1 // Ceres Solver - A fast non-linear least squares minimizer
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3 // http://ceres-solver.org/
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
31 // Implementation of the SparseMatrix interface for block sparse
34 #ifndef CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
35 #define CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
37 #include "ceres/block_structure.h"
38 #include "ceres/sparse_matrix.h"
39 #include "ceres/internal/eigen.h"
40 #include "ceres/internal/macros.h"
41 #include "ceres/internal/scoped_ptr.h"
46 class TripletSparseMatrix;
48 // This class implements the SparseMatrix interface for storing and
49 // manipulating block sparse matrices. The block structure is stored
50 // in the CompressedRowBlockStructure object and one is needed to
51 // initialize the matrix. For details on how the blocks structure of
52 // the matrix is stored please see the documentation
54 // internal/ceres/block_structure.h
56 class BlockSparseMatrix : public SparseMatrix {
58 // Construct a block sparse matrix with a fully initialized
59 // CompressedRowBlockStructure objected. The matrix takes over
60 // ownership of this object and destroys it upon destruction.
62 // TODO(sameeragarwal): Add a function which will validate legal
63 // CompressedRowBlockStructure objects.
64 explicit BlockSparseMatrix(CompressedRowBlockStructure* block_structure);
67 virtual ~BlockSparseMatrix();
69 // Implementation of SparseMatrix interface.
70 virtual void SetZero();
71 virtual void RightMultiply(const double* x, double* y) const;
72 virtual void LeftMultiply(const double* x, double* y) const;
73 virtual void SquaredColumnNorm(double* x) const;
74 virtual void ScaleColumns(const double* scale);
75 virtual void ToDenseMatrix(Matrix* dense_matrix) const;
76 virtual void ToTextFile(FILE* file) const;
78 virtual int num_rows() const { return num_rows_; }
79 virtual int num_cols() const { return num_cols_; }
80 virtual int num_nonzeros() const { return num_nonzeros_; }
81 virtual const double* values() const { return values_.get(); }
82 virtual double* mutable_values() { return values_.get(); }
84 void ToTripletSparseMatrix(TripletSparseMatrix* matrix) const;
85 const CompressedRowBlockStructure* block_structure() const;
87 // Append the contents of m to the bottom of this matrix. m must
88 // have the same column blocks structure as this matrix.
89 void AppendRows(const BlockSparseMatrix& m);
91 // Delete the bottom delta_rows_blocks.
92 void DeleteRowBlocks(int delta_row_blocks);
94 static BlockSparseMatrix* CreateDiagonalMatrix(
95 const double* diagonal,
96 const std::vector<Block>& column_blocks);
98 struct RandomMatrixOptions {
101 min_row_block_size(0),
102 max_row_block_size(0),
104 min_col_block_size(0),
105 max_col_block_size(0),
110 int min_row_block_size;
111 int max_row_block_size;
113 int min_col_block_size;
114 int max_col_block_size;
116 // 0 < block_density <= 1 is the probability of a block being
117 // present in the matrix. A given random matrix will not have
118 // precisely this density.
119 double block_density;
122 // Create a random BlockSparseMatrix whose entries are normally
123 // distributed and whose structure is determined by
124 // RandomMatrixOptions.
126 // Caller owns the result.
127 static BlockSparseMatrix* CreateRandomMatrix(
128 const RandomMatrixOptions& options);
134 int max_num_nonzeros_;
135 scoped_array<double> values_;
136 scoped_ptr<CompressedRowBlockStructure> block_structure_;
137 CERES_DISALLOW_COPY_AND_ASSIGN(BlockSparseMatrix);
140 } // namespace internal
143 #endif // CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_