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Diffstat (limited to 'include/ceres/types.h')
| -rw-r--r-- | include/ceres/types.h | 208 |
1 files changed, 116 insertions, 92 deletions
diff --git a/include/ceres/types.h b/include/ceres/types.h index ffa743a..a07c893 100644 --- a/include/ceres/types.h +++ b/include/ceres/types.h @@ -40,12 +40,12 @@ #include <string> #include "ceres/internal/port.h" +#include "ceres/internal/disable_warnings.h" namespace ceres { // Basic integer types. These typedefs are in the Ceres namespace to avoid // conflicts with other packages having similar typedefs. -typedef short int16; typedef int int32; // Argument type used in interfaces that can optionally take ownership @@ -102,28 +102,62 @@ enum PreconditionerType { // Block diagonal of the Gauss-Newton Hessian. JACOBI, + // Note: The following three preconditioners can only be used with + // the ITERATIVE_SCHUR solver. They are well suited for Structure + // from Motion problems. + // Block diagonal of the Schur complement. This preconditioner may // only be used with the ITERATIVE_SCHUR solver. SCHUR_JACOBI, // Visibility clustering based preconditioners. // - // These preconditioners are well suited for Structure from Motion - // problems, particularly problems arising from community photo - // collections. These preconditioners use the visibility structure - // of the scene to determine the sparsity structure of the - // preconditioner. Requires SuiteSparse/CHOLMOD. + // The following two preconditioners use the visibility structure of + // the scene to determine the sparsity structure of the + // preconditioner. This is done using a clustering algorithm. The + // available visibility clustering algorithms are described below. + // + // Note: Requires SuiteSparse. CLUSTER_JACOBI, CLUSTER_TRIDIAGONAL }; +enum VisibilityClusteringType { + // Canonical views algorithm as described in + // + // "Scene Summarization for Online Image Collections", Ian Simon, Noah + // Snavely, Steven M. Seitz, ICCV 2007. + // + // This clustering algorithm can be quite slow, but gives high + // quality clusters. The original visibility based clustering paper + // used this algorithm. + CANONICAL_VIEWS, + + // The classic single linkage algorithm. It is extremely fast as + // compared to CANONICAL_VIEWS, but can give slightly poorer + // results. For problems with large number of cameras though, this + // is generally a pretty good option. + // + // If you are using SCHUR_JACOBI preconditioner and have SuiteSparse + // available, CLUSTER_JACOBI and CLUSTER_TRIDIAGONAL in combination + // with the SINGLE_LINKAGE algorithm will generally give better + // results. + SINGLE_LINKAGE +}; + enum SparseLinearAlgebraLibraryType { // High performance sparse Cholesky factorization and approximate // minimum degree ordering. SUITE_SPARSE, - // A lightweight replacment for SuiteSparse. - CX_SPARSE + // A lightweight replacment for SuiteSparse, which does not require + // a LAPACK/BLAS implementation. Consequently, its performance is + // also a bit lower than SuiteSparse. + CX_SPARSE, + + // Eigen's sparse linear algebra routines. In particular Ceres uses + // the Simplicial LDLT routines. + EIGEN_SPARSE }; enum DenseLinearAlgebraLibraryType { @@ -131,26 +165,6 @@ enum DenseLinearAlgebraLibraryType { LAPACK }; -enum LinearSolverTerminationType { - // Termination criterion was met. For factorization based solvers - // the tolerance is assumed to be zero. Any user provided values are - // ignored. - TOLERANCE, - - // Solver ran for max_num_iterations and terminated before the - // termination tolerance could be satified. - MAX_ITERATIONS, - - // Solver is stuck and further iterations will not result in any - // measurable progress. - STAGNATION, - - // Solver failed. Solver was terminated due to numerical errors. The - // exact cause of failure depends on the particular solver being - // used. - FAILURE -}; - // Logging options // The options get progressively noisier. enum LoggingType { @@ -239,7 +253,7 @@ enum LineSearchDirectionType { // details see Numerical Optimization by Nocedal & Wright. enum NonlinearConjugateGradientType { FLETCHER_REEVES, - POLAK_RIBIRERE, + POLAK_RIBIERE, HESTENES_STIEFEL, }; @@ -293,41 +307,42 @@ enum DoglegType { SUBSPACE_DOGLEG }; -enum SolverTerminationType { - // The minimizer did not run at all; usually due to errors in the user's - // Problem or the solver options. - DID_NOT_RUN, +enum TerminationType { + // Minimizer terminated because one of the convergence criterion set + // by the user was satisfied. + // + // 1. (new_cost - old_cost) < function_tolerance * old_cost; + // 2. max_i |gradient_i| < gradient_tolerance + // 3. |step|_2 <= parameter_tolerance * ( |x|_2 + parameter_tolerance) + // + // The user's parameter blocks will be updated with the solution. + CONVERGENCE, - // The solver ran for maximum number of iterations specified by the - // user, but none of the convergence criterion specified by the user - // were met. + // The solver ran for maximum number of iterations or maximum amount + // of time specified by the user, but none of the convergence + // criterion specified by the user were met. The user's parameter + // blocks will be updated with the solution found so far. NO_CONVERGENCE, - // Minimizer terminated because - // (new_cost - old_cost) < function_tolerance * old_cost; - FUNCTION_TOLERANCE, - - // Minimizer terminated because - // max_i |gradient_i| < gradient_tolerance * max_i|initial_gradient_i| - GRADIENT_TOLERANCE, - - // Minimized terminated because - // |step|_2 <= parameter_tolerance * ( |x|_2 + parameter_tolerance) - PARAMETER_TOLERANCE, - - // The minimizer terminated because it encountered a numerical error - // that it could not recover from. - NUMERICAL_FAILURE, + // The minimizer terminated because of an error. The user's + // parameter blocks will not be updated. + FAILURE, // Using an IterationCallback object, user code can control the // minimizer. The following enums indicate that the user code was // responsible for termination. + // + // Minimizer terminated successfully because a user + // IterationCallback returned SOLVER_TERMINATE_SUCCESSFULLY. + // + // The user's parameter blocks will be updated with the solution. + USER_SUCCESS, - // User's IterationCallback returned SOLVER_ABORT. - USER_ABORT, - - // User's IterationCallback returned SOLVER_TERMINATE_SUCCESSFULLY - USER_SUCCESS + // Minimizer terminated because because a user IterationCallback + // returned SOLVER_ABORT. + // + // The user's parameter blocks will not be updated. + USER_FAILURE }; // Enums used by the IterationCallback instances to indicate to the @@ -370,9 +385,9 @@ enum DumpFormatType { TEXTFILE }; -// For SizedCostFunction and AutoDiffCostFunction, DYNAMIC can be specified for -// the number of residuals. If specified, then the number of residuas for that -// cost function can vary at runtime. +// For SizedCostFunction and AutoDiffCostFunction, DYNAMIC can be +// specified for the number of residuals. If specified, then the +// number of residuas for that cost function can vary at runtime. enum DimensionType { DYNAMIC = -1 }; @@ -390,74 +405,83 @@ enum LineSearchInterpolationType { enum CovarianceAlgorithmType { DENSE_SVD, - SPARSE_CHOLESKY, - SPARSE_QR + SUITE_SPARSE_QR, + EIGEN_SPARSE_QR }; -const char* LinearSolverTypeToString(LinearSolverType type); -bool StringToLinearSolverType(string value, LinearSolverType* type); +CERES_EXPORT const char* LinearSolverTypeToString( + LinearSolverType type); +CERES_EXPORT bool StringToLinearSolverType(string value, + LinearSolverType* type); -const char* PreconditionerTypeToString(PreconditionerType type); -bool StringToPreconditionerType(string value, PreconditionerType* type); +CERES_EXPORT const char* PreconditionerTypeToString(PreconditionerType type); +CERES_EXPORT