108 lines
4.5 KiB
C
108 lines
4.5 KiB
C
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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//
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// Interface definition for sparse matrices.
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#ifndef CERES_INTERNAL_SPARSE_MATRIX_H_
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#define CERES_INTERNAL_SPARSE_MATRIX_H_
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#include <cstdio>
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#include "ceres/linear_operator.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/types.h"
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namespace ceres {
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namespace internal {
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// This class defines the interface for storing and manipulating
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// sparse matrices. The key property that differentiates different
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// sparse matrices is how they are organized in memory and how the
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// information about the sparsity structure of the matrix is
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// stored. This has significant implications for linear solvers
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// operating on these matrices.
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//
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// To deal with the different kinds of layouts, we will assume that a
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// sparse matrix will have a two part representation. A values array
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// that will be used to store the entries of the sparse matrix and
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// some sort of a layout object that tells the user the sparsity
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// structure and layout of the values array. For example in case of
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// the TripletSparseMatrix, this information is carried in the rows
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// and cols arrays and for the BlockSparseMatrix, this information is
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// carried in the CompressedRowBlockStructure object.
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//
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// This interface deliberately does not contain any information about
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// the structure of the sparse matrix as that seems to be highly
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// matrix type dependent and we are at this stage unable to come up
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// with an efficient high level interface that spans multiple sparse
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// matrix types.
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class SparseMatrix : public LinearOperator {
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public:
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virtual ~SparseMatrix();
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// y += Ax;
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virtual void RightMultiply(const double* x, double* y) const = 0;
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// y += A'x;
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virtual void LeftMultiply(const double* x, double* y) const = 0;
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// In MATLAB notation sum(A.*A, 1)
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virtual void SquaredColumnNorm(double* x) const = 0;
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// A = A * diag(scale)
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virtual void ScaleColumns(const double* scale) = 0;
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// A = 0. A->num_nonzeros() == 0 is true after this call. The
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// sparsity pattern is preserved.
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virtual void SetZero() = 0;
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// Resize and populate dense_matrix with a dense version of the
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// sparse matrix.
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virtual void ToDenseMatrix(Matrix* dense_matrix) const = 0;
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// Write out the matrix as a sequence of (i,j,s) triplets. This
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// format is useful for loading the matrix into MATLAB/octave as a
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// sparse matrix.
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virtual void ToTextFile(FILE* file) const = 0;
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// Accessors for the values array that stores the entries of the
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// sparse matrix. The exact interpreptation of the values of this
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// array depends on the particular kind of SparseMatrix being
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// accessed.
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virtual double* mutable_values() = 0;
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virtual const double* values() const = 0;
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virtual int num_rows() const = 0;
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virtual int num_cols() const = 0;
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virtual int num_nonzeros() const = 0;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_SPARSE_MATRIX_H_
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