mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
caf614a6c1
Mostly done using
find . \( -name '*.cc' -o -name '*.h' \) -a -type f -exec clang-tidy -p \
cmake-build -checks='-*,google-*,modernize-*,-modernize-use-nodiscard,-modernize-use-trailing-return-type' {} -fix \;
Change-Id: Ifccbcabe7a1d9a32a09d28ac4f3f8466696c1a50
107 lines
4.3 KiB
C++
107 lines
4.3 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 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: sameragarwal@google.com (Sameer Agarwal)
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#include "ceres/preprocessor.h"
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#include <memory>
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#include "ceres/callbacks.h"
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#include "ceres/gradient_checking_cost_function.h"
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#include "ceres/line_search_preprocessor.h"
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#include "ceres/parallel_for.h"
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#include "ceres/problem_impl.h"
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#include "ceres/solver.h"
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#include "ceres/trust_region_preprocessor.h"
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namespace ceres::internal {
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std::unique_ptr<Preprocessor> Preprocessor::Create(
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MinimizerType minimizer_type) {
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if (minimizer_type == TRUST_REGION) {
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return std::make_unique<TrustRegionPreprocessor>();
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}
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if (minimizer_type == LINE_SEARCH) {
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return std::make_unique<LineSearchPreprocessor>();
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}
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LOG(FATAL) << "Unknown minimizer_type: " << minimizer_type;
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return nullptr;
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}
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Preprocessor::~Preprocessor() = default;
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void ChangeNumThreadsIfNeeded(Solver::Options* options) {
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if (options->num_threads == 1) {
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return;
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}
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const int num_threads_available = MaxNumThreadsAvailable();
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if (options->num_threads > num_threads_available) {
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LOG(WARNING) << "Specified options.num_threads: " << options->num_threads
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<< " exceeds maximum available from the threading model Ceres "
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<< "was compiled with: " << num_threads_available
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<< ". Bounding to maximum number available.";
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options->num_threads = num_threads_available;
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}
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}
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void SetupCommonMinimizerOptions(PreprocessedProblem* pp) {
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const Solver::Options& options = pp->options;
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Program* program = pp->reduced_program.get();
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// Assuming that the parameter blocks in the program have been
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// reordered as needed, extract them into a contiguous vector.
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pp->reduced_parameters.resize(program->NumParameters());
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double* reduced_parameters = pp->reduced_parameters.data();
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program->ParameterBlocksToStateVector(reduced_parameters);
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Minimizer::Options& minimizer_options = pp->minimizer_options;
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minimizer_options = Minimizer::Options(options);
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minimizer_options.evaluator = pp->evaluator;
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if (options.logging_type != SILENT) {
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pp->logging_callback = std::make_unique<LoggingCallback>(
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options.minimizer_type, options.minimizer_progress_to_stdout);
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minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
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pp->logging_callback.get());
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}
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if (options.update_state_every_iteration) {
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pp->state_updating_callback =
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std::make_unique<StateUpdatingCallback>(program, reduced_parameters);
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// This must get pushed to the front of the callbacks so that it
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// is run before any of the user callbacks.
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minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
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pp->state_updating_callback.get());
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}
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}
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} // namespace ceres::internal
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