mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +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
96 lines
4.0 KiB
C++
96 lines
4.0 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: sameeragarwal@google.com (Sameer Agarwal)
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#ifndef CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
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#define CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_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/internal/disable_warnings.h"
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#include "ceres/internal/export.h"
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#include "ceres/sparse_matrix.h"
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namespace ceres::internal {
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// Structure defining a linear least squares problem and if possible
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// ground truth solutions. To be used by various LinearSolver tests.
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struct CERES_NO_EXPORT LinearLeastSquaresProblem {
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LinearLeastSquaresProblem() = default;
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std::unique_ptr<SparseMatrix> A;
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std::unique_ptr<double[]> b;
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std::unique_ptr<double[]> D;
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// If using the schur eliminator then how many of the variable
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// blocks are e_type blocks.
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int num_eliminate_blocks{0};
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// Solution to min_x |Ax - b|^2
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std::unique_ptr<double[]> x;
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// Solution to min_x |Ax - b|^2 + |Dx|^2
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std::unique_ptr<double[]> x_D;
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};
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// Factories for linear least squares problem.
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CERES_NO_EXPORT std::unique_ptr<LinearLeastSquaresProblem>
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CreateLinearLeastSquaresProblemFromId(int id);
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CERES_NO_EXPORT
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std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem0();
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CERES_NO_EXPORT
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std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem1();
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CERES_NO_EXPORT
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std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem2();
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CERES_NO_EXPORT
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std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem3();
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CERES_NO_EXPORT
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std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem4();
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CERES_NO_EXPORT
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std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem5();
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CERES_NO_EXPORT
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std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem6();
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// Write the linear least squares problem to disk. The exact format
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// depends on dump_format_type.
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CERES_NO_EXPORT
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bool DumpLinearLeastSquaresProblem(const std::string& filename_base,
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DumpFormatType dump_format_type,
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const SparseMatrix* A,
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const double* D,
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const double* b,
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const double* x,
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int num_eliminate_blocks);
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} // namespace ceres::internal
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#include "ceres/internal/reenable_warnings.h"
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#endif // CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
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