bool StringToPreconditionerType(string value, + PreconditionerType* type); -const char* SparseLinearAlgebraLibraryTypeToString( +CERES_EXPORT const char* VisibilityClusteringTypeToString( + VisibilityClusteringType type); +CERES_EXPORT bool StringToVisibilityClusteringType(string value, + VisibilityClusteringType* type); + +CERES_EXPORT const char* SparseLinearAlgebraLibraryTypeToString( SparseLinearAlgebraLibraryType type); -bool StringToSparseLinearAlgebraLibraryType( +CERES_EXPORT bool StringToSparseLinearAlgebraLibraryType( string value, SparseLinearAlgebraLibraryType* type); -const char* DenseLinearAlgebraLibraryTypeToString( +CERES_EXPORT const char* DenseLinearAlgebraLibraryTypeToString( DenseLinearAlgebraLibraryType type); -bool StringToDenseLinearAlgebraLibraryType( +CERES_EXPORT bool StringToDenseLinearAlgebraLibraryType( string value, DenseLinearAlgebraLibraryType* type); -const char* TrustRegionStrategyTypeToString(TrustRegionStrategyType type); -bool StringToTrustRegionStrategyType(string value, +CERES_EXPORT const char* TrustRegionStrategyTypeToString( + TrustRegionStrategyType type); +CERES_EXPORT bool StringToTrustRegionStrategyType(string value, TrustRegionStrategyType* type); -const char* DoglegTypeToString(DoglegType type); -bool StringToDoglegType(string value, DoglegType* type); +CERES_EXPORT const char* DoglegTypeToString(DoglegType type); +CERES_EXPORT bool StringToDoglegType(string value, DoglegType* type); -const char* MinimizerTypeToString(MinimizerType type); -bool StringToMinimizerType(string value, MinimizerType* type); +CERES_EXPORT const char* MinimizerTypeToString(MinimizerType type); +CERES_EXPORT bool StringToMinimizerType(string value, MinimizerType* type); -const char* LineSearchDirectionTypeToString(LineSearchDirectionType type); -bool StringToLineSearchDirectionType(string value, +CERES_EXPORT const char* LineSearchDirectionTypeToString( + LineSearchDirectionType type); +CERES_EXPORT bool StringToLineSearchDirectionType(string value, LineSearchDirectionType* type); -const char* LineSearchTypeToString(LineSearchType type); -bool StringToLineSearchType(string value, LineSearchType* type); +CERES_EXPORT const char* LineSearchTypeToString(LineSearchType type); +CERES_EXPORT bool StringToLineSearchType(string value, LineSearchType* type); -const char* NonlinearConjugateGradientTypeToString( +CERES_EXPORT const char* NonlinearConjugateGradientTypeToString( NonlinearConjugateGradientType type); -bool StringToNonlinearConjugateGradientType( +CERES_EXPORT bool StringToNonlinearConjugateGradientType( string value, NonlinearConjugateGradientType* type); -const char* LineSearchInterpolationTypeToString( +CERES_EXPORT const char* LineSearchInterpolationTypeToString( LineSearchInterpolationType type); -bool StringToLineSearchInterpolationType( +CERES_EXPORT bool StringToLineSearchInterpolationType( string value, LineSearchInterpolationType* type); -const char* CovarianceAlgorithmTypeToString( +CERES_EXPORT const char* CovarianceAlgorithmTypeToString( CovarianceAlgorithmType type); -bool StringToCovarianceAlgorithmType( +CERES_EXPORT bool StringToCovarianceAlgorithmType( string value, CovarianceAlgorithmType* type); -const char* LinearSolverTerminationTypeToString( - LinearSolverTerminationType type); - -const char* SolverTerminationTypeToString(SolverTerminationType type); +CERES_EXPORT const char* TerminationTypeToString(TerminationType type); -bool IsSchurType(LinearSolverType type); -bool IsSparseLinearAlgebraLibraryTypeAvailable( +CERES_EXPORT bool IsSchurType(LinearSolverType type); +CERES_EXPORT bool IsSparseLinearAlgebraLibraryTypeAvailable( SparseLinearAlgebraLibraryType type); -bool IsDenseLinearAlgebraLibraryTypeAvailable( +CERES_EXPORT bool IsDenseLinearAlgebraLibraryTypeAvailable( DenseLinearAlgebraLibraryType type); } // namespace ceres +#include "ceres/internal/reenable_warnings.h" + #endif // CERES_PUBLIC_TYPES_H_ |