130 lines
5.5 KiB
C++
130 lines
5.5 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: sameeragarwal@google.com (Sameer Agarwal)
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#ifndef CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_
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#define CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_
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#include "ceres/sparse_matrix.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/internal/scoped_ptr.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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// An implementation of the SparseMatrix interface to store and
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// manipulate sparse matrices in triplet (i,j,s) form. This object is
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// inspired by the design of the cholmod_triplet struct used in the
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// SuiteSparse package and is memory layout compatible with it.
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class TripletSparseMatrix : public SparseMatrix {
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public:
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TripletSparseMatrix();
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TripletSparseMatrix(int num_rows, int num_cols, int max_num_nonzeros);
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explicit TripletSparseMatrix(const TripletSparseMatrix& orig);
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TripletSparseMatrix& operator=(const TripletSparseMatrix& rhs);
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~TripletSparseMatrix();
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// Implementation of the SparseMatrix interface.
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virtual void SetZero();
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virtual void RightMultiply(const double* x, double* y) const;
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virtual void LeftMultiply(const double* x, double* y) const;
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virtual void SquaredColumnNorm(double* x) const;
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virtual void ScaleColumns(const double* scale);
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virtual void ToDenseMatrix(Matrix* dense_matrix) const;
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virtual void ToTextFile(FILE* file) const;
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virtual int num_rows() const { return num_rows_; }
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virtual int num_cols() const { return num_cols_; }
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virtual int num_nonzeros() const { return num_nonzeros_; }
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virtual const double* values() const { return values_.get(); }
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virtual double* mutable_values() { return values_.get(); }
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virtual void set_num_nonzeros(int num_nonzeros);
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// Increase max_num_nonzeros and correspondingly increase the size
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// of rows_, cols_ and values_. If new_max_num_nonzeros is smaller
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// than max_num_nonzeros_, then num_non_zeros should be less than or
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// equal to new_max_num_nonzeros, otherwise data loss is possible
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// and the method crashes.
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void Reserve(int new_max_num_nonzeros);
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// Append the matrix B at the bottom of this matrix. B should have
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// the same number of columns as num_cols_.
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void AppendRows(const TripletSparseMatrix& B);
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// Append the matrix B at the right of this matrix. B should have
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// the same number of rows as num_rows_;
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void AppendCols(const TripletSparseMatrix& B);
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// Resize the matrix. Entries which fall outside the new matrix
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// bounds are dropped and the num_non_zeros changed accordingly.
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void Resize(int new_num_rows, int new_num_cols);
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int max_num_nonzeros() const { return max_num_nonzeros_; }
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const int* rows() const { return rows_.get(); }
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const int* cols() const { return cols_.get(); }
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int* mutable_rows() { return rows_.get(); }
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int* mutable_cols() { return cols_.get(); }
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// Returns true if the entries of the matrix obey the row, column,
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// and column size bounds and false otherwise.
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bool AllTripletsWithinBounds() const;
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bool IsValid() const { return AllTripletsWithinBounds(); }
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// Build a sparse diagonal matrix of size num_rows x num_rows from
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// the array values. Entries of the values array are copied into the
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// sparse matrix.
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static TripletSparseMatrix* CreateSparseDiagonalMatrix(const double* values,
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int num_rows);
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private:
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void AllocateMemory();
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void CopyData(const TripletSparseMatrix& orig);
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int num_rows_;
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int num_cols_;
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int max_num_nonzeros_;
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int num_nonzeros_;
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// The data is stored as three arrays. For each i, values_[i] is
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// stored at the location (rows_[i], cols_[i]). If the there are
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// multiple entries with the same (rows_[i], cols_[i]), the values_
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// entries corresponding to them are summed up.
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scoped_array<int> rows_;
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scoped_array<int> cols_;
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scoped_array<double> values_;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H__
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