1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2010, 2011, 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 // Implementation of the SparseMatrix interface for block sparse 32 // matrices. 33 34 #ifndef CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_ 35 #define CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_ 36 37 #include "ceres/block_structure.h" 38 #include "ceres/sparse_matrix.h" 39 #include "ceres/internal/eigen.h" 40 #include "ceres/internal/macros.h" 41 #include "ceres/internal/scoped_ptr.h" 42 43 namespace ceres { 44 namespace internal { 45 46 class TripletSparseMatrix; 47 48 // This class implements the SparseMatrix interface for storing and 49 // manipulating block sparse matrices. The block structure is stored 50 // in the CompressedRowBlockStructure object and one is needed to 51 // initialize the matrix. For details on how the blocks structure of 52 // the matrix is stored please see the documentation 53 // 54 // internal/ceres/block_structure.h 55 // 56 class BlockSparseMatrix : public SparseMatrix { 57 public: 58 // Construct a block sparse matrix with a fully initialized 59 // CompressedRowBlockStructure objected. The matrix takes over 60 // ownership of this object and destroys it upon destruction. 61 // 62 // TODO(sameeragarwal): Add a function which will validate legal 63 // CompressedRowBlockStructure objects. 64 explicit BlockSparseMatrix(CompressedRowBlockStructure* block_structure); 65 66 BlockSparseMatrix(); 67 virtual ~BlockSparseMatrix(); 68 69 // Implementation of SparseMatrix interface. 70 virtual void SetZero(); 71 virtual void RightMultiply(const double* x, double* y) const; 72 virtual void LeftMultiply(const double* x, double* y) const; 73 virtual void SquaredColumnNorm(double* x) const; 74 virtual void ScaleColumns(const double* scale); 75 virtual void ToDenseMatrix(Matrix* dense_matrix) const; 76 virtual void ToTextFile(FILE* file) const; 77 num_rows()78 virtual int num_rows() const { return num_rows_; } num_cols()79 virtual int num_cols() const { return num_cols_; } num_nonzeros()80 virtual int num_nonzeros() const { return num_nonzeros_; } values()81 virtual const double* values() const { return values_.get(); } mutable_values()82 virtual double* mutable_values() { return values_.get(); } 83 84 void ToTripletSparseMatrix(TripletSparseMatrix* matrix) const; 85 const CompressedRowBlockStructure* block_structure() const; 86 87 private: 88 int num_rows_; 89 int num_cols_; 90 int max_num_nonzeros_; 91 int num_nonzeros_; 92 scoped_array<double> values_; 93 scoped_ptr<CompressedRowBlockStructure> block_structure_; 94 CERES_DISALLOW_COPY_AND_ASSIGN(BlockSparseMatrix); 95 }; 96 97 } // namespace internal 98 } // namespace ceres 99 100 #endif // CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_ 101