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Add power series expansion preconditioner

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Implementation of "Power Bundle Adjustment for Large-Scale 3D
Reconstruction" by Weber et. al. added in the form of preconditioner.

Change-Id: Ie85526a5fc46f74256f6dfe9173c3571f7160f3a
This commit is contained in:
Mark Shachkov
2022-08-08 16:11:53 +03:00
parent 04899645cc
commit 20e85bbe34
10 changed files with 596 additions and 9 deletions
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include/ceres/types.h
+8 -1
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@@ -97,7 +97,7 @@ enum PreconditionerType {
// Block diagonal of the Gauss-Newton Hessian.
JACOBI,
// Note: The following three preconditioners can only be used with
// Note: The following four preconditioners can only be used with
// the ITERATIVE_SCHUR solver. They are well suited for Structure
// from Motion problems.
@@ -105,6 +105,13 @@ enum PreconditionerType {
// only be used with the ITERATIVE_SCHUR solver.
SCHUR_JACOBI,
// Use power series expansion to approximate the inversion of Schur complement
// as a preconditioner.
// WARNING! Application of this preconditioner currently is not integrated
// into linear solvers, so failure to use it via public API is expected
// behaviour.
SCHUR_POWER_SERIES_EXPANSION,
// Visibility clustering based preconditioners.
//
// The following two preconditioners use the visibility structure of