| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164 | // 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: sameeragarwal@google.com (Sameer Agarwal)//// Implementation of the SparseMatrix interface for block sparse// matrices.#ifndef CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_#define CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_#include <memory>#include "ceres/block_structure.h"#include "ceres/sparse_matrix.h"#include "ceres/internal/eigen.h"namespace ceres {namespace internal {class TripletSparseMatrix;// This class implements the SparseMatrix interface for storing and// manipulating block sparse matrices. The block structure is stored// in the CompressedRowBlockStructure object and one is needed to// initialize the matrix. For details on how the blocks structure of// the matrix is stored please see the documentation////   internal/ceres/block_structure.h//class BlockSparseMatrix : public SparseMatrix { public:  // Construct a block sparse matrix with a fully initialized  // CompressedRowBlockStructure objected. The matrix takes over  // ownership of this object and destroys it upon destruction.  //  // TODO(sameeragarwal): Add a function which will validate legal  // CompressedRowBlockStructure objects.  explicit BlockSparseMatrix(CompressedRowBlockStructure* block_structure);  BlockSparseMatrix();  BlockSparseMatrix(const BlockSparseMatrix&) = delete;  void operator=(const BlockSparseMatrix&) = delete;  virtual ~BlockSparseMatrix();  // Implementation of SparseMatrix interface.  void SetZero() final;  void RightMultiply(const double* x, double* y) const final;  void LeftMultiply(const double* x, double* y) const final;  void SquaredColumnNorm(double* x) const final;  void ScaleColumns(const double* scale) final;  void ToDenseMatrix(Matrix* dense_matrix) const final;  void ToTextFile(FILE* file) const final;  int num_rows()         const final { return num_rows_;     }  int num_cols()         const final { return num_cols_;     }  int num_nonzeros()     const final { return num_nonzeros_; }  const double* values() const final { return values_.get(); }  double* mutable_values()     final { return values_.get(); }  void ToTripletSparseMatrix(TripletSparseMatrix* matrix) const;  const CompressedRowBlockStructure* block_structure() const;  // Append the contents of m to the bottom of this matrix. m must  // have the same column blocks structure as this matrix.  void AppendRows(const BlockSparseMatrix& m);  // Delete the bottom delta_rows_blocks.  void DeleteRowBlocks(int delta_row_blocks);  static BlockSparseMatrix* CreateDiagonalMatrix(      const double* diagonal,      const std::vector<Block>& column_blocks);  struct RandomMatrixOptions {    int num_row_blocks = 0;    int min_row_block_size = 0;    int max_row_block_size = 0;    int num_col_blocks = 0;    int min_col_block_size = 0;    int max_col_block_size = 0;    // 0 < block_density <= 1 is the probability of a block being    // present in the matrix. A given random matrix will not have    // precisely this density.    double block_density = 0.0;    // If col_blocks is non-empty, then the generated random matrix    // has this block structure and the column related options in this    // struct are ignored.    std::vector<Block> col_blocks;  };  // Create a random BlockSparseMatrix whose entries are normally  // distributed and whose structure is determined by  // RandomMatrixOptions.  //  // Caller owns the result.  static BlockSparseMatrix* CreateRandomMatrix(      const RandomMatrixOptions& options); private:  int num_rows_;  int num_cols_;  int num_nonzeros_;  int max_num_nonzeros_;  std::unique_ptr<double[]> values_;  std::unique_ptr<CompressedRowBlockStructure> block_structure_;};// A number of algorithms like the SchurEliminator do not need// access to the full BlockSparseMatrix interface. They only// need read only access to the values array and the block structure.//// BlockSparseDataMatrix a struct that carries these two bits of// informationclass BlockSparseMatrixData { public:  BlockSparseMatrixData(const BlockSparseMatrix& m)      : block_structure_(m.block_structure()), values_(m.values()){};  BlockSparseMatrixData(const CompressedRowBlockStructure* block_structure,                        const double* values)      : block_structure_(block_structure), values_(values) {}  const CompressedRowBlockStructure* block_structure() const {    return block_structure_;  }  const double* values() const { return values_; } private:  const CompressedRowBlockStructure* block_structure_;  const double* values_;};}  // namespace internal}  // namespace ceres#endif  // CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
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