1// Ceres Solver - A fast non-linear least squares minimizer 2// Copyright 2012 Google Inc. All rights reserved. 3// http://code.google.com/p/ceres-solver/ 4// 5// Redistribution and use in source and binary forms, with or without 6// modification, are permitted provided that the following conditions are met: 7// 8// * Redistributions of source code must retain the above copyright notice, 9// this list of conditions and the following disclaimer. 10// * Redistributions in binary form must reproduce the above copyright notice, 11// this list of conditions and the following disclaimer in the documentation 12// and/or other materials provided with the distribution. 13// * Neither the name of Google Inc. nor the names of its contributors may be 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 19// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27// POSSIBILITY OF SUCH DAMAGE. 28// 29// Author: sameeragarwal@google.com (Sameer Agarwal) 30 31#ifndef CERES_PUBLIC_CRS_MATRIX_H_ 32#define CERES_PUBLIC_CRS_MATRIX_H_ 33 34#include <vector> 35#include "ceres/internal/port.h" 36#include "ceres/internal/disable_warnings.h" 37 38namespace ceres { 39 40// A compressed row sparse matrix used primarily for communicating the 41// Jacobian matrix to the user. 42struct CERES_EXPORT CRSMatrix { 43 CRSMatrix() : num_rows(0), num_cols(0) {} 44 45 int num_rows; 46 int num_cols; 47 48 // A compressed row matrix stores its contents in three arrays, 49 // rows, cols and values. 50 // 51 // rows is a num_rows + 1 sized array that points into the cols and 52 // values array. For each row i: 53 // 54 // cols[rows[i]] ... cols[rows[i + 1] - 1] are the indices of the 55 // non-zero columns of row i. 56 // 57 // values[rows[i]] .. values[rows[i + 1] - 1] are the values of the 58 // corresponding entries. 59 // 60 // cols and values contain as many entries as there are non-zeros in 61 // the matrix. 62 // 63 // e.g, consider the 3x4 sparse matrix 64 // 65 // [ 0 10 0 4 ] 66 // [ 0 2 -3 2 ] 67 // [ 1 2 0 0 ] 68 // 69 // The three arrays will be: 70 // 71 // 72 // -row0- ---row1--- -row2- 73 // rows = [ 0, 2, 5, 7] 74 // cols = [ 1, 3, 1, 2, 3, 0, 1] 75 // values = [10, 4, 2, -3, 2, 1, 2] 76 77 vector<int> cols; 78 vector<int> rows; 79 vector<double> values; 80}; 81 82} // namespace ceres 83 84#include "ceres/internal/reenable_warnings.h" 85 86#endif // CERES_PUBLIC_CRS_MATRIX_H_ 87