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Diffstat (limited to 'internal/ceres/levenberg_marquardt_strategy.h')
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diff --git a/internal/ceres/levenberg_marquardt_strategy.h b/internal/ceres/levenberg_marquardt_strategy.h new file mode 100644 index 0000000..90c2178 --- /dev/null +++ b/internal/ceres/levenberg_marquardt_strategy.h @@ -0,0 +1,86 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2012 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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_INTERNAL_LEVENBERG_MARQUARDT_STRATEGY_H_ +#define CERES_INTERNAL_LEVENBERG_MARQUARDT_STRATEGY_H_ + +#include "ceres/internal/eigen.h" +#include "ceres/trust_region_strategy.h" + +namespace ceres { +namespace internal { + +// Levenberg-Marquardt step computation and trust region sizing +// strategy based on on "Methods for Nonlinear Least Squares" by +// K. Madsen, H.B. Nielsen and O. Tingleff. Available to download from +// +// http://www2.imm.dtu.dk/pubdb/views/edoc_download.php/3215/pdf/imm3215.pdf +class LevenbergMarquardtStrategy : public TrustRegionStrategy { +public: + LevenbergMarquardtStrategy(const TrustRegionStrategy::Options& options); + virtual ~LevenbergMarquardtStrategy(); + + // TrustRegionStrategy interface + virtual TrustRegionStrategy::Summary ComputeStep( + const TrustRegionStrategy::PerSolveOptions& per_solve_options, + SparseMatrix* jacobian, + const double* residuals, + double* step); + virtual void StepAccepted(double step_quality); + virtual void StepRejected(double step_quality); + virtual void StepIsInvalid() { + // Treat the current step as a rejected step with no increase in + // solution quality. Since rejected steps lead to decrease in the + // size of the trust region, the next time ComputeStep is called, + // this will lead to a better conditioned system. + StepRejected(0.0); + } + + virtual double Radius() const; + + private: + LinearSolver* linear_solver_; + double radius_; + double max_radius_; + const double min_diagonal_; + const double max_diagonal_; + double decrease_factor_; + bool reuse_diagonal_; + Vector diagonal_; // diagonal_ = diag(J'J) + // Scaled copy of diagonal_. Stored here as optimization to prevent + // allocations in every iteration and reuse when a step fails and + // ComputeStep is called again. + Vector lm_diagonal_; // lm_diagonal_ = diagonal_ / radius_; +}; + +} // namespace internal +} // namespace ceres + +#endif // CERES_INTERNAL_LEVENBERG_MARQUARDT_STRATEGY_H_ |