diff options
Diffstat (limited to 'extern/ceres/include/ceres/types.h')
| -rw-r--r-- | extern/ceres/include/ceres/types.h | 71 |
1 files changed, 51 insertions, 20 deletions
diff --git a/extern/ceres/include/ceres/types.h b/extern/ceres/include/ceres/types.h index 2ea41803629..3a19b7333b2 100644 --- a/extern/ceres/include/ceres/types.h +++ b/extern/ceres/include/ceres/types.h @@ -1,5 +1,5 @@ // Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2015 Google Inc. All rights reserved. +// Copyright 2019 Google Inc. All rights reserved. // http://ceres-solver.org/ // // Redistribution and use in source and binary forms, with or without @@ -39,15 +39,11 @@ #include <string> -#include "ceres/internal/port.h" #include "ceres/internal/disable_warnings.h" +#include "ceres/internal/port.h" namespace ceres { -// Basic integer types. These typedefs are in the Ceres namespace to avoid -// conflicts with other packages having similar typedefs. -typedef int int32; - // Argument type used in interfaces that can optionally take ownership // of a passed in argument. If TAKE_OWNERSHIP is passed, the called // object takes ownership of the pointer argument, and will call @@ -116,10 +112,29 @@ enum PreconditionerType { // the scene to determine the sparsity structure of the // preconditioner. This is done using a clustering algorithm. The // available visibility clustering algorithms are described below. - // - // Note: Requires SuiteSparse. CLUSTER_JACOBI, - CLUSTER_TRIDIAGONAL + CLUSTER_TRIDIAGONAL, + + // Subset preconditioner is a general purpose preconditioner + // linear least squares problems. Given a set of residual blocks, + // it uses the corresponding subset of the rows of the Jacobian to + // construct a preconditioner. + // + // Suppose the Jacobian J has been horizontally partitioned as + // + // J = [P] + // [Q] + // + // Where, Q is the set of rows corresponding to the residual + // blocks in residual_blocks_for_subset_preconditioner. + // + // The preconditioner is the inverse of the matrix Q'Q. + // + // Obviously, the efficacy of the preconditioner depends on how + // well the matrix Q approximates J'J, or how well the chosen + // residual blocks approximate the non-linear least squares + // problem. + SUBSET, }; enum VisibilityClusteringType { @@ -150,7 +165,7 @@ enum SparseLinearAlgebraLibraryType { // minimum degree ordering. SUITE_SPARSE, - // A lightweight replacment for SuiteSparse, which does not require + // A lightweight replacement for SuiteSparse, which does not require // a LAPACK/BLAS implementation. Consequently, its performance is // also a bit lower than SuiteSparse. CX_SPARSE, @@ -159,6 +174,9 @@ enum SparseLinearAlgebraLibraryType { // the Simplicial LDLT routines. EIGEN_SPARSE, + // Apple's Accelerate framework sparse linear algebra routines. + ACCELERATE_SPARSE, + // No sparse linear solver should be used. This does not necessarily // imply that Ceres was built without any sparse library, although that // is the likely use case, merely that one should not be used. @@ -202,7 +220,7 @@ enum LineSearchDirectionType { // symmetric matrix but only N conditions are specified by the Secant // equation. The requirement that the Hessian approximation be positive // definite imposes another N additional constraints, but that still leaves - // remaining degrees-of-freedom. (L)BFGS methods uniquely deteremine the + // remaining degrees-of-freedom. (L)BFGS methods uniquely determine the // approximate Hessian by imposing the additional constraints that the // approximation at the next iteration must be the 'closest' to the current // approximation (the nature of how this proximity is measured is actually @@ -222,26 +240,26 @@ enum LineSearchDirectionType { // For more details on BFGS see: // // Broyden, C.G., "The Convergence of a Class of Double-rank Minimization - // Algorithms,"; J. Inst. Maths. Applics., Vol. 6, pp 76–90, 1970. + // Algorithms,"; J. Inst. Maths. Applics., Vol. 6, pp 76-90, 1970. // // Fletcher, R., "A New Approach to Variable Metric Algorithms," - // Computer Journal, Vol. 13, pp 317–322, 1970. + // Computer Journal, Vol. 13, pp 317-322, 1970. // // Goldfarb, D., "A Family of Variable Metric Updates Derived by Variational - // Means," Mathematics of Computing, Vol. 24, pp 23–26, 1970. + // Means," Mathematics of Computing, Vol. 24, pp 23-26, 1970. // // Shanno, D.F., "Conditioning of Quasi-Newton Methods for Function - // Minimization," Mathematics of Computing, Vol. 24, pp 647–656, 1970. + // Minimization," Mathematics of Computing, Vol. 24, pp 647-656, 1970. // // For more details on L-BFGS see: // // Nocedal, J. (1980). "Updating Quasi-Newton Matrices with Limited - // Storage". Mathematics of Computation 35 (151): 773–782. + // Storage". Mathematics of Computation 35 (151): 773-782. // // Byrd, R. H.; Nocedal, J.; Schnabel, R. B. (1994). // "Representations of Quasi-Newton Matrices and their use in // Limited Memory Methods". Mathematical Programming 63 (4): - // 129–156. + // 129-156. // // A general reference for both methods: // @@ -250,7 +268,7 @@ enum LineSearchDirectionType { BFGS, }; -// Nonliner conjugate gradient methods are a generalization of the +// Nonlinear conjugate gradient methods are a generalization of the // method of Conjugate Gradients for linear systems. The // generalization can be carried out in a number of different ways // leading to number of different rules for computing the search @@ -420,10 +438,16 @@ enum LineSearchInterpolationType { enum CovarianceAlgorithmType { DENSE_SVD, - SUITE_SPARSE_QR, - EIGEN_SPARSE_QR + SPARSE_QR, }; +// It is a near impossibility that user code generates this exact +// value in normal operation, thus we will use it to fill arrays +// before passing them to user code. If on return an element of the +// array still contains this value, we will assume that the user code +// did not write to that memory location. +const double kImpossibleValue = 1e302; + CERES_EXPORT const char* LinearSolverTypeToString( LinearSolverType type); CERES_EXPORT bool StringToLinearSolverType(std::string value, @@ -493,6 +517,13 @@ CERES_EXPORT bool StringToNumericDiffMethodType( std::string value, NumericDiffMethodType* type); +CERES_EXPORT const char* LoggingTypeToString(LoggingType type); +CERES_EXPORT bool StringtoLoggingType(std::string value, LoggingType* type); + +CERES_EXPORT const char* DumpFormatTypeToString(DumpFormatType type); +CERES_EXPORT bool StringtoDumpFormatType(std::string value, DumpFormatType* type); +CERES_EXPORT bool StringtoDumpFormatType(std::string value, LoggingType* type); + CERES_EXPORT const char* TerminationTypeToString(TerminationType type); CERES_EXPORT bool IsSchurType(LinearSolverType type); |