102 lines
5.0 KiB
C++
102 lines
5.0 KiB
C++
// 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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//
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// A compressed row sparse matrix that provides an extended interface to
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// allow dynamic insertion of entries. This is provided for the use case
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// where the sparsity structure and number of non-zero entries is dynamic.
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// This flexibility is achieved by using an (internal) scratch space that
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// allows independent insertion of entries into each row (thread-safe).
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// Once insertion is complete, the `Finalize` method must be called to ensure
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// that the underlying `CompressedRowSparseMatrix` is consistent.
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//
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// This should only be used if you really do need a dynamic sparsity pattern.
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#ifndef CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_SPARSE_MATRIX_H_
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#define CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_SPARSE_MATRIX_H_
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#include <vector>
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#include "ceres/compressed_row_sparse_matrix.h"
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namespace ceres {
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namespace internal {
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class DynamicCompressedRowSparseMatrix : public CompressedRowSparseMatrix {
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public:
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// Set the number of rows and columns for the underlyig
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// `CompressedRowSparseMatrix` and set the initial number of maximum non-zero
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// entries. Note that following the insertion of entries, when `Finalize`
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// is called the number of non-zeros is determined and all internal
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// structures are adjusted as required. If you know the upper limit on the
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// number of non-zeros, then passing this value here can prevent future
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// memory reallocations which may improve performance. Otherwise, if no
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// upper limit is available a value of 0 is sufficient.
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//
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// Typical usage of this class is to define a new instance with a given
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// number of rows, columns and maximum number of non-zero elements
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// (if available). Next, entries are inserted at row and column positions
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// using `InsertEntry`. Finally, once all elements have been inserted,
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// `Finalize` must be called to make the underlying
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// `CompressedRowSparseMatrix` consistent.
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DynamicCompressedRowSparseMatrix(int num_rows,
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int num_cols,
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int initial_max_num_nonzeros);
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// Insert an entry at a given row and column position. This method is
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// thread-safe across rows i.e. different threads can insert values
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// simultaneously into different rows. It should be emphasised that this
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// method always inserts a new entry and does not check for existing
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// entries at the specified row and column position. Duplicate entries
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// for a given row and column position will result in undefined
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// behavior.
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void InsertEntry(int row, int col, const double& value);
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// Clear all entries for rows, starting from row index `row_start`
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// and proceeding for `num_rows`.
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void ClearRows(int row_start, int num_rows);
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// Make the underlying internal `CompressedRowSparseMatrix` data structures
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// consistent. Additional space for non-zero entries in the
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// `CompressedRowSparseMatrix` can be reserved by specifying
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// `num_additional_elements`. This is useful when it is known that rows will
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// be appended to the `CompressedRowSparseMatrix` (e.g. appending a diagonal
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// matrix to the jacobian) as it prevents need for future reallocation.
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void Finalize(int num_additional_elements);
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private:
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std::vector<std::vector<int> > dynamic_cols_;
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std::vector<std::vector<double> > dynamic_values_;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_SPARSE_MATRIX_H_
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