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https://github.com/ceres-solver/ceres-solver.git
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Nikolaus Demmel
7b8f675bfd
- Change formatting standard to Cpp11. Main difference is not having the space between two closing >> for nested templates. We don't choose c++14, because older versions of clang-format (version 9 and earlier) don't know this value yet, and it doesn't make a difference in the formatting. - Apply clang-format to all (non generated) internal source files. - Manually fix some code sections (clang-format on/off) and c-strings - Exclude some embedded external files with very different formatting (gtest/gmock) - Add script to format all source files Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d
122 lines
4.7 KiB
C++
122 lines
4.7 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 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: sameragarwal@google.com (Sameer Agarwal)
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#ifndef CERES_INTERNAL_PREPROCESSOR_H_
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#define CERES_INTERNAL_PREPROCESSOR_H_
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#include <memory>
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#include <string>
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#include <vector>
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#include "ceres/coordinate_descent_minimizer.h"
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#include "ceres/evaluator.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/internal/port.h"
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#include "ceres/iteration_callback.h"
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#include "ceres/linear_solver.h"
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#include "ceres/minimizer.h"
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#include "ceres/problem_impl.h"
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#include "ceres/program.h"
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#include "ceres/solver.h"
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namespace ceres {
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namespace internal {
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struct PreprocessedProblem;
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// Given a Problem object and a Solver::Options object indicating the
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// configuration of the solver, the job of the Preprocessor is to
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// analyze the Problem and perform the setup needed to solve it using
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// the desired Minimization algorithm. The setup involves removing
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// redundancies in the input problem (inactive parameter and residual
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// blocks), finding fill reducing orderings as needed, configuring and
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// creating various objects needed by the Minimizer to solve the
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// problem such as an evaluator, a linear solver etc.
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//
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// Each Minimizer (LineSearchMinimizer and TrustRegionMinimizer) comes
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// with a corresponding Preprocessor (LineSearchPreprocessor and
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// TrustRegionPreprocessor) that knows about its needs and performs
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// the preprocessing needed.
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//
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// The output of the Preprocessor is stored in a PreprocessedProblem
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// object.
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class Preprocessor {
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public:
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// Factory.
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static Preprocessor* Create(MinimizerType minimizer_type);
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virtual ~Preprocessor();
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virtual bool Preprocess(const Solver::Options& options,
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ProblemImpl* problem,
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PreprocessedProblem* pp) = 0;
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};
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// A PreprocessedProblem is the result of running the Preprocessor on
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// a Problem and Solver::Options object.
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struct PreprocessedProblem {
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PreprocessedProblem() : fixed_cost(0.0) {}
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std::string error;
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Solver::Options options;
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LinearSolver::Options linear_solver_options;
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Evaluator::Options evaluator_options;
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Minimizer::Options minimizer_options;
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ProblemImpl* problem;
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std::unique_ptr<ProblemImpl> gradient_checking_problem;
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std::unique_ptr<Program> reduced_program;
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std::unique_ptr<LinearSolver> linear_solver;
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std::unique_ptr<IterationCallback> logging_callback;
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std::unique_ptr<IterationCallback> state_updating_callback;
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std::shared_ptr<Evaluator> evaluator;
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std::shared_ptr<CoordinateDescentMinimizer> inner_iteration_minimizer;
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std::vector<double*> removed_parameter_blocks;
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Vector reduced_parameters;
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double fixed_cost;
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};
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// Common functions used by various preprocessors.
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// If the user has specified a num_threads > the maximum number of threads
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// available from the compiled threading model, bound the number of threads
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// to the maximum.
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void ChangeNumThreadsIfNeeded(Solver::Options* options);
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// Extract the effective parameter vector from the preprocessed
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// problem and setup bits of the Minimizer::Options object that are
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// common to all Preprocessors.
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void SetupCommonMinimizerOptions(PreprocessedProblem* pp);
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_PREPROCESSOR_H_
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