mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sameer Agarwal
5a30cae583
1. Add a version history 2. Update copyright years across the code base 3. Run format_all.sh 4. Update version strings from 2.1.0 to 2.2.0 in the docs and elsewhere. Change-Id: I46d8d479d54bd6002d532785e67342106e73c9ac
117 lines
4.4 KiB
C++
117 lines
4.4 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2023 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: keir@google.com (Keir Mierle)
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#ifndef CERES_INTERNAL_CGNR_SOLVER_H_
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#define CERES_INTERNAL_CGNR_SOLVER_H_
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#include <memory>
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#include "ceres/conjugate_gradients_solver.h"
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#include "ceres/cuda_sparse_matrix.h"
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#include "ceres/cuda_vector.h"
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#include "ceres/internal/export.h"
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#include "ceres/linear_solver.h"
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namespace ceres::internal {
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class Preconditioner;
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class BlockJacobiPreconditioner;
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// A conjugate gradients on the normal equations solver. This directly solves
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// for the solution to
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//
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// (A^T A + D^T D)x = A^T b
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//
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// as required for solving for x in the least squares sense. Currently only
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// block diagonal preconditioning is supported.
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class CERES_NO_EXPORT CgnrSolver final : public BlockSparseMatrixSolver {
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public:
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explicit CgnrSolver(LinearSolver::Options options);
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CgnrSolver(const CgnrSolver&) = delete;
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void operator=(const CgnrSolver&) = delete;
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~CgnrSolver() override;
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Summary SolveImpl(BlockSparseMatrix* A,
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const double* b,
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const LinearSolver::PerSolveOptions& per_solve_options,
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double* x) final;
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private:
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const LinearSolver::Options options_;
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std::unique_ptr<Preconditioner> preconditioner_;
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Vector cg_solution_;
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Vector* scratch_[4] = {nullptr, nullptr, nullptr, nullptr};
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};
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#ifndef CERES_NO_CUDA
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class CudaPreconditioner : public ConjugateGradientsLinearOperator<CudaVector> {
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public:
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virtual void Update(const CompressedRowSparseMatrix& A, const double* D) = 0;
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virtual ~CudaPreconditioner() = default;
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};
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// A Cuda-accelerated version of CgnrSolver.
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// This solver assumes that the sparsity structure of A remains constant for its
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// lifetime.
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class CERES_NO_EXPORT CudaCgnrSolver final
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: public CompressedRowSparseMatrixSolver {
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public:
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explicit CudaCgnrSolver(LinearSolver::Options options);
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static std::unique_ptr<CudaCgnrSolver> Create(LinearSolver::Options options,
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std::string* error);
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~CudaCgnrSolver() override;
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Summary SolveImpl(CompressedRowSparseMatrix* A,
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const double* b,
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const LinearSolver::PerSolveOptions& per_solve_options,
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double* x) final;
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private:
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void CpuToGpuTransfer(const CompressedRowSparseMatrix& A,
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const double* b,
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const double* D);
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LinearSolver::Options options_;
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std::unique_ptr<CudaSparseMatrix> A_;
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std::unique_ptr<CudaVector> b_;
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std::unique_ptr<CudaVector> x_;
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std::unique_ptr<CudaVector> Atb_;
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std::unique_ptr<CudaVector> Ax_;
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std::unique_ptr<CudaVector> D_;
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std::unique_ptr<CudaPreconditioner> preconditioner_;
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CudaVector* scratch_[4] = {nullptr, nullptr, nullptr, nullptr};
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};
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#endif // CERES_NO_CUDA
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} // namespace ceres::internal
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#endif // CERES_INTERNAL_CGNR_SOLVER_H_
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