mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
4997cbc437
1. Added CRSMatrix object which will store the initial and final jacobians if requested by the user. 2. Conversion routine and test for converting a CompressedRowSparseMatrix to CRSMatrix. 3. New Evaluator::Evaluate function to do the actual evaluation. 4. Changes to Program::StateVectorToParmeterBlocks and Program::SetParameterBlockStatePtrstoUserStatePtrs so that they do not try to set the state of constant parameter blocks. 5. Tests for Evaluator::Evaluate. 6. Minor cleanups in SolverImpl. 7. Minor cpplint cleanups triggered by this CL. Change-Id: I3ac446484692f943c28f2723b719676f8c83ca3d
66 lines
2.5 KiB
C++
66 lines
2.5 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2012 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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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_PUBLIC_CRS_MATRIX_H_
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#define CERES_PUBLIC_CRS_MATRIX_H_
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#include <vector>
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#include "ceres/internal/port.h"
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namespace ceres {
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// A compressed row sparse matrix used primarily for communicating the
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// Jacobian matrix to the user.
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struct CRSMatrix {
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CRSMatrix() : num_rows(0), num_cols(0) {}
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int num_rows;
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int num_cols;
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// A compressed row matrix stores its contents in three arrays.
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// The non-zero pattern of the i^th row is given by
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//
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// rows[cols[i] ... cols[i + 1]]
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//
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// and the corresponding values by
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//
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// values[cols[i] ... cols[i + 1]]
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//
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// Thus, cols is a vector of size num_cols + 1, and rows and values
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// have as many entries as number of non-zeros in the matrix.
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vector<int> cols;
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vector<int> rows;
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vector<double> values;
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};
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} // namespace ceres
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#endif // CERES_PUBLIC_CRS_MATRIX_H_
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