10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 20ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Copyright 2012 Google Inc. All rights reserved. 30ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// http://code.google.com/p/ceres-solver/ 40ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 50ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Redistribution and use in source and binary forms, with or without 60ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// modification, are permitted provided that the following conditions are met: 70ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 80ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions of source code must retain the above copyright notice, 90ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer. 100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions in binary form must reproduce the above copyright notice, 110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer in the documentation 120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// and/or other materials provided with the distribution. 130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Neither the name of Google Inc. nor the names of its contributors may be 140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// used to endorse or promote products derived from this software without 150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// specific prior written permission. 160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// POSSIBILITY OF SUCH DAMAGE. 280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Author: sameeragarwal@google.com (Sameer Agarwal) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#ifndef CERES_PUBLIC_CRS_MATRIX_H_ 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#define CERES_PUBLIC_CRS_MATRIX_H_ 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <vector> 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/port.h" 3679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "ceres/internal/disable_warnings.h" 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// A compressed row sparse matrix used primarily for communicating the 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Jacobian matrix to the user. 4279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandezstruct CERES_EXPORT CRSMatrix { 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong CRSMatrix() : num_rows(0), num_cols(0) {} 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_rows; 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_cols; 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 481d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // A compressed row matrix stores its contents in three arrays, 491d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // rows, cols and values. 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // 511d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // rows is a num_rows + 1 sized array that points into the cols and 521d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // values array. For each row i: 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // 541d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // cols[rows[i]] ... cols[rows[i + 1] - 1] are the indices of the 551d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // non-zero columns of row i. 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // 571d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // values[rows[i]] .. values[rows[i + 1] - 1] are the values of the 581d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // corresponding entries. 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // 601d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // cols and values contain as many entries as there are non-zeros in 611d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // the matrix. 621d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // 631d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // e.g, consider the 3x4 sparse matrix 641d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // 651d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // [ 0 10 0 4 ] 661d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // [ 0 2 -3 2 ] 671d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // [ 1 2 0 0 ] 681d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // 691d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // The three arrays will be: 701d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // 711d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // 721d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // -row0- ---row1--- -row2- 731d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // rows = [ 0, 2, 5, 7] 741d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // cols = [ 1, 3, 1, 2, 3, 0, 1] 751d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // values = [10, 4, 2, -3, 2, 1, 2] 761d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<int> cols; 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<int> rows; 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<double> values; 800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 8479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "ceres/internal/reenable_warnings.h" 8579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#endif // CERES_PUBLIC_CRS_MATRIX_H_ 87