mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sameer Agarwal
b97ffeadbb
Replace WallTimeInSeconds with absl::Now and use absl::Time and absl::Duration objects instead of doubles. wall_time.h/cc -> event_logger.h/cc Change-Id: I41279961368840fbdf6bb3456ffdbdf2f9bfb85b
104 lines
4.0 KiB
C++
104 lines
4.0 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2023 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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#ifndef CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
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#define CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
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#include <map>
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#include <memory>
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#include <string>
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#include "absl/log/check.h"
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#include "ceres/evaluator.h"
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#include "ceres/execution_summary.h"
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#include "ceres/gradient_problem.h"
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#include "ceres/internal/disable_warnings.h"
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#include "ceres/internal/export.h"
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#include "ceres/sparse_matrix.h"
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namespace ceres::internal {
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class CERES_NO_EXPORT GradientProblemEvaluator final : public Evaluator {
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public:
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explicit GradientProblemEvaluator(const GradientProblem& problem)
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: problem_(problem) {}
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std::unique_ptr<SparseMatrix> CreateJacobian() const final { return nullptr; }
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bool Evaluate(const EvaluateOptions& /*evaluate_options*/,
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const double* state,
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double* cost,
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double* /*residuals*/,
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double* gradient,
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SparseMatrix* jacobian) final {
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CHECK(jacobian == nullptr);
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ScopedExecutionTimer total_timer("Evaluator::Total", &execution_summary_);
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// The reason we use Residual and Jacobian here even when we are
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// only computing the cost and gradient has to do with the fact
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// that the line search minimizer code is used by both the
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// GradientProblemSolver and the main CeresSolver coder where the
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// Evaluator evaluates the Jacobian, and these magic strings need
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// to be consistent across the code base for the time accounting
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// to work.
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ScopedExecutionTimer call_type_timer(
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gradient == nullptr ? "Evaluator::Residual" : "Evaluator::Jacobian",
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&execution_summary_);
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return problem_.Evaluate(state, cost, gradient);
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}
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bool Plus(const double* state,
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const double* delta,
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double* state_plus_delta) const final {
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return problem_.Plus(state, delta, state_plus_delta);
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}
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int NumParameters() const final { return problem_.NumParameters(); }
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int NumEffectiveParameters() const final {
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return problem_.NumTangentParameters();
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}
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int NumResiduals() const final { return 1; }
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std::map<std::string, internal::CallStatistics> Statistics() const final {
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return execution_summary_.statistics();
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}
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private:
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const GradientProblem& problem_;
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::ceres::internal::ExecutionSummary execution_summary_;
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};
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} // namespace ceres::internal
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#include "ceres/internal/reenable_warnings.h"
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#endif // CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
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