mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sameer Agarwal
76 lines
3.4 KiB
C++
76 lines
3.4 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2022 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: markshachkov@gmail.com (Mark Shachkov)
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#ifndef CERES_INTERNAL_POWER_SERIES_EXPANSION_PRECONDITIONER_H_
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#define CERES_INTERNAL_POWER_SERIES_EXPANSION_PRECONDITIONER_H_
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#include "ceres/implicit_schur_complement.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/internal/export.h"
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#include "ceres/preconditioner.h"
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namespace ceres::internal {
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// This is a preconditioner via power series expansion of Schur
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// complement inverse based on "Weber et al, Power Bundle Adjustment for
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// Large-Scale 3D Reconstruction".
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//
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//
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// TODO(https://github.com/ceres-solver/ceres-solver/issues/934): In
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// PowerSeriesExpansionPreconditioner::RightMultiplyAndAccumulate only
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// operations performed via ImplicitSchurComplement are threaded.
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// PowerSeriesExpansionPreconditioner will benefit from multithreading
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// applied to remaning operations (block-sparse right product and several
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// vector operations)
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class CERES_NO_EXPORT PowerSeriesExpansionPreconditioner
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: public Preconditioner {
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public:
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PowerSeriesExpansionPreconditioner(const ImplicitSchurComplement* isc,
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const int max_num_spse_iterations,
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const double spse_tolerance);
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PowerSeriesExpansionPreconditioner(
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const PowerSeriesExpansionPreconditioner&) = delete;
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void operator=(const PowerSeriesExpansionPreconditioner&) = delete;
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~PowerSeriesExpansionPreconditioner() override;
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void RightMultiplyAndAccumulate(const double* x, double* y) const final;
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bool Update(const LinearOperator& A, const double* D) final;
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int num_rows() const final;
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private:
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const ImplicitSchurComplement* isc_;
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const int max_num_spse_iterations_;
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const double spse_tolerance_;
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};
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} // namespace ceres::internal
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#endif // CERES_INTERNAL_POWER_SERIES_EXPANSION_PRECONDITIONER_H_
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