mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 17:10:38 +08:00
Sameer Agarwal
b16e118b96
A lot of error checking cruft has accumulated over the years in the various linear solvers. This change makes the error reporting more robust and consistent across the various solvers. Preconditioners are not covered by this change and will be the subject of a future change. Change-Id: Ibeb2572a1e67758953dde8d12e3abc6d1df9052d
89 lines
3.4 KiB
C++
89 lines
3.4 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2012 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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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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#include "ceres/cgnr_solver.h"
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#include "ceres/block_jacobi_preconditioner.h"
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#include "ceres/cgnr_linear_operator.h"
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#include "ceres/conjugate_gradients_solver.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/linear_solver.h"
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#include "ceres/wall_time.h"
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#include "glog/logging.h"
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namespace ceres {
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namespace internal {
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CgnrSolver::CgnrSolver(const LinearSolver::Options& options)
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: options_(options),
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preconditioner_(NULL) {
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if (options_.preconditioner_type != JACOBI &&
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options_.preconditioner_type != IDENTITY) {
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LOG(FATAL) << "CGNR only supports IDENTITY and JACOBI preconditioners.";
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}
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}
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LinearSolver::Summary CgnrSolver::SolveImpl(
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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) {
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EventLogger event_logger("CgnrSolver::Solve");
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// Form z = Atb.
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Vector z(A->num_cols());
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z.setZero();
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A->LeftMultiply(b, z.data());
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// Precondition if necessary.
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LinearSolver::PerSolveOptions cg_per_solve_options = per_solve_options;
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if (options_.preconditioner_type == JACOBI) {
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if (preconditioner_.get() == NULL) {
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preconditioner_.reset(new BlockJacobiPreconditioner(*A));
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}
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preconditioner_->Update(*A, per_solve_options.D);
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cg_per_solve_options.preconditioner = preconditioner_.get();
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}
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// Solve (AtA + DtD)x = z (= Atb).
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VectorRef(x, A->num_cols()).setZero();
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CgnrLinearOperator lhs(*A, per_solve_options.D);
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event_logger.AddEvent("Setup");
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ConjugateGradientsSolver conjugate_gradient_solver(options_);
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LinearSolver::Summary summary =
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conjugate_gradient_solver.Solve(&lhs, z.data(), cg_per_solve_options, x);
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event_logger.AddEvent("Solve");
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return summary;
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}
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} // namespace internal
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} // namespace ceres
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