mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sergiu Deitsch
f90833f5fa
Currently, the logic for exporting symbols is rather complicated: when tests are enabled internal symbols are exported in addition to the public symbols. Such logic causes several problems. (1) Test binaries link against a Ceres build that is different from the final release since fewer optimizations are applied if more symbols are exported. (2) Also, some toolchains hide symbols by default breaking the existing logic eventually causing linker errors. Since internal symbols are not intended to be used outside of the project, we can compile them into object files and use exactly the same binary code both for the final build and the tests without relying on conditionals. By default, all symbols are now hidden unless annotated as public. Internal symbols are explicitly marked as not being exported in case users chose not to hide symbols by default. Change-Id: I589dd10be2f6f438508783cf99d141af0120057b
110 lines
4.5 KiB
C++
110 lines
4.5 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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//
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// Interface definition for sparse matrices.
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#ifndef CERES_INTERNAL_SPARSE_MATRIX_H_
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#define CERES_INTERNAL_SPARSE_MATRIX_H_
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#include <cstdio>
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#include "ceres/internal/eigen.h"
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#include "ceres/internal/export.h"
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#include "ceres/linear_operator.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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// This class defines the interface for storing and manipulating
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// sparse matrices. The key property that differentiates different
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// sparse matrices is how they are organized in memory and how the
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// information about the sparsity structure of the matrix is
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// stored. This has significant implications for linear solvers
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// operating on these matrices.
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//
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// To deal with the different kinds of layouts, we will assume that a
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// sparse matrix will have a two part representation. A values array
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// that will be used to store the entries of the sparse matrix and
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// some sort of a layout object that tells the user the sparsity
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// structure and layout of the values array. For example in case of
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// the TripletSparseMatrix, this information is carried in the rows
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// and cols arrays and for the BlockSparseMatrix, this information is
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// carried in the CompressedRowBlockStructure object.
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//
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// This interface deliberately does not contain any information about
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// the structure of the sparse matrix as that seems to be highly
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// matrix type dependent and we are at this stage unable to come up
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// with an efficient high level interface that spans multiple sparse
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// matrix types.
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class CERES_NO_EXPORT SparseMatrix : public LinearOperator {
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public:
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~SparseMatrix() override;
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// y += Ax;
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void RightMultiply(const double* x, double* y) const override = 0;
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// y += A'x;
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void LeftMultiply(const double* x, double* y) const override = 0;
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// In MATLAB notation sum(A.*A, 1)
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virtual void SquaredColumnNorm(double* x) const = 0;
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// A = A * diag(scale)
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virtual void ScaleColumns(const double* scale) = 0;
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// A = 0. A->num_nonzeros() == 0 is true after this call. The
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// sparsity pattern is preserved.
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virtual void SetZero() = 0;
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// Resize and populate dense_matrix with a dense version of the
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// sparse matrix.
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virtual void ToDenseMatrix(Matrix* dense_matrix) const = 0;
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// Write out the matrix as a sequence of (i,j,s) triplets. This
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// format is useful for loading the matrix into MATLAB/octave as a
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// sparse matrix.
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virtual void ToTextFile(FILE* file) const = 0;
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// Accessors for the values array that stores the entries of the
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// sparse matrix. The exact interpretation of the values of this
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// array depends on the particular kind of SparseMatrix being
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// accessed.
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virtual double* mutable_values() = 0;
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virtual const double* values() const = 0;
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int num_rows() const override = 0;
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int num_cols() const override = 0;
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virtual int num_nonzeros() const = 0;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_SPARSE_MATRIX_H_
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