i][0], 95 dynamic_values_[i].size() * sizeof(dynamic_values_[0][0])); 96 index_into_values_and_cols += dynamic_cols_[i].size(); 97 } 98 } 99 mutable_rows()[num_rows()] = index_into_values_and_cols; 100 101 CHECK_EQ(index_into_values_and_cols, num_jacobian_nonzeros) 102 << "Ceres bug: final index into values_ and cols_ should be equal to " 103 << "the number of jacobian nonzeros. Please contact the developers!"; 104 } 105 106 } // namespace internal 107 } // namespace ceres 108
