1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
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_
|
