mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sergey Sharybin
f258e4624f
Main purpose of this is to make implementation files free from endless ifdef blocks every time this libraries are needed to be included. This would hopefully prevent compilation errors in the future caused by missing ifdef around header include. This also includes some stubs added to suitesparse/cxsparse headers to make code even more free from ifdefs. Change-Id: Ic8554e7df31d8c4751583fe004b99e71b3c9087b
93 lines
3.5 KiB
C++
93 lines
3.5 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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//
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// A solver for sparse linear least squares problem based on solving
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// the normal equations via a sparse cholesky factorization.
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#ifndef CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
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#define CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
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#if !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARSE)
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#include "ceres/cxsparse.h"
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#include "ceres/internal/macros.h"
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#include "ceres/linear_solver.h"
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#include "ceres/suitesparse.h"
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namespace ceres {
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namespace internal {
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class CompressedRowSparseMatrix;
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// Solves the normal equations (A'A + D'D) x = A'b, using the CHOLMOD sparse
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// cholesky solver.
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class SparseNormalCholeskySolver : public CompressedRowSparseMatrixSolver {
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public:
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explicit SparseNormalCholeskySolver(const LinearSolver::Options& options);
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virtual ~SparseNormalCholeskySolver();
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private:
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virtual LinearSolver::Summary SolveImpl(
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CompressedRowSparseMatrix* A,
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const double* b,
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const LinearSolver::PerSolveOptions& options,
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double* x);
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LinearSolver::Summary SolveImplUsingSuiteSparse(
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CompressedRowSparseMatrix* A,
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const double* b,
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const LinearSolver::PerSolveOptions& options,
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double* x);
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// Crashes if CSparse is not installed.
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LinearSolver::Summary SolveImplUsingCXSparse(
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CompressedRowSparseMatrix* A,
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const double* b,
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const LinearSolver::PerSolveOptions& options,
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double* x);
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SuiteSparse ss_;
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// Cached factorization
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cholmod_factor* factor_;
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CXSparse cxsparse_;
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// Cached factorization
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cs_dis* cxsparse_factor_;
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const LinearSolver::Options options_;
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CERES_DISALLOW_COPY_AND_ASSIGN(SparseNormalCholeskySolver);
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};
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} // namespace internal
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} // namespace ceres
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#endif // !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARSE)
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#endif // CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
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