mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
04899645cc
These methods were historically poorly named and every time I read code I get confused whether they are just multiplying or multiplying and adding. Clarifying them also gives us the changce to introduce RightMultiply and LeftMultiply methods in the base class which will simplify a number call sites in a subsequent CL. Fixes https://github.com/ceres-solver/ceres-solver/issues/855 Change-Id: Ice4fb483f1acd02527a6dd753ef0c5a66037f4b0
80 lines
3.2 KiB
C++
80 lines
3.2 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2022 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: keir@google.com (Keir Mierle)
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//
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// A dense matrix implemented under the SparseMatrix interface.
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#ifndef CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
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#define CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
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#include "ceres/internal/disable_warnings.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/internal/export.h"
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#include "ceres/sparse_matrix.h"
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#include "ceres/types.h"
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namespace ceres::internal {
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class TripletSparseMatrix;
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class CERES_NO_EXPORT DenseSparseMatrix final : public SparseMatrix {
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public:
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// Build a matrix with the same content as the TripletSparseMatrix
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// m. This assumes that m does not have any repeated entries.
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explicit DenseSparseMatrix(const TripletSparseMatrix& m);
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explicit DenseSparseMatrix(Matrix m);
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DenseSparseMatrix(int num_rows, int num_cols);
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// SparseMatrix interface.
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void SetZero() final;
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void RightMultiplyAndAccumulate(const double* x, double* y) const final;
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void LeftMultiplyAndAccumulate(const double* x, double* y) const final;
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void SquaredColumnNorm(double* x) const final;
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void ScaleColumns(const double* scale) final;
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void ToDenseMatrix(Matrix* dense_matrix) const final;
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void ToTextFile(FILE* file) const final;
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int num_rows() const final;
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int num_cols() const final;
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int num_nonzeros() const final;
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const double* values() const final { return m_.data(); }
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double* mutable_values() final { return m_.data(); }
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const Matrix& matrix() const;
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Matrix* mutable_matrix();
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private:
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Matrix m_;
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};
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} // namespace ceres::internal
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#include "ceres/internal/reenable_warnings.h"
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#endif // CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
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