| // Ceres Solver - A fast non-linear least squares minimizer | |
| // Copyright 2019 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 | |
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| // 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) | |
| namespace ceres { | |
| // A compressed row sparse matrix used primarily for communicating the | |
| // Jacobian matrix to the user. | |
| struct CERES_EXPORT CRSMatrix { | |
| CRSMatrix() = default; | |
| int num_rows{0}; | |
| int num_cols{0}; | |
| // 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 | |