mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
c4a329155c
This support was broken due to the TrustRegionMinimizer refactoring. It is now enabled again, with the responsibilty for dumping the problem shifted to the individual TrustRegionStrategy. There is however one wrinkle, which is perhaps an indication of poor design to start with. The LinearLeastSquaresProblemProto carries in it num_eliminate_blocks, something which does not exist anymore. More importantly, the TrustRegionStrategy does not have access to this quantity anymore. Dealing with this will be the subject of a future change. Change-Id: I358adf6a2e386f4940b617bf950d6c7e87d2635d
87 lines
3.6 KiB
C++
87 lines
3.6 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& filename_base,
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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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