mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
82f4b88c34
1. Make the mechanism for writing problems to disk, generic and controllable using an enum DumpType visible in the API. 2. Instead of single file containing protocol buffers, now matrices can be written in a matlab/octave friendly format. This is now the default. 3. The support for writing problems to disk is moved into linear_least_squares_problem.cc/h 4. SparseMatrix now has a ToTextFile virtual method which is implemented by each of its subclasses to write a (i,j,s) triplets. 5. Minor changes to simple_bundle_adjuster to enable logging at startup.
117 lines
4.1 KiB
C++
117 lines
4.1 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2010, 2011, 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: 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 <glog/logging.h>
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#include "ceres/sparse_matrix.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/internal/macros.h"
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#include "ceres/internal/scoped_ptr.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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class SparseMatrixProto;
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class TripletSparseMatrix;
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class DenseSparseMatrix : 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(const Matrix& m);
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#ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS
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explicit DenseSparseMatrix(const SparseMatrixProto& proto);
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#endif
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DenseSparseMatrix(int num_rows, int num_cols);
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virtual ~DenseSparseMatrix() {}
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// SparseMatrix interface.
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virtual void SetZero();
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virtual void RightMultiply(const double* x, double* y) const;
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virtual void LeftMultiply(const double* x, double* y) const;
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virtual void SquaredColumnNorm(double* x) const;
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virtual void ScaleColumns(const double* scale);
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virtual void ToDenseMatrix(Matrix* dense_matrix) const;
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#ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS
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virtual void ToProto(SparseMatrixProto* proto) const;
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#endif
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virtual void ToTextFile(FILE* file) const;
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virtual int num_rows() const;
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virtual int num_cols() const;
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virtual int num_nonzeros() const;
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virtual const double* values() const { return m_.data(); }
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virtual double* mutable_values() { return m_.data(); }
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ConstAlignedMatrixRef matrix() const;
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AlignedMatrixRef mutable_matrix();
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// Only one diagonal can be appended at a time. The diagonal is appended to
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// as a new set of rows, e.g.
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//
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// Original matrix:
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//
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// x x x
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// x x x
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// x x x
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//
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// After append diagonal (1, 2, 3):
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//
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// x x x
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// x x x
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// x x x
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// 1 0 0
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// 0 2 0
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// 0 0 3
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//
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// Calling RemoveDiagonal removes the block. It is a fatal error to append a
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// diagonal to a matrix that already has an appended diagonal, and it is also
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// a fatal error to remove a diagonal from a matrix that has none.
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void AppendDiagonal(double *d);
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void RemoveDiagonal();
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private:
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Matrix m_;
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bool has_diagonal_appended_;
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bool has_diagonal_reserved_;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
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