10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 20ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Copyright 2010, 2011, 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_INTERNAL_TRIPLET_SPARSE_MATRIX_H_ 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#define CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_ 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/sparse_matrix.h" 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/eigen.h" 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/scoped_ptr.h" 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/types.h" 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// An implementation of the SparseMatrix interface to store and 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// manipulate sparse matrices in triplet (i,j,s) form. This object is 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// inspired by the design of the cholmod_triplet struct used in the 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// SuiteSparse package and is memory layout compatible with it. 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass TripletSparseMatrix : public SparseMatrix { 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong public: 480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong TripletSparseMatrix(); 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong TripletSparseMatrix(int num_rows, int num_cols, int max_num_nonzeros); 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong explicit TripletSparseMatrix(const TripletSparseMatrix& orig); 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong TripletSparseMatrix& operator=(const TripletSparseMatrix& rhs); 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ~TripletSparseMatrix(); 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Implementation of the SparseMatrix interface. 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual void SetZero(); 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual void RightMultiply(const double* x, double* y) const; 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual void LeftMultiply(const double* x, double* y) const; 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual void SquaredColumnNorm(double* x) const; 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual void ScaleColumns(const double* scale); 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual void ToDenseMatrix(Matrix* dense_matrix) const; 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual void ToTextFile(FILE* file) const; 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual int num_rows() const { return num_rows_; } 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual int num_cols() const { return num_cols_; } 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual int num_nonzeros() const { return num_nonzeros_; } 670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual const double* values() const { return values_.get(); } 680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual double* mutable_values() { return values_.get(); } 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual void set_num_nonzeros(int num_nonzeros); 700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Increase max_num_nonzeros and correspondingly increase the size 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // of rows_, cols_ and values_. If new_max_num_nonzeros is smaller 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // than max_num_nonzeros_, then num_non_zeros should be less than or 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // equal to new_max_num_nonzeros, otherwise data loss is possible 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // and the method crashes. 760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong void Reserve(int new_max_num_nonzeros); 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Append the matrix B at the bottom of this matrix. B should have 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // the same number of columns as num_cols_. 800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong void AppendRows(const TripletSparseMatrix& B); 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Append the matrix B at the right of this matrix. B should have 830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // the same number of rows as num_rows_; 840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong void AppendCols(const TripletSparseMatrix& B); 850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Resize the matrix. Entries which fall outside the new matrix 870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // bounds are dropped and the num_non_zeros changed accordingly. 880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong void Resize(int new_num_rows, int new_num_cols); 890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int max_num_nonzeros() const { return max_num_nonzeros_; } 910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int* rows() const { return rows_.get(); } 920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int* cols() const { return cols_.get(); } 930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* mutable_rows() { return rows_.get(); } 940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* mutable_cols() { return cols_.get(); } 950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Returns true if the entries of the matrix obey the row, column, 970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // and column size bounds and false otherwise. 980ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong bool AllTripletsWithinBounds() const; 990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong bool IsValid() const { return AllTripletsWithinBounds(); } 1010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Build a sparse diagonal matrix of size num_rows x num_rows from 1030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // the array values. Entries of the values array are copied into the 1040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // sparse matrix. 1050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong static TripletSparseMatrix* CreateSparseDiagonalMatrix(const double* values, 1060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_rows); 1070ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1080ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong private: 1090ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong void AllocateMemory(); 1100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong void CopyData(const TripletSparseMatrix& orig); 1110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_rows_; 1130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_cols_; 1140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int max_num_nonzeros_; 1150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_nonzeros_; 1160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // The data is stored as three arrays. For each i, values_[i] is 1180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // stored at the location (rows_[i], cols_[i]). If the there are 1190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // multiple entries with the same (rows_[i], cols_[i]), the values_ 1200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // entries corresponding to them are summed up. 1210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong scoped_array<int> rows_; 1220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong scoped_array<int> cols_; 1230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong scoped_array<double> values_; 1240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 1250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 1270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 1280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#endif // CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H__ 130