mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 17:10:38 +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
76 lines
3.0 KiB
C++
76 lines
3.0 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2018 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/iterative_refiner.h"
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#include <string>
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#include "Eigen/Core"
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#include "ceres/sparse_cholesky.h"
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#include "ceres/sparse_matrix.h"
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namespace ceres {
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namespace internal {
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IterativeRefiner::IterativeRefiner(const int max_num_iterations)
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: max_num_iterations_(max_num_iterations) {}
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IterativeRefiner::~IterativeRefiner() {}
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void IterativeRefiner::Allocate(int num_cols) {
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residual_.resize(num_cols);
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correction_.resize(num_cols);
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lhs_x_solution_.resize(num_cols);
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}
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void IterativeRefiner::Refine(const SparseMatrix& lhs,
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const double* rhs_ptr,
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SparseCholesky* sparse_cholesky,
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double* solution_ptr) {
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const int num_cols = lhs.num_cols();
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Allocate(num_cols);
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ConstVectorRef rhs(rhs_ptr, num_cols);
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VectorRef solution(solution_ptr, num_cols);
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for (int i = 0; i < max_num_iterations_; ++i) {
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// residual = rhs - lhs * solution
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lhs_x_solution_.setZero();
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lhs.RightMultiply(solution_ptr, lhs_x_solution_.data());
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residual_ = rhs - lhs_x_solution_;
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// solution += lhs^-1 residual
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std::string ignored_message;
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sparse_cholesky->Solve(
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residual_.data(), correction_.data(), &ignored_message);
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solution += correction_;
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}
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};
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} // namespace internal
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} // namespace ceres
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