mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
29c21f5680
SparseCholesky is an interface to sparse cholesky factorization routines across sparse linear algebra libraries. Each sparse linear algebra library is responsible for implementing its own instance of this interface. As a result the various places - SparseNormalCholeskySolver, SparseSchurComplementSolver and VisibilityBasedPreconditioner are significantly simplified. Change-Id: I8b465705eae83bba9e1adfffcc741a05c70faf2e
101 lines
3.7 KiB
C++
101 lines
3.7 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2017 Google Inc. All rights reserved.
|
|
// http://ceres-solver.org/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: sameeragarwal@google.com (Sameer Agarwal)
|
|
|
|
#include "ceres/sparse_cholesky.h"
|
|
|
|
#include "ceres/cxsparse.h"
|
|
#include "ceres/eigensparse.h"
|
|
#include "ceres/suitesparse.h"
|
|
|
|
namespace ceres {
|
|
namespace internal {
|
|
|
|
SparseCholesky* SparseCholesky::Create(
|
|
SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
|
|
OrderingType ordering_type) {
|
|
switch (sparse_linear_algebra_library_type) {
|
|
case SUITE_SPARSE:
|
|
#ifndef CERES_NO_SUITESPARSE
|
|
return SuiteSparseCholesky::Create(ordering_type);
|
|
#else
|
|
LOG(FATAL) << "Ceres was compiled without support for SuiteSparse.";
|
|
return NULL;
|
|
#endif
|
|
|
|
case EIGEN_SPARSE:
|
|
#ifdef CERES_USE_EIGEN_SPARSE
|
|
return EigenSparseCholesky::Create(ordering_type);
|
|
#else
|
|
LOG(FATAL) << "Ceres was compiled without support for "
|
|
<< "Eigen's sparse Cholesky factorization routines.";
|
|
return NULL;
|
|
#endif
|
|
|
|
case CX_SPARSE:
|
|
#ifndef CERES_NO_CXSPARSE
|
|
return CXSparseCholesky::Create(ordering_type);
|
|
#else
|
|
LOG(FATAL) << "Ceres was compiled without support for CXSparse.";
|
|
return NULL;
|
|
#endif
|
|
|
|
default:
|
|
LOG(FATAL) << "Unknown sparse linear algebra library type : "
|
|
<< SparseLinearAlgebraLibraryTypeToString(
|
|
sparse_linear_algebra_library_type);
|
|
}
|
|
return NULL;
|
|
}
|
|
|
|
SparseCholesky::~SparseCholesky() {}
|
|
|
|
LinearSolverTerminationType SparseCholesky::FactorAndSolve(
|
|
CompressedRowSparseMatrix* lhs,
|
|
const double* rhs,
|
|
double* solution,
|
|
std::string* message) {
|
|
LinearSolverTerminationType termination_type = Factorize(lhs, message);
|
|
if (termination_type == LINEAR_SOLVER_SUCCESS) {
|
|
termination_type = Solve(rhs, solution, message);
|
|
}
|
|
return termination_type;
|
|
}
|
|
|
|
CompressedRowSparseMatrix::StorageType StorageTypeForSparseLinearAlgebraLibrary(
|
|
SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type) {
|
|
if (sparse_linear_algebra_library_type == SUITE_SPARSE) {
|
|
return CompressedRowSparseMatrix::UPPER_TRIANGULAR;
|
|
}
|
|
return CompressedRowSparseMatrix::LOWER_TRIANGULAR;
|
|
}
|
|
|
|
} // namespace internal
|
|
} // namespace ceres
|