mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
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
109 lines
3.8 KiB
C++
109 lines
3.8 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: sameeragarwal@google.com (Sameer Agarwal)
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#include "ceres/line_search_preprocessor.h"
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#include <numeric>
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#include <string>
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#include "ceres/casts.h"
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#include "ceres/context_impl.h"
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#include "ceres/evaluator.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/wall_time.h"
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namespace ceres {
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namespace internal {
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namespace {
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bool IsProgramValid(const Program& program, std::string* error) {
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if (program.IsBoundsConstrained()) {
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*error = "LINE_SEARCH Minimizer does not support bounds.";
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return false;
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}
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return program.ParameterBlocksAreFinite(error);
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}
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bool SetupEvaluator(PreprocessedProblem* pp) {
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pp->evaluator_options = Evaluator::Options();
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// This ensures that we get a Block Jacobian Evaluator without any
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// requirement on orderings.
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pp->evaluator_options.linear_solver_type = CGNR;
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pp->evaluator_options.num_eliminate_blocks = 0;
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pp->evaluator_options.num_threads = pp->options.num_threads;
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pp->evaluator_options.context = pp->problem->context();
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pp->evaluator_options.evaluation_callback =
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pp->reduced_program->mutable_evaluation_callback();
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pp->evaluator.reset(Evaluator::Create(
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pp->evaluator_options, pp->reduced_program.get(), &pp->error));
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return (pp->evaluator.get() != NULL);
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}
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} // namespace
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LineSearchPreprocessor::~LineSearchPreprocessor() {}
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bool LineSearchPreprocessor::Preprocess(const Solver::Options& options,
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ProblemImpl* problem,
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PreprocessedProblem* pp) {
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CHECK(pp != nullptr);
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pp->options = options;
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ChangeNumThreadsIfNeeded(&pp->options);
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pp->problem = problem;
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Program* program = problem->mutable_program();
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if (!IsProgramValid(*program, &pp->error)) {
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return false;
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}
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pp->reduced_program.reset(program->CreateReducedProgram(
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&pp->removed_parameter_blocks, &pp->fixed_cost, &pp->error));
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if (pp->reduced_program.get() == NULL) {
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return false;
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}
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if (pp->reduced_program->NumParameterBlocks() == 0) {
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return true;
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}
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if (!SetupEvaluator(pp)) {
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return false;
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}
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SetupCommonMinimizerOptions(pp);
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return true;
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}
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} // namespace internal
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} // namespace ceres
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