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//
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6// modification, are permitted provided that the following conditions are met:
7//
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9//   this list of conditions and the following disclaimer.
10// * Redistributions in binary form must reproduce the above copyright notice,
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12//   and/or other materials provided with the distribution.
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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
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28//
29// Author: richie.stebbing@gmail.com (Richard Stebbing)
30
31#include <cstring>
32#include "ceres/dynamic_compressed_row_sparse_matrix.h"
33
34namespace ceres {
35namespace internal {
36
37DynamicCompressedRowSparseMatrix::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
48void 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
59void 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
70void 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