matrix_structure.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// 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.
//
// 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
// HOLDER 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.
 
#include "matrix_structure.h"
 
#include <algorithm>
#include <fstream>
#include <string>
#include <string_view>
#include <vector>
using namespace std;
 
namespace g2o {
 
struct ColSort {
  bool operator()(const pair<int, int>& e1, const pair<int, int>& e2) const {
    return e1.second < e2.second ||
           (e1.second == e2.second && e1.first < e2.first);
  }
};
 
MatrixStructure::MatrixStructure()
    : n(0), m(0), Ap(0), Aii(0), maxN(0), maxNz(0) {}
 
MatrixStructure::~MatrixStructure() { free(); }
 
void MatrixStructure::alloc(int n_, int nz) {
  if (n == 0) {
    maxN = n = n_;
    maxNz = nz;
    Ap = new int[maxN + 1];
    Aii = new int[maxNz];
  } else {
    n = n_;
    if (maxNz < nz) {
      maxNz = 2 * nz;
      delete[] Aii;
      Aii = new int[maxNz];
    }
    if (maxN < n) {
      maxN = 2 * n;
      delete[] Ap;
      Ap = new int[maxN + 1];
    }
  }
}
 
void MatrixStructure::free() {
  n = 0;
  m = 0;
  maxN = 0;
  maxNz = 0;
  delete[] Aii;
  Aii = 0;
  delete[] Ap;
  Ap = 0;
}
 
bool MatrixStructure::write(std::string_view filename) const {
  const int& cols = n;
  const int& rows = m;
 
  const string_view name = [&filename]() {
    const std::string::size_type lastDot = filename.find_last_of('.');
    if (lastDot != std::string_view::npos) return filename.substr(0, lastDot);
    return filename;
  }();
 
  vector<pair<int, int> > entries;
  for (int i = 0; i < cols; ++i) {
    const int& rbeg = Ap[i];
    const int& rend = Ap[i + 1];
    for (int j = rbeg; j < rend; ++j) {
      entries.push_back(make_pair(Aii[j], i));
      if (Aii[j] != i) entries.push_back(make_pair(i, Aii[j]));
    }
  }
 
  sort(entries.begin(), entries.end(), ColSort());
 
  const string output_filename(filename);
  std::ofstream fout(output_filename);
  fout << "# name: " << name << std::endl;
  fout << "# type: sparse matrix" << std::endl;
  fout << "# nnz: " << entries.size() << std::endl;
  fout << "# rows: " << rows << std::endl;
  fout << "# columns: " << cols << std::endl;
  for (vector<pair<int, int> >::const_iterator it = entries.begin();
       it != entries.end(); ++it) {
    const pair<int, int>& entry = *it;
    fout << entry.first << " " << entry.second << " 0"
         << std::endl;  // write a constant value of 0
  }
 
  return fout.good();
}
 
}  // namespace g2o