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Diffstat (limited to 'internal/ceres/dynamic_compressed_row_sparse_matrix.cc')
| -rw-r--r-- | internal/ceres/dynamic_compressed_row_sparse_matrix.cc | 107 |
1 files changed, 107 insertions, 0 deletions
diff --git a/internal/ceres/dynamic_compressed_row_sparse_matrix.cc b/internal/ceres/dynamic_compressed_row_sparse_matrix.cc new file mode 100644 index 0000000..f285d52 --- /dev/null +++ b/internal/ceres/dynamic_compressed_row_sparse_matrix.cc @@ -0,0 +1,107 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2014 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: richie.stebbing@gmail.com (Richard Stebbing) + +#include <cstring> +#include "ceres/dynamic_compressed_row_sparse_matrix.h" + +namespace ceres { +namespace internal { + +DynamicCompressedRowSparseMatrix::DynamicCompressedRowSparseMatrix( + int num_rows, + int num_cols, + int initial_max_num_nonzeros) + : CompressedRowSparseMatrix(num_rows, + num_cols, + initial_max_num_nonzeros) { + dynamic_cols_.resize(num_rows); + dynamic_values_.resize(num_rows); + } + +void DynamicCompressedRowSparseMatrix::InsertEntry(int row, + int col, + const double& value) { + CHECK_GE(row, 0); + CHECK_LT(row, num_rows()); + CHECK_GE(col, 0); + CHECK_LT(col, num_cols()); + dynamic_cols_[row].push_back(col); + dynamic_values_[row].push_back(value); +} + +void DynamicCompressedRowSparseMatrix::ClearRows(int row_start, + int num_rows) { + for (int r = 0; r < num_rows; ++r) { + const int i = row_start + r; + CHECK_GE(i, 0); + CHECK_LT(i, this->num_rows()); + dynamic_cols_[i].resize(0); + dynamic_values_[i].resize(0); + } +} + +void DynamicCompressedRowSparseMatrix::Finalize(int num_additional_elements) { + // `num_additional_elements` is provided as an argument so that additional + // storage can be reserved when it is known by the finalizer. + CHECK_GE(num_additional_elements, 0); + + // Count the number of non-zeros and resize `cols_` and `values_`. + int num_jacobian_nonzeros = 0; + for (int i = 0; i < dynamic_cols_.size(); ++i) { + num_jacobian_nonzeros += dynamic_cols_[i].size(); + } + + SetMaxNumNonZeros(num_jacobian_nonzeros + num_additional_elements); + + // Flatten `dynamic_cols_` into `cols_` and `dynamic_values_` + // into `values_`. + int index_into_values_and_cols = 0; + for (int i = 0; i < num_rows(); ++i) { + mutable_rows()[i] = index_into_values_and_cols; + const int num_nonzero_columns = dynamic_cols_[i].size(); + if (num_nonzero_columns > 0) { + memcpy(mutable_cols() + index_into_values_and_cols, + &dynamic_cols_[i][0], + dynamic_cols_[i].size() * sizeof(dynamic_cols_[0][0])); + memcpy(mutable_values() + index_into_values_and_cols, + &dynamic_values_[i][0], + dynamic_values_[i].size() * sizeof(dynamic_values_[0][0])); + index_into_values_and_cols += dynamic_cols_[i].size(); + } + } + mutable_rows()[num_rows()] = index_into_values_and_cols; + + CHECK_EQ(index_into_values_and_cols, num_jacobian_nonzeros) + << "Ceres bug: final index into values_ and cols_ should be equal to " + << "the number of jacobian nonzeros. Please contact the developers!"; +} + +} // namespace internal +} // namespace ceres |