mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
2ffddaccfe
This is safer than using virtual and this lead to a minor bug fixes. Change-Id: Id69cb1cc569bf6bf245f22f029c7871b6c712568
87 lines
3.4 KiB
C++
87 lines
3.4 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2017 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: sameeragarwal@google.com (Sameer Agarwal)
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//
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// A solver for sparse linear least squares problem based on solving
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// the normal equations via a sparse cholesky factorization.
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#ifndef CERES_INTERNAL_DYNAMIC_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
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#define CERES_INTERNAL_DYNAMIC_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
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// This include must come before any #ifndef check on Ceres compile options.
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#include "ceres/internal/port.h"
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#include "ceres/linear_solver.h"
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namespace ceres {
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namespace internal {
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class CompressedRowSparseMatrix;
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// A variant of SparseNormalCholeskySolver in the case where matrix
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// sparsity is not constant across calls to Solve. This means that
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// there is no benefit to symbolically factorizing the matrix and
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// caching this factorization.
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//
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// TODO(alex): Add support for Accelerate sparse solvers:
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// https://github.com/ceres-solver/ceres-solver/issues/397
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class DynamicSparseNormalCholeskySolver
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: public CompressedRowSparseMatrixSolver {
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public:
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explicit DynamicSparseNormalCholeskySolver(
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const LinearSolver::Options& options);
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virtual ~DynamicSparseNormalCholeskySolver() {}
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private:
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LinearSolver::Summary SolveImpl(
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CompressedRowSparseMatrix* A,
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const double* b,
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const LinearSolver::PerSolveOptions& options,
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double* x) final;
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LinearSolver::Summary SolveImplUsingSuiteSparse(
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CompressedRowSparseMatrix* A,
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double* rhs_and_solution);
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LinearSolver::Summary SolveImplUsingCXSparse(
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CompressedRowSparseMatrix* A,
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double* rhs_and_solution);
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LinearSolver::Summary SolveImplUsingEigen(
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CompressedRowSparseMatrix* A,
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double* rhs_and_solution);
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const LinearSolver::Options options_;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_DYNAMIC_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
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