diff options
Diffstat (limited to 'internal/ceres/solver_impl.h')
| -rw-r--r-- | internal/ceres/solver_impl.h | 104 |
1 files changed, 4 insertions, 100 deletions
diff --git a/internal/ceres/solver_impl.h b/internal/ceres/solver_impl.h index 2b7ca3e..c42c32a 100644 --- a/internal/ceres/solver_impl.h +++ b/internal/ceres/solver_impl.h @@ -67,10 +67,8 @@ class SolverImpl { CoordinateDescentMinimizer* inner_iteration_minimizer, Evaluator* evaluator, LinearSolver* linear_solver, - double* parameters, Solver::Summary* summary); -#ifndef CERES_NO_LINE_SEARCH_MINIMIZER static void LineSearchSolve(const Solver::Options& options, ProblemImpl* problem_impl, Solver::Summary* summary); @@ -79,9 +77,7 @@ class SolverImpl { static void LineSearchMinimize(const Solver::Options &options, Program* program, Evaluator* evaluator, - double* parameters, Solver::Summary* summary); -#endif // CERES_NO_LINE_SEARCH_MINIMIZER // Create the transformed Program, which has all the fixed blocks // and residuals eliminated, and in the case of automatic schur @@ -93,7 +89,7 @@ class SolverImpl { static Program* CreateReducedProgram(Solver::Options* options, ProblemImpl* problem_impl, double* fixed_cost, - string* error); + string* message); // Create the appropriate linear solver, taking into account any // config changes decided by CreateTransformedProgram(). The @@ -101,38 +97,18 @@ class SolverImpl { // selected; consider the case that the remaining elimininated // blocks is zero after removing fixed blocks. static LinearSolver* CreateLinearSolver(Solver::Options* options, - string* error); - - // Reorder the residuals for program, if necessary, so that the - // residuals involving e block (i.e., the first num_eliminate_block - // parameter blocks) occur together. This is a necessary condition - // for the Schur eliminator. - static bool LexicographicallyOrderResidualBlocks( - const int num_eliminate_blocks, - Program* program, - string* error); + string* message); // Create the appropriate evaluator for the transformed program. static Evaluator* CreateEvaluator( const Solver::Options& options, const ProblemImpl::ParameterMap& parameter_map, Program* program, - string* error); - - // Remove the fixed or unused parameter blocks and residuals - // depending only on fixed parameters from the problem. Also updates - // num_eliminate_blocks, since removed parameters changes the point - // at which the eliminated blocks is valid. If fixed_cost is not - // NULL, the residual blocks that are removed are evaluated and the - // sum of their cost is returned in fixed_cost. - static bool RemoveFixedBlocksFromProgram(Program* program, - ParameterBlockOrdering* ordering, - double* fixed_cost, - string* error); + string* message); static bool IsOrderingValid(const Solver::Options& options, const ProblemImpl* problem_impl, - string* error); + string* message); static bool IsParameterBlockSetIndependent( const set<double*>& parameter_block_ptrs, @@ -143,78 +119,6 @@ class SolverImpl { const Program& program, const ProblemImpl::ParameterMap& parameter_map, Solver::Summary* summary); - - // If the linear solver is of Schur type, then replace it with the - // closest equivalent linear solver. This is done when the user - // requested a Schur type solver but the problem structure makes it - // impossible to use one. - // - // If the linear solver is not of Schur type, the function is a - // no-op. - static void AlternateLinearSolverForSchurTypeLinearSolver( - Solver::Options* options); - - // Create a TripletSparseMatrix which contains the zero-one - // structure corresponding to the block sparsity of the transpose of - // the Jacobian matrix. - // - // Caller owns the result. - static TripletSparseMatrix* CreateJacobianBlockSparsityTranspose( - const Program* program); - - // Reorder the parameter blocks in program using the ordering - static bool ApplyUserOrdering( - const ProblemImpl::ParameterMap& parameter_map, - const ParameterBlockOrdering* parameter_block_ordering, - Program* program, - string* error); - - // Sparse cholesky factorization routines when doing the sparse - // cholesky factorization of the Jacobian matrix, reorders its - // columns to reduce the fill-in. Compute this permutation and - // re-order the parameter blocks. - // - // If the parameter_block_ordering contains more than one - // elimination group and support for constrained fill-reducing - // ordering is available in the sparse linear algebra library - // (SuiteSparse version >= 4.2.0) then the fill reducing - // ordering will take it into account, otherwise it will be ignored. - static bool ReorderProgramForSparseNormalCholesky( - const SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type, - const ParameterBlockOrdering* parameter_block_ordering, - Program* program, - string* error); - - // Schur type solvers require that all parameter blocks eliminated - // by the Schur eliminator occur before others and the residuals be - // sorted in lexicographic order of their parameter blocks. - // - // If the parameter_block_ordering only contains one elimination - // group then a maximal independent set is computed and used as the - // first elimination group, otherwise the user's ordering is used. - // - // If the linear solver type is SPARSE_SCHUR and support for - // constrained fill-reducing ordering is available in the sparse - // linear algebra library (SuiteSparse version >= 4.2.0) then - // columns of the schur complement matrix are ordered to reduce the - // fill-in the Cholesky factorization. - // - // Upon return, ordering contains the parameter block ordering that - // was used to order the program. - static bool ReorderProgramForSchurTypeLinearSolver( - const LinearSolverType linear_solver_type, - const SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type, - const ProblemImpl::ParameterMap& parameter_map, - ParameterBlockOrdering* parameter_block_ordering, - Program* program, - string* error); - - // array contains a list of (possibly repeating) non-negative - // integers. Let us assume that we have constructed another array - // `p` by sorting and uniqueing the entries of array. - // CompactifyArray replaces each entry in "array" with its position - // in `p`. - static void CompactifyArray(vector<int>* array); }; } // namespace internal |