mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sergiu Deitsch
f90833f5fa
Currently, the logic for exporting symbols is rather complicated: when tests are enabled internal symbols are exported in addition to the public symbols. Such logic causes several problems. (1) Test binaries link against a Ceres build that is different from the final release since fewer optimizations are applied if more symbols are exported. (2) Also, some toolchains hide symbols by default breaking the existing logic eventually causing linker errors. Since internal symbols are not intended to be used outside of the project, we can compile them into object files and use exactly the same binary code both for the final build and the tests without relying on conditionals. By default, all symbols are now hidden unless annotated as public. Internal symbols are explicitly marked as not being exported in case users chose not to hide symbols by default. Change-Id: I589dd10be2f6f438508783cf99d141af0120057b
127 lines
4.9 KiB
C++
127 lines
4.9 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: sameragarwal@google.com (Sameer Agarwal)
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#ifndef CERES_INTERNAL_PREPROCESSOR_H_
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#define CERES_INTERNAL_PREPROCESSOR_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/coordinate_descent_minimizer.h"
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#include "ceres/evaluator.h"
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#include "ceres/internal/disable_warnings.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/internal/export.h"
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#include "ceres/iteration_callback.h"
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#include "ceres/linear_solver.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/solver.h"
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namespace ceres {
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namespace internal {
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struct PreprocessedProblem;
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// Given a Problem object and a Solver::Options object indicating the
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// configuration of the solver, the job of the Preprocessor is to
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// analyze the Problem and perform the setup needed to solve it using
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// the desired Minimization algorithm. The setup involves removing
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// redundancies in the input problem (inactive parameter and residual
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// blocks), finding fill reducing orderings as needed, configuring and
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// creating various objects needed by the Minimizer to solve the
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// problem such as an evaluator, a linear solver etc.
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//
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// Each Minimizer (LineSearchMinimizer and TrustRegionMinimizer) comes
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// with a corresponding Preprocessor (LineSearchPreprocessor and
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// TrustRegionPreprocessor) that knows about its needs and performs
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// the preprocessing needed.
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//
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// The output of the Preprocessor is stored in a PreprocessedProblem
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// object.
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class CERES_NO_EXPORT Preprocessor {
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public:
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// Factory.
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static std::unique_ptr<Preprocessor> Create(MinimizerType minimizer_type);
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virtual ~Preprocessor();
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virtual bool Preprocess(const Solver::Options& options,
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ProblemImpl* problem,
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PreprocessedProblem* pp) = 0;
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};
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// A PreprocessedProblem is the result of running the Preprocessor on
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// a Problem and Solver::Options object.
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struct CERES_NO_EXPORT PreprocessedProblem {
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PreprocessedProblem() : fixed_cost(0.0) {}
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std::string error;
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Solver::Options options;
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LinearSolver::Options linear_solver_options;
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Evaluator::Options evaluator_options;
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Minimizer::Options minimizer_options;
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ProblemImpl* problem;
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std::unique_ptr<ProblemImpl> gradient_checking_problem;
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std::unique_ptr<Program> reduced_program;
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std::unique_ptr<LinearSolver> linear_solver;
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std::unique_ptr<IterationCallback> logging_callback;
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std::unique_ptr<IterationCallback> state_updating_callback;
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std::shared_ptr<Evaluator> evaluator;
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std::shared_ptr<CoordinateDescentMinimizer> inner_iteration_minimizer;
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std::vector<double*> removed_parameter_blocks;
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Vector reduced_parameters;
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double fixed_cost;
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};
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// Common functions used by various preprocessors.
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// If the user has specified a num_threads > the maximum number of threads
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// available from the compiled threading model, bound the number of threads
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// to the maximum.
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CERES_NO_EXPORT
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void ChangeNumThreadsIfNeeded(Solver::Options* options);
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// Extract the effective parameter vector from the preprocessed
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// problem and setup bits of the Minimizer::Options object that are
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// common to all Preprocessors.
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CERES_NO_EXPORT
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void SetupCommonMinimizerOptions(PreprocessedProblem* pp);
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} // namespace internal
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} // namespace ceres
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#include "ceres/internal/reenable_warnings.h"
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#endif // CERES_INTERNAL_PREPROCESSOR_H_
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