mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
caf614a6c1
Mostly done using
find . \( -name '*.cc' -o -name '*.h' \) -a -type f -exec clang-tidy -p \
cmake-build -checks='-*,google-*,modernize-*,-modernize-use-nodiscard,-modernize-use-trailing-return-type' {} -fix \;
Change-Id: Ifccbcabe7a1d9a32a09d28ac4f3f8466696c1a50
84 lines
3.2 KiB
C++
84 lines
3.2 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/dense_qr_solver.h"
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#include <cstddef>
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#include "Eigen/Dense"
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#include "ceres/dense_qr.h"
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#include "ceres/dense_sparse_matrix.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/linear_solver.h"
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#include "ceres/types.h"
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#include "ceres/wall_time.h"
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namespace ceres::internal {
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DenseQRSolver::DenseQRSolver(const LinearSolver::Options& options)
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: options_(options), dense_qr_(DenseQR::Create(options)) {}
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LinearSolver::Summary DenseQRSolver::SolveImpl(
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DenseSparseMatrix* A,
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const double* b,
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const LinearSolver::PerSolveOptions& per_solve_options,
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double* x) {
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EventLogger event_logger("DenseQRSolver::Solve");
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const int num_rows = A->num_rows();
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const int num_cols = A->num_cols();
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const int num_augmented_rows =
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num_rows + ((per_solve_options.D != nullptr) ? num_cols : 0);
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if (lhs_.rows() != num_augmented_rows || lhs_.cols() != num_cols) {
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lhs_.resize(num_augmented_rows, num_cols);
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rhs_.resize(num_augmented_rows);
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}
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lhs_.topRows(num_rows) = A->matrix();
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rhs_.head(num_rows) = ConstVectorRef(b, num_rows);
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if (num_rows != num_augmented_rows) {
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lhs_.bottomRows(num_cols) =
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ConstVectorRef(per_solve_options.D, num_cols).asDiagonal();
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rhs_.tail(num_cols).setZero();
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}
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LinearSolver::Summary summary;
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summary.termination_type = dense_qr_->FactorAndSolve(
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lhs_.rows(), lhs_.cols(), lhs_.data(), rhs_.data(), x, &summary.message);
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summary.num_iterations = 1;
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event_logger.AddEvent("Solve");
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return summary;
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}
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} // namespace ceres::internal
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