Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 1 | // Ceres Solver - A fast non-linear least squares minimizer |
| 2 | // Copyright 2010, 2011, 2012 Google Inc. All rights reserved. |
| 3 | // http://code.google.com/p/ceres-solver/ |
| 4 | // |
| 5 | // Redistribution and use in source and binary forms, with or without |
| 6 | // modification, are permitted provided that the following conditions are met: |
| 7 | // |
| 8 | // * Redistributions of source code must retain the above copyright notice, |
| 9 | // this list of conditions and the following disclaimer. |
| 10 | // * Redistributions in binary form must reproduce the above copyright notice, |
| 11 | // this list of conditions and the following disclaimer in the documentation |
| 12 | // and/or other materials provided with the distribution. |
| 13 | // * Neither the name of Google Inc. nor the names of its contributors may be |
| 14 | // used to endorse or promote products derived from this software without |
| 15 | // specific prior written permission. |
| 16 | // |
| 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 18 | // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 19 | // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 20 | // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 21 | // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 22 | // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 23 | // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 24 | // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 25 | // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 26 | // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 27 | // POSSIBILITY OF SUCH DAMAGE. |
| 28 | // |
| 29 | // Author: keir@google.com (Keir Mierle) |
| 30 | |
| 31 | #ifndef CERES_INTERNAL_SOLVER_IMPL_H_ |
| 32 | #define CERES_INTERNAL_SOLVER_IMPL_H_ |
| 33 | |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 34 | #include <set> |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 35 | #include <string> |
| 36 | #include <vector> |
| 37 | #include "ceres/internal/port.h" |
| 38 | #include "ceres/ordered_groups.h" |
| 39 | #include "ceres/problem_impl.h" |
| 40 | #include "ceres/solver.h" |
| 41 | |
| 42 | namespace ceres { |
| 43 | namespace internal { |
| 44 | |
| 45 | class CoordinateDescentMinimizer; |
| 46 | class Evaluator; |
| 47 | class LinearSolver; |
| 48 | class Program; |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 49 | class TripletSparseMatrix; |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 50 | |
| 51 | class SolverImpl { |
| 52 | public: |
| 53 | // Mirrors the interface in solver.h, but exposes implementation |
| 54 | // details for testing internally. |
| 55 | static void Solve(const Solver::Options& options, |
| 56 | ProblemImpl* problem_impl, |
| 57 | Solver::Summary* summary); |
| 58 | |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 59 | static void TrustRegionSolve(const Solver::Options& options, |
| 60 | ProblemImpl* problem_impl, |
| 61 | Solver::Summary* summary); |
| 62 | |
| 63 | // Run the TrustRegionMinimizer for the given evaluator and configuration. |
| 64 | static void TrustRegionMinimize( |
| 65 | const Solver::Options &options, |
| 66 | Program* program, |
| 67 | CoordinateDescentMinimizer* inner_iteration_minimizer, |
| 68 | Evaluator* evaluator, |
| 69 | LinearSolver* linear_solver, |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 70 | Solver::Summary* summary); |
| 71 | |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 72 | static void LineSearchSolve(const Solver::Options& options, |
| 73 | ProblemImpl* problem_impl, |
| 74 | Solver::Summary* summary); |
| 75 | |
| 76 | // Run the LineSearchMinimizer for the given evaluator and configuration. |
| 77 | static void LineSearchMinimize(const Solver::Options &options, |
| 78 | Program* program, |
| 79 | Evaluator* evaluator, |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 80 | Solver::Summary* summary); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 81 | |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 82 | // Create the transformed Program, which has all the fixed blocks |
| 83 | // and residuals eliminated, and in the case of automatic schur |
| 84 | // ordering, has the E blocks first in the resulting program, with |
| 85 | // options.num_eliminate_blocks set appropriately. |
| 86 | // |
| 87 | // If fixed_cost is not NULL, the residual blocks that are removed |
| 88 | // are evaluated and the sum of their cost is returned in fixed_cost. |
| 89 | static Program* CreateReducedProgram(Solver::Options* options, |
| 90 | ProblemImpl* problem_impl, |
| 91 | double* fixed_cost, |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 92 | string* message); |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 93 | |
| 94 | // Create the appropriate linear solver, taking into account any |
| 95 | // config changes decided by CreateTransformedProgram(). The |
| 96 | // selected linear solver, which may be different from what the user |
| 97 | // selected; consider the case that the remaining elimininated |
| 98 | // blocks is zero after removing fixed blocks. |
| 99 | static LinearSolver* CreateLinearSolver(Solver::Options* options, |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 100 | string* message); |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 101 | |
| 102 | // Create the appropriate evaluator for the transformed program. |
| 103 | static Evaluator* CreateEvaluator( |
| 104 | const Solver::Options& options, |
| 105 | const ProblemImpl::ParameterMap& parameter_map, |
| 106 | Program* program, |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 107 | string* message); |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 108 | |
| 109 | static bool IsOrderingValid(const Solver::Options& options, |
| 110 | const ProblemImpl* problem_impl, |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 111 | string* message); |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 112 | |
| 113 | static bool IsParameterBlockSetIndependent( |
| 114 | const set<double*>& parameter_block_ptrs, |
| 115 | const vector<ResidualBlock*>& residual_blocks); |
| 116 | |
| 117 | static CoordinateDescentMinimizer* CreateInnerIterationMinimizer( |
| 118 | const Solver::Options& options, |
| 119 | const Program& program, |
| 120 | const ProblemImpl::ParameterMap& parameter_map, |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 121 | Solver::Summary* summary); |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 122 | }; |
| 123 | |
| 124 | } // namespace internal |
| 125 | } // namespace ceres |
| 126 | |
| 127 | #endif // CERES_INTERNAL_SOLVER_IMPL_H_ |