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: sameeragarwal (at) google.com (Sameer Agarwal) 30 31 #ifndef CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_ 32 #define CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_ 33 34 #include "ceres/sparse_matrix.h" 35 #include "ceres/internal/eigen.h" 36 #include "ceres/internal/scoped_ptr.h" 37 #include "ceres/types.h" 38 39 namespace ceres { 40 namespace internal { 41 42 // An implementation of the SparseMatrix interface to store and 43 // manipulate sparse matrices in triplet (i,j,s) form. This object is 44 // inspired by the design of the cholmod_triplet struct used in the 45 // SuiteSparse package and is memory layout compatible with it. 46 class TripletSparseMatrix : public SparseMatrix { 47 public: 48 TripletSparseMatrix(); 49 TripletSparseMatrix(int num_rows, int num_cols, int max_num_nonzeros); 50 explicit TripletSparseMatrix(const TripletSparseMatrix& orig); 51 52 TripletSparseMatrix& operator=(const TripletSparseMatrix& rhs); 53 54 ~TripletSparseMatrix(); 55 56 // Implementation of the SparseMatrix interface. 57 virtual void SetZero(); 58 virtual void RightMultiply(const double* x, double* y) const; 59 virtual void LeftMultiply(const double* x, double* y) const; 60 virtual void SquaredColumnNorm(double* x) const; 61 virtual void ScaleColumns(const double* scale); 62 virtual void ToDenseMatrix(Matrix* dense_matrix) const; 63 virtual void ToTextFile(FILE* file) const; 64 virtual int num_rows() const { return num_rows_; } 65 virtual int num_cols() const { return num_cols_; } 66 virtual int num_nonzeros() const { return num_nonzeros_; } 67 virtual const double* values() const { return values_.get(); } 68 virtual double* mutable_values() { return values_.get(); } 69 virtual void set_num_nonzeros(int num_nonzeros); 70 71 // Increase max_num_nonzeros and correspondingly increase the size 72 // of rows_, cols_ and values_. If new_max_num_nonzeros is smaller 73 // than max_num_nonzeros_, then num_non_zeros should be less than or 74 // equal to new_max_num_nonzeros, otherwise data loss is possible 75 // and the method crashes. 76 void Reserve(int new_max_num_nonzeros); 77 78 // Append the matrix B at the bottom of this matrix. B should have 79 // the same number of columns as num_cols_. 80 void AppendRows(const TripletSparseMatrix& B); 81 82 // Append the matrix B at the right of this matrix. B should have 83 // the same number of rows as num_rows_; 84 void AppendCols(const TripletSparseMatrix& B); 85 86 // Resize the matrix. Entries which fall outside the new matrix 87 // bounds are dropped and the num_non_zeros changed accordingly. 88 void Resize(int new_num_rows, int new_num_cols); 89 90 int max_num_nonzeros() const { return max_num_nonzeros_; } 91 const int* rows() const { return rows_.get(); } 92 const int* cols() const { return cols_.get(); } 93 int* mutable_rows() { return rows_.get(); } 94 int* mutable_cols() { return cols_.get(); } 95 96 // Returns true if the entries of the matrix obey the row, column, 97 // and column size bounds and false otherwise. 98 bool AllTripletsWithinBounds() const; 99 100 bool IsValid() const { return AllTripletsWithinBounds(); } 101 102 // Build a sparse diagonal matrix of size num_rows x num_rows from 103 // the array values. Entries of the values array are copied into the 104 // sparse matrix. 105 static TripletSparseMatrix* CreateSparseDiagonalMatrix(const double* values, 106 int num_rows); 107 108 private: 109 void AllocateMemory(); 110 void CopyData(const TripletSparseMatrix& orig); 111 112 int num_rows_; 113 int num_cols_; 114 int max_num_nonzeros_; 115 int num_nonzeros_; 116 117 // The data is stored as three arrays. For each i, values_[i] is 118 // stored at the location (rows_[i], cols_[i]). If the there are 119 // multiple entries with the same (rows_[i], cols_[i]), the values_ 120 // entries corresponding to them are summed up. 121 scoped_array<int> rows_; 122 scoped_array<int> cols_; 123 scoped_array<double> values_; 124 }; 125 126 } // namespace internal 127 } // namespace ceres 128 129 #endif // CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H__ 130
