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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012 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: sameeragarwal@google.com (Sameer Agarwal)
//
// Implementation of the SparseMatrix interface for block sparse
// matrices.
#ifndef CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
#define CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
#include "ceres/block_structure.h"
#include "ceres/sparse_matrix.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/macros.h"
#include "ceres/internal/scoped_ptr.h"
namespace ceres {
namespace internal {
class SparseMatrixProto;
class TripletSparseMatrix;
// A further extension of the SparseMatrix interface to support block-oriented
// matrices. The key addition is the RowBlockValues() accessor, which enables
// the lazy block sparse matrix implementation.
class BlockSparseMatrixBase : public SparseMatrix {
public:
BlockSparseMatrixBase() {}
virtual ~BlockSparseMatrixBase() {}
// Convert this matrix into a triplet sparse matrix.
virtual void ToTripletSparseMatrix(TripletSparseMatrix* matrix) const = 0;
// Returns a pointer to the block structure. Does not transfer
// ownership.
virtual const CompressedRowBlockStructure* block_structure() const = 0;
// Returns a pointer to a row of the matrix. The returned array is only valid
// until the next call to RowBlockValues. The caller does not own the result.
//
// The returned array is laid out such that cells on the specified row are
// contiguous in the returned array, though neighbouring cells in row order
// may not be contiguous in the row values. The cell values for cell
// (row_block, cell_block) are found at offset
//
// block_structure()->rows[row_block].cells[cell_block].position
//
virtual const double* RowBlockValues(int row_block_index) const = 0;
private:
CERES_DISALLOW_COPY_AND_ASSIGN(BlockSparseMatrixBase);
};
// This class implements the SparseMatrix interface for storing and
// manipulating block sparse matrices. The block structure is stored
// in the CompressedRowBlockStructure object and one is needed to
// initialize the matrix. For details on how the blocks structure of
// the matrix is stored please see the documentation
//
// internal/ceres/block_structure.h
//
class BlockSparseMatrix : public BlockSparseMatrixBase {
public:
// Construct a block sparse matrix with a fully initialized
// CompressedRowBlockStructure objected. The matrix takes over
// ownership of this object and destroys it upon destruction.
//
// TODO(sameeragarwal): Add a function which will validate legal
// CompressedRowBlockStructure objects.
explicit BlockSparseMatrix(CompressedRowBlockStructure* block_structure);
// Construct a block sparse matrix from a protocol buffer.
#ifndef CERES_NO_PROTOCOL_BUFFERS
explicit BlockSparseMatrix(const SparseMatrixProto& proto);
#endif
BlockSparseMatrix();
virtual ~BlockSparseMatrix();
// Implementation of SparseMatrix interface.
virtual void SetZero();
virtual void RightMultiply(const double* x, double* y) const;
virtual void LeftMultiply(const double* x, double* y) const;
virtual void SquaredColumnNorm(double* x) const;
virtual void ScaleColumns(const double* scale);
virtual void ToDenseMatrix(Matrix* dense_matrix) const;
#ifndef CERES_NO_PROTOCOL_BUFFERS
virtual void ToProto(SparseMatrixProto* proto) const;
#endif
virtual void ToTextFile(FILE* file) const;
virtual int num_rows() const { return num_rows_; }
virtual int num_cols() const { return num_cols_; }
virtual int num_nonzeros() const { return num_nonzeros_; }
virtual const double* values() const { return values_.get(); }
virtual double* mutable_values() { return values_.get(); }
// Implementation of BlockSparseMatrixBase interface.
virtual void ToTripletSparseMatrix(TripletSparseMatrix* matrix) const;
virtual const CompressedRowBlockStructure* block_structure() const;
virtual const double* RowBlockValues(int row_block_index) const {
return values_.get();
}
private:
int num_rows_;
int num_cols_;
int max_num_nonzeros_;
int num_nonzeros_;
scoped_array<double> values_;
scoped_ptr<CompressedRowBlockStructure> block_structure_;
CERES_DISALLOW_COPY_AND_ASSIGN(BlockSparseMatrix);
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
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