mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Richard Stebbing
32530788d0
The standard sparse normal Cholesky solver assumes a fixed sparsity pattern which is useful for a large number of problems presented to Ceres. However, some problems are symbolically dense but numerically sparse i.e. each residual is a function of a large number of parameters but at any given state the residual only depends on a sparse subset of them. For these class of problems it is faster to re-analyse the sparsity pattern of the jacobian at each iteration of the non-linear optimisation instead of including all of the zero entries in the step computation. The proposed solution adds the dynamic_sparsity option which can be used with SPARSE_NORMAL_CHOLESKY. A DynamicCompressedRowSparseMatrix type (which extends CompressedRowSparseMatrix) has been introduced which allows dynamic addition and removal of elements. A Finalize method is provided which then consolidates the matrix so that it can be used in place of a regular CompressedRowSparseMatrix. An associated jacobian writer has also been provided. Changes that were required to make this extension were adding the SetMaxNumNonZeros method to CompressedRowSparseMatrix and adding a JacobianFinalizer template parameter to the ProgramEvaluator. Change-Id: Ia5a8a9523fdae8d5b027bc35e70b4611ec2a8d01
94 lines
3.8 KiB
CMake
94 lines
3.8 KiB
CMake
# Ceres Solver - A fast non-linear least squares minimizer
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# Copyright 2010, 2011, 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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ADD_EXECUTABLE(helloworld helloworld.cc)
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TARGET_LINK_LIBRARIES(helloworld ceres)
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ADD_EXECUTABLE(helloworld_numeric_diff helloworld_numeric_diff.cc)
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TARGET_LINK_LIBRARIES(helloworld_numeric_diff ceres)
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ADD_EXECUTABLE(helloworld_analytic_diff helloworld_analytic_diff.cc)
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TARGET_LINK_LIBRARIES(helloworld_analytic_diff ceres)
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ADD_EXECUTABLE(curve_fitting curve_fitting.cc)
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TARGET_LINK_LIBRARIES(curve_fitting ceres)
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ADD_EXECUTABLE(curve_fitting_c curve_fitting.c)
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TARGET_LINK_LIBRARIES(curve_fitting_c ceres)
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# As this is a C file #including <math.h> we have to explicitly add the math
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# library (libm). Although some compilers (dependent upon options) will accept
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# the indirect link to libm via Ceres, at least GCC 4.8 on pure Debian won't.
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IF (NOT MSVC)
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TARGET_LINK_LIBRARIES(curve_fitting_c m)
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ENDIF (NOT MSVC)
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ADD_EXECUTABLE(ellipse_approximation ellipse_approximation.cc)
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TARGET_LINK_LIBRARIES(ellipse_approximation ceres)
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ADD_EXECUTABLE(robust_curve_fitting robust_curve_fitting.cc)
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TARGET_LINK_LIBRARIES(robust_curve_fitting ceres)
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ADD_EXECUTABLE(simple_bundle_adjuster
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simple_bundle_adjuster.cc)
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TARGET_LINK_LIBRARIES(simple_bundle_adjuster ceres)
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IF (GFLAGS)
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ADD_EXECUTABLE(powell powell.cc)
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TARGET_LINK_LIBRARIES(powell ceres ${GFLAGS_LIBRARIES})
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ADD_EXECUTABLE(nist nist.cc)
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TARGET_LINK_LIBRARIES(nist ceres ${GFLAGS_LIBRARIES})
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ADD_EXECUTABLE(more_garbow_hillstrom more_garbow_hillstrom.cc)
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TARGET_LINK_LIBRARIES(more_garbow_hillstrom ceres ${GFLAGS_LIBRARIES})
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ADD_EXECUTABLE(circle_fit circle_fit.cc)
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TARGET_LINK_LIBRARIES(circle_fit ceres ${GFLAGS_LIBRARIES})
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ADD_EXECUTABLE(bundle_adjuster
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bundle_adjuster.cc
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bal_problem.cc)
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TARGET_LINK_LIBRARIES(bundle_adjuster ceres ${GFLAGS_LIBRARIES})
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ADD_EXECUTABLE(libmv_bundle_adjuster
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libmv_bundle_adjuster.cc)
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TARGET_LINK_LIBRARIES(libmv_bundle_adjuster ceres ${GFLAGS_LIBRARIES})
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ADD_EXECUTABLE(denoising
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denoising.cc
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fields_of_experts.cc)
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TARGET_LINK_LIBRARIES(denoising ceres ${GFLAGS_LIBRARIES})
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ADD_EXECUTABLE(robot_pose_mle
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robot_pose_mle.cc)
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TARGET_LINK_LIBRARIES(robot_pose_mle ceres ${GFLAGS_LIBRARIES})
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ENDIF (GFLAGS)
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