1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
|
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#ifndef CERES_PUBLIC_CRS_MATRIX_H_
#define CERES_PUBLIC_CRS_MATRIX_H_
#include <vector>
#include "ceres/internal/port.h"
#include "ceres/internal/disable_warnings.h"
namespace ceres {
// A compressed row sparse matrix used primarily for communicating the
// Jacobian matrix to the user.
struct CERES_EXPORT CRSMatrix {
CRSMatrix() : num_rows(0), num_cols(0) {}
int num_rows;
int num_cols;
// A compressed row matrix stores its contents in three arrays,
// rows, cols and values.
//
// rows is a num_rows + 1 sized array that points into the cols and
// values array. For each row i:
//
// cols[rows[i]] ... cols[rows[i + 1] - 1] are the indices of the
// non-zero columns of row i.
//
// values[rows[i]] .. values[rows[i + 1] - 1] are the values of the
// corresponding entries.
//
// cols and values contain as many entries as there are non-zeros in
// the matrix.
//
// e.g, consider the 3x4 sparse matrix
//
// [ 0 10 0 4 ]
// [ 0 2 -3 2 ]
// [ 1 2 0 0 ]
//
// The three arrays will be:
//
//
// -row0- ---row1--- -row2-
// rows = [ 0, 2, 5, 7]
// cols = [ 1, 3, 1, 2, 3, 0, 1]
// values = [10, 4, 2, -3, 2, 1, 2]
std::vector<int> cols;
std::vector<int> rows;
std::vector<double> values;
};
} // namespace ceres
#include "ceres/internal/reenable_warnings.h"
#endif // CERES_PUBLIC_CRS_MATRIX_H_
|
