108 lines
4.3 KiB
C++
108 lines
4.3 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: richie.stebbing@gmail.com (Richard Stebbing)
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#include <cstring>
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#include "ceres/dynamic_compressed_row_sparse_matrix.h"
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namespace ceres {
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namespace internal {
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DynamicCompressedRowSparseMatrix::DynamicCompressedRowSparseMatrix(
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int num_rows,
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int num_cols,
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int initial_max_num_nonzeros)
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: CompressedRowSparseMatrix(num_rows,
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num_cols,
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initial_max_num_nonzeros) {
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dynamic_cols_.resize(num_rows);
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dynamic_values_.resize(num_rows);
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}
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void DynamicCompressedRowSparseMatrix::InsertEntry(int row,
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int col,
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const double& value) {
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CHECK_GE(row, 0);
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CHECK_LT(row, num_rows());
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CHECK_GE(col, 0);
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CHECK_LT(col, num_cols());
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dynamic_cols_[row].push_back(col);
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dynamic_values_[row].push_back(value);
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}
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void DynamicCompressedRowSparseMatrix::ClearRows(int row_start,
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int num_rows) {
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for (int r = 0; r < num_rows; ++r) {
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const int i = row_start + r;
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CHECK_GE(i, 0);
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CHECK_LT(i, this->num_rows());
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dynamic_cols_[i].resize(0);
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dynamic_values_[i].resize(0);
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}
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}
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void DynamicCompressedRowSparseMatrix::Finalize(int num_additional_elements) {
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// `num_additional_elements` is provided as an argument so that additional
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// storage can be reserved when it is known by the finalizer.
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CHECK_GE(num_additional_elements, 0);
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// Count the number of non-zeros and resize `cols_` and `values_`.
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int num_jacobian_nonzeros = 0;
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for (int i = 0; i < dynamic_cols_.size(); ++i) {
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num_jacobian_nonzeros += dynamic_cols_[i].size();
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}
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SetMaxNumNonZeros(num_jacobian_nonzeros + num_additional_elements);
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// Flatten `dynamic_cols_` into `cols_` and `dynamic_values_`
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// into `values_`.
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int index_into_values_and_cols = 0;
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for (int i = 0; i < num_rows(); ++i) {
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mutable_rows()[i] = index_into_values_and_cols;
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const int num_nonzero_columns = dynamic_cols_[i].size();
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if (num_nonzero_columns > 0) {
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memcpy(mutable_cols() + index_into_values_and_cols,
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&dynamic_cols_[i][0],
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dynamic_cols_[i].size() * sizeof(dynamic_cols_[0][0]));
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memcpy(mutable_values() + index_into_values_and_cols,
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&dynamic_values_[i][0],
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dynamic_values_[i].size() * sizeof(dynamic_values_[0][0]));
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index_into_values_and_cols += dynamic_cols_[i].size();
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}
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}
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mutable_rows()[num_rows()] = index_into_values_and_cols;
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CHECK_EQ(index_into_values_and_cols, num_jacobian_nonzeros)
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<< "Ceres bug: final index into values_ and cols_ should be equal to "
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<< "the number of jacobian nonzeros. Please contact the developers!";
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}
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} // namespace internal
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} // namespace ceres
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