aboutsummaryrefslogtreecommitdiff
path: root/internal/ceres/linear_least_squares_problems.cc
diff options
context:
space:
mode:
Diffstat (limited to 'internal/ceres/linear_least_squares_problems.cc')
-rw-r--r--internal/ceres/linear_least_squares_problems.cc173
1 files changed, 16 insertions, 157 deletions
diff --git a/internal/ceres/linear_least_squares_problems.cc b/internal/ceres/linear_least_squares_problems.cc
index 3e3bcd0..24ba565 100644
--- a/internal/ceres/linear_least_squares_problems.cc
+++ b/internal/ceres/linear_least_squares_problems.cc
@@ -36,10 +36,8 @@
#include "ceres/block_sparse_matrix.h"
#include "ceres/block_structure.h"
#include "ceres/casts.h"
-#include "ceres/compressed_row_sparse_matrix.h"
#include "ceres/file.h"
#include "ceres/internal/scoped_ptr.h"
-#include "ceres/matrix_proto.h"
#include "ceres/stringprintf.h"
#include "ceres/triplet_sparse_matrix.h"
#include "ceres/types.h"
@@ -64,74 +62,6 @@ LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromId(int id) {
return NULL;
}
-#ifndef CERES_NO_PROTOCOL_BUFFERS
-LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromFile(
- const string& filename) {
- LinearLeastSquaresProblemProto problem_proto;
- {
- string serialized_proto;
- ReadFileToStringOrDie(filename, &serialized_proto);
- CHECK(problem_proto.ParseFromString(serialized_proto));
- }
-
- LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
- const SparseMatrixProto& A = problem_proto.a();
-
- if (A.has_block_matrix()) {
- problem->A.reset(new BlockSparseMatrix(A));
- } else if (A.has_triplet_matrix()) {
- problem->A.reset(new TripletSparseMatrix(A));
- } else {
- problem->A.reset(new CompressedRowSparseMatrix(A));
- }
-
- if (problem_proto.b_size() > 0) {
- problem->b.reset(new double[problem_proto.b_size()]);
- for (int i = 0; i < problem_proto.b_size(); ++i) {
- problem->b[i] = problem_proto.b(i);
- }
- }
-
- if (problem_proto.d_size() > 0) {
- problem->D.reset(new double[problem_proto.d_size()]);
- for (int i = 0; i < problem_proto.d_size(); ++i) {
- problem->D[i] = problem_proto.d(i);
- }
- }
-
- if (problem_proto.d_size() > 0) {
- if (problem_proto.x_size() > 0) {
- problem->x_D.reset(new double[problem_proto.x_size()]);
- for (int i = 0; i < problem_proto.x_size(); ++i) {
- problem->x_D[i] = problem_proto.x(i);
- }
- }
- } else {
- if (problem_proto.x_size() > 0) {
- problem->x.reset(new double[problem_proto.x_size()]);
- for (int i = 0; i < problem_proto.x_size(); ++i) {
- problem->x[i] = problem_proto.x(i);
- }
- }
- }
-
- problem->num_eliminate_blocks = 0;
- if (problem_proto.has_num_eliminate_blocks()) {
- problem->num_eliminate_blocks = problem_proto.num_eliminate_blocks();
- }
-
- return problem;
-}
-#else
-LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromFile(
- const string& filename) {
- LOG(FATAL)
- << "Loading a least squares problem from disk requires "
- << "Ceres to be built with Protocol Buffers support.";
- return NULL;
-}
-#endif // CERES_NO_PROTOCOL_BUFFERS
-
/*
A = [1 2]
[3 4]
@@ -573,9 +503,8 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem3() {
return problem;
}
-bool DumpLinearLeastSquaresProblemToConsole(const string& directory,
- int iteration,
- const SparseMatrix* A,
+namespace {
+bool DumpLinearLeastSquaresProblemToConsole(const SparseMatrix* A,
const double* D,
const double* b,
const double* x,
@@ -600,61 +529,6 @@ bool DumpLinearLeastSquaresProblemToConsole(const string& directory,
return true;
};
-#ifndef CERES_NO_PROTOCOL_BUFFERS
-bool DumpLinearLeastSquaresProblemToProtocolBuffer(const string& directory,
- int iteration,
- const SparseMatrix* A,
- const double* D,
- const double* b,
- const double* x,
- int num_eliminate_blocks) {
- CHECK_NOTNULL(A);
- LinearLeastSquaresProblemProto lsqp;
- A->ToProto(lsqp.mutable_a());
-
- if (D != NULL) {
- for (int i = 0; i < A->num_cols(); ++i) {
- lsqp.add_d(D[i]);
- }
- }
-
- if (b != NULL) {
- for (int i = 0; i < A->num_rows(); ++i) {
- lsqp.add_b(b[i]);
- }
- }
-
- if (x != NULL) {
- for (int i = 0; i < A->num_cols(); ++i) {
