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Diffstat (limited to 'internal/ceres/linear_least_squares_problems.h')
-rw-r--r-- | internal/ceres/linear_least_squares_problems.h | 87 |
1 files changed, 87 insertions, 0 deletions
diff --git a/internal/ceres/linear_least_squares_problems.h b/internal/ceres/linear_least_squares_problems.h new file mode 100644 index 0000000..553cc0d --- /dev/null +++ b/internal/ceres/linear_least_squares_problems.h @@ -0,0 +1,87 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2010, 2011, 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_LINEAR_LEAST_SQUARES_PROBLEMS_H_ +#define CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_ + +#include <string> +#include <vector> +#include "ceres/sparse_matrix.h" +#include "ceres/internal/port.h" +#include "ceres/internal/scoped_ptr.h" + +namespace ceres { +namespace internal { + +// Structure defining a linear least squares problem and if possible +// ground truth solutions. To be used by various LinearSolver tests. +struct LinearLeastSquaresProblem { + LinearLeastSquaresProblem() + : A(NULL), b(NULL), D(NULL), num_eliminate_blocks(0), + x(NULL), x_D(NULL) { + } + + scoped_ptr<SparseMatrix> A; + scoped_array<double> b; + scoped_array<double> D; + // If using the schur eliminator then how many of the variable + // blocks are e_type blocks. + int num_eliminate_blocks; + + // Solution to min_x |Ax - b|^2 + scoped_array<double> x; + // Solution to min_x |Ax - b|^2 + |Dx|^2 + scoped_array<double> x_D; +}; + +// Factories for linear least squares problem. +LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromId(int id); +LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromFile( + const string& filename); + +LinearLeastSquaresProblem* LinearLeastSquaresProblem0(); +LinearLeastSquaresProblem* LinearLeastSquaresProblem1(); +LinearLeastSquaresProblem* LinearLeastSquaresProblem2(); +LinearLeastSquaresProblem* LinearLeastSquaresProblem3(); + +// Write the linear least squares problem to disk. The exact format +// depends on dump_format_type. +bool DumpLinearLeastSquaresProblem(const string& directory, + int iteration, + DumpFormatType dump_format_type, + const SparseMatrix* A, + const double* D, + const double* b, + const double* x, + int num_eliminate_blocks); +} // namespace internal +} // namespace ceres + +#endif // CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_ |