mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
b051873a55
1. Added support for CXSparse - SparseNormalCholesky and SchurComplementSolver support SuiteSparse and CXSparse now. I am not sure I will add suport for visibility based preconditioning using CXSparse. Its not a high priority. 2. New enum SparseLinearAlgebraLibraryType which allows the user to indicate which sparse linear algebra library should be used. 3. Updated tests for SolverImpl and system_test. 4. Build system changes to automatically detect CXSparse and link to it by default -- just like SuiteSparse. 5. Minor bug fixes dealing in the cmake files and VBP. 6. Changed the order of the system test. 7. Deduped the unsymmetric linear solver test. Change-Id: I33252a103c87b722ecb7ed7b5f0ae7fd91249244
109 lines
3.4 KiB
C++
109 lines
3.4 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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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 <string>
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#include "ceres/types.h"
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namespace ceres {
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#define CASESTR(x) case x: return #x
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const char* LinearSolverTypeToString(LinearSolverType solver_type) {
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switch (solver_type) {
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CASESTR(SPARSE_NORMAL_CHOLESKY);
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CASESTR(DENSE_QR);
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CASESTR(DENSE_SCHUR);
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CASESTR(SPARSE_SCHUR);
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CASESTR(ITERATIVE_SCHUR);
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CASESTR(CGNR);
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default:
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return "UNKNOWN";
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}
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}
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const char* PreconditionerTypeToString(
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PreconditionerType preconditioner_type) {
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switch (preconditioner_type) {
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CASESTR(IDENTITY);
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CASESTR(JACOBI);
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CASESTR(SCHUR_JACOBI);
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CASESTR(CLUSTER_JACOBI);
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CASESTR(CLUSTER_TRIDIAGONAL);
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default:
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return "UNKNOWN";
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}
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}
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const char* SparseLinearAlgebraLibraryTypeToString(
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SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type) {
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switch (sparse_linear_algebra_library_type) {
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CASESTR(SUITE_SPARSE);
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CASESTR(CX_SPARSE);
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default:
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return "UNKNOWN";
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}
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}
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const char* OrderingTypeToString(OrderingType ordering_type) {
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switch (ordering_type) {
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CASESTR(NATURAL);
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CASESTR(USER);
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CASESTR(SCHUR);
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default:
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return "UNKNOWN";
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}
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}
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const char* SolverTerminationTypeToString(
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SolverTerminationType termination_type) {
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switch (termination_type) {
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CASESTR(NO_CONVERGENCE);
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CASESTR(FUNCTION_TOLERANCE);
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CASESTR(GRADIENT_TOLERANCE);
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CASESTR(PARAMETER_TOLERANCE);
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CASESTR(NUMERICAL_FAILURE);
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CASESTR(USER_ABORT);
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CASESTR(USER_SUCCESS);
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CASESTR(DID_NOT_RUN);
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default:
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return "UNKNOWN";
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}
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}
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#undef CASESTR
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bool IsSchurType(LinearSolverType type) {
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return ((type == SPARSE_SCHUR) ||
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(type == DENSE_SCHUR) ||
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(type == ITERATIVE_SCHUR));
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}
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} // namespace ceres
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