- lsqp.add_x(x[i]);
- }
- }
-
- lsqp.set_num_eliminate_blocks(num_eliminate_blocks);
- string format_string = JoinPath(directory,
- "lm_iteration_%03d.lsqp");
- string filename =
- StringPrintf(format_string.c_str(), iteration);
- LOG(INFO) << "Dumping least squares problem for iteration " << iteration
- << " to disk. File: " << filename;
- WriteStringToFileOrDie(lsqp.SerializeAsString(), filename);
- return true;
-}
-#else
-bool DumpLinearLeastSquaresProblemToProtocolBuffer(const string& directory,
- int iteration,
- const SparseMatrix* A,
- const double* D,
- const double* b,
- const double* x,
- int num_eliminate_blocks) {
- LOG(ERROR) << "Dumping least squares problems is only "
- << "supported when Ceres is compiled with "
- << "protocol buffer support.";
- return false;
-}
-#endif
-
void WriteArrayToFileOrDie(const string& filename,
const double* x,
const int size) {
@@ -668,31 +542,25 @@ void WriteArrayToFileOrDie(const string& filename,
fclose(fptr);
}
-bool DumpLinearLeastSquaresProblemToTextFile(const string& directory,
- int iteration,
+bool DumpLinearLeastSquaresProblemToTextFile(const string& filename_base,
const SparseMatrix* A,
const double* D,
const double* b,
const double* x,
int num_eliminate_blocks) {
CHECK_NOTNULL(A);
- string format_string = JoinPath(directory,
- "lm_iteration_%03d");
- string filename_prefix =
- StringPrintf(format_string.c_str(), iteration);
-
- LOG(INFO) << "writing to: " << filename_prefix << "*";
+ LOG(INFO) << "writing to: " << filename_base << "*";
string matlab_script;
StringAppendF(&matlab_script,
- "function lsqp = lm_iteration_%03d()\n", iteration);
+ "function lsqp = load_trust_region_problem()\n");
StringAppendF(&matlab_script,
"lsqp.num_rows = %d;\n", A->num_rows());
StringAppendF(&matlab_script,
"lsqp.num_cols = %d;\n", A->num_cols());
{
- string filename = filename_prefix + "_A.txt";
+ string filename = filename_base + "_A.txt";
FILE* fptr = fopen(filename.c_str(), "w");
CHECK_NOTNULL(fptr);
A->ToTextFile(fptr);
@@ -708,33 +576,33 @@ bool DumpLinearLeastSquaresProblemToTextFile(const string& directory,
if (D != NULL) {
- string filename = filename_prefix + "_D.txt";
+ string filename = filename_base + "_D.txt";
WriteArrayToFileOrDie(filename, D, A->num_cols());
StringAppendF(&matlab_script,
"lsqp.D = load('%s', '-ascii');\n", filename.c_str());
}
if (b != NULL) {
- string filename = filename_prefix + "_b.txt";
+ string filename = filename_base + "_b.txt";
WriteArrayToFileOrDie(filename, b, A->num_rows());
StringAppendF(&matlab_script,
"lsqp.b = load('%s', '-ascii');\n", filename.c_str());
}
if (x != NULL) {
- string filename = filename_prefix + "_x.txt";
+ string filename = filename_base + "_x.txt";
WriteArrayToFileOrDie(filename, x, A->num_cols());
StringAppendF(&matlab_script,
"lsqp.x = load('%s', '-ascii');\n", filename.c_str());
}
- string matlab_filename = filename_prefix + ".m";
+ string matlab_filename = filename_base + ".m";
WriteStringToFileOrDie(matlab_script, matlab_filename);
return true;
}
+} // namespace
-bool DumpLinearLeastSquaresProblem(const string& directory,
- int iteration,
+bool DumpLinearLeastSquaresProblem(const string& filename_base,
DumpFormatType dump_format_type,
const SparseMatrix* A,
const double* D,
@@ -742,20 +610,11 @@ bool DumpLinearLeastSquaresProblem(const string& directory,
const double* x,
int num_eliminate_blocks) {
switch (dump_format_type) {
- case (CONSOLE):
- return DumpLinearLeastSquaresProblemToConsole(directory,
- iteration,
- A, D, b, x,
+ case CONSOLE:
+ return DumpLinearLeastSquaresProblemToConsole(A, D, b, x,
num_eliminate_blocks);
- case (PROTOBUF):
- return DumpLinearLeastSquaresProblemToProtocolBuffer(
- directory,
- iteration,
- A, D, b, x,
- num_eliminate_blocks);
- case (TEXTFILE):
- return DumpLinearLeastSquaresProblemToTextFile(directory,
- iteration,
+ case TEXTFILE:
+ return DumpLinearLeastSquaresProblemToTextFile(filename_base,
A, D, b, x,
num_eliminate_blocks);
default:
generated by cgit v1.2.3 (git 2.25.1) at 2024-05-29 12:51:21 +0000