| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155 | // 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)#ifndef CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_#define CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_#include <memory>#include <vector>#include "ceres/sparse_matrix.h"#include "ceres/internal/eigen.h"#include "ceres/types.h"namespace ceres {namespace internal {// An implementation of the SparseMatrix interface to store and// manipulate sparse matrices in triplet (i,j,s) form.  This object is// inspired by the design of the cholmod_triplet struct used in the// SuiteSparse package and is memory layout compatible with it.class TripletSparseMatrix : public SparseMatrix { public:  TripletSparseMatrix();  TripletSparseMatrix(int num_rows, int num_cols, int max_num_nonzeros);  TripletSparseMatrix(int num_rows,                      int num_cols,                      const std::vector<int>& rows,                      const std::vector<int>& cols,                      const std::vector<double>& values);  explicit TripletSparseMatrix(const TripletSparseMatrix& orig);  TripletSparseMatrix& operator=(const TripletSparseMatrix& rhs);  virtual ~TripletSparseMatrix();  // Implementation of the 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 set_num_nonzeros(int num_nonzeros);  // Increase max_num_nonzeros and correspondingly increase the size  // of rows_, cols_ and values_. If new_max_num_nonzeros is smaller  // than max_num_nonzeros_, then num_non_zeros should be less than or  // equal to new_max_num_nonzeros, otherwise data loss is possible  // and the method crashes.  void Reserve(int new_max_num_nonzeros);  // Append the matrix B at the bottom of this matrix. B should have  // the same number of columns as num_cols_.  void AppendRows(const TripletSparseMatrix& B);  // Append the matrix B at the right of this matrix. B should have  // the same number of rows as num_rows_;  void AppendCols(const TripletSparseMatrix& B);  // Resize the matrix. Entries which fall outside the new matrix  // bounds are dropped and the num_non_zeros changed accordingly.  void Resize(int new_num_rows, int new_num_cols);  int max_num_nonzeros() const { return max_num_nonzeros_; }  const int* rows()      const { return rows_.get();       }  const int* cols()      const { return cols_.get();       }  int* mutable_rows()          { return rows_.get();       }  int* mutable_cols()          { return cols_.get();       }  // Returns true if the entries of the matrix obey the row, column,  // and column size bounds and false otherwise.  bool AllTripletsWithinBounds() const;  bool IsValid() const { return AllTripletsWithinBounds(); }  // Build a sparse diagonal matrix of size num_rows x num_rows from  // the array values. Entries of the values array are copied into the  // sparse matrix.  static TripletSparseMatrix* CreateSparseDiagonalMatrix(const double* values,                                                         int num_rows);  // Options struct to control the generation of random  // TripletSparseMatrix objects.  struct RandomMatrixOptions {    int num_rows;    int num_cols;    // 0 < density <= 1 is the probability of an entry being    // structurally non-zero. A given random matrix will not have    // precisely this density.    double density;  };  // Create a random CompressedRowSparseMatrix whose entries are  // normally distributed and whose structure is determined by  // RandomMatrixOptions.  //  // Caller owns the result.  static TripletSparseMatrix* CreateRandomMatrix(      const TripletSparseMatrix::RandomMatrixOptions& options); private:  void AllocateMemory();  void CopyData(const TripletSparseMatrix& orig);  int num_rows_;  int num_cols_;  int max_num_nonzeros_;  int num_nonzeros_;  // The data is stored as three arrays. For each i, values_[i] is  // stored at the location (rows_[i], cols_[i]). If the there are  // multiple entries with the same (rows_[i], cols_[i]), the values_  // entries corresponding to them are summed up.  std::unique_ptr<int[]> rows_;  std::unique_ptr<int[]> cols_;  std::unique_ptr<double[]> values_;};}  // namespace internal}  // namespace ceres#endif  // CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H__
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