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Diffstat (limited to 'internal/ceres/solver_impl.h')
| -rw-r--r-- | internal/ceres/solver_impl.h | 140 |
1 files changed, 140 insertions, 0 deletions
diff --git a/internal/ceres/solver_impl.h b/internal/ceres/solver_impl.h new file mode 100644 index 0000000..09141ae --- /dev/null +++ b/internal/ceres/solver_impl.h @@ -0,0 +1,140 @@ +// 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: keir@google.com (Keir Mierle) + +#ifndef CERES_INTERNAL_SOLVER_IMPL_H_ +#define CERES_INTERNAL_SOLVER_IMPL_H_ + +#include <string> +#include <vector> +#include "ceres/internal/port.h" +#include "ceres/ordered_groups.h" +#include "ceres/problem_impl.h" +#include "ceres/solver.h" + +namespace ceres { +namespace internal { + +class CoordinateDescentMinimizer; +class Evaluator; +class LinearSolver; +class Program; + +class SolverImpl { + public: + // Mirrors the interface in solver.h, but exposes implementation + // details for testing internally. + static void Solve(const Solver::Options& options, + ProblemImpl* problem_impl, + Solver::Summary* summary); + + // Create the transformed Program, which has all the fixed blocks + // and residuals eliminated, and in the case of automatic schur + // ordering, has the E blocks first in the resulting program, with + // options.num_eliminate_blocks set appropriately. + // + // 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 Program* CreateReducedProgram(Solver::Options* options, + ProblemImpl* problem_impl, + double* fixed_cost, + string* error); + + // Create the appropriate linear solver, taking into account any + // config changes decided by CreateTransformedProgram(). The + // selected linear solver, which may be different from what the user + // 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 parameter blocks in program using the ordering. A + // return value of true indicates success and false indicates an + // error was encountered whose cause is logged to LOG(ERROR). + static bool ApplyUserOrdering(const ProblemImpl::ParameterMap& parameter_map, + const ParameterBlockOrdering* ordering, + Program* program, + 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); + + // Create the appropriate evaluator for the transformed program. + static Evaluator* CreateEvaluator( + const Solver::Options& options, + const ProblemImpl::ParameterMap& parameter_map, + Program* program, + string* error); + + // Run the minimization for the given evaluator and configuration. + static void Minimize(const Solver::Options &options, + Program* program, + CoordinateDescentMinimizer* inner_iteration_minimizer, + Evaluator* evaluator, + LinearSolver* linear_solver, + double* parameters, + Solver::Summary* summary); + + // 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); + + static bool IsOrderingValid(const Solver::Options& options, + const ProblemImpl* problem_impl, + string* error); + + static bool IsParameterBlockSetIndependent( + const set<double*>& parameter_block_ptrs, + const vector<ResidualBlock*>& residual_blocks); + + static CoordinateDescentMinimizer* CreateInnerIterationMinimizer( + const Solver::Options& options, + const Program& program, + const ProblemImpl::ParameterMap& parameter_map, + string* error); +}; + +} // namespace internal +} // namespace ceres + +#endif // CERES_INTERNAL_SOLVER_IMPL_H_ |