mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
82f4b88c34
1. Make the mechanism for writing problems to disk, generic and controllable using an enum DumpType visible in the API. 2. Instead of single file containing protocol buffers, now matrices can be written in a matlab/octave friendly format. This is now the default. 3. The support for writing problems to disk is moved into linear_least_squares_problem.cc/h 4. SparseMatrix now has a ToTextFile virtual method which is implemented by each of its subclasses to write a (i,j,s) triplets. 5. Minor changes to simple_bundle_adjuster to enable logging at startup.
88 lines
3.7 KiB
C++
88 lines
3.7 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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#ifndef CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
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#define CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
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#include <string>
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#include <vector>
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#include "ceres/sparse_matrix.h"
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#include "ceres/internal/port.h"
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#include "ceres/internal/scoped_ptr.h"
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namespace ceres {
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namespace internal {
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// Structure defining a linear least squares problem and if possible
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// ground truth solutions. To be used by various LinearSolver tests.
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struct LinearLeastSquaresProblem {
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LinearLeastSquaresProblem()
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: A(NULL), b(NULL), D(NULL), num_eliminate_blocks(0),
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x(NULL), x_D(NULL) {
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}
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scoped_ptr<SparseMatrix> A;
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scoped_array<double> b;
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scoped_array<double> D;
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// If using the schur eliminator then how many of the variable
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// blocks are e_type blocks.
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int num_eliminate_blocks;
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// Solution to min_x |Ax - b|^2
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scoped_array<double> x;
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// Solution to min_x |Ax - b|^2 + |Dx|^2
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scoped_array<double> x_D;
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};
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// Factories for linear least squares problem.
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LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromId(int id);
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LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromFile(
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const string& filename);
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LinearLeastSquaresProblem* LinearLeastSquaresProblem0();
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LinearLeastSquaresProblem* LinearLeastSquaresProblem1();
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LinearLeastSquaresProblem* LinearLeastSquaresProblem2();
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LinearLeastSquaresProblem* LinearLeastSquaresProblem3();
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// Write the linear least squares problem to disk. The exact format
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// depends on dump_format_type.
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bool DumpLinearLeastSquaresProblem(const string& directory,
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int iteration,
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DumpFormatType dump_format_type,
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const SparseMatrix* A,
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const double* D,
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const double* b,
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const double* x,
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int num_eliminate_blocks);
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
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