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Diffstat (limited to 'extern/ceres/internal/ceres/evaluator.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/evaluator.cc | 86 |
1 files changed, 86 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/evaluator.cc b/extern/ceres/internal/ceres/evaluator.cc new file mode 100644 index 00000000000..baba9afa11b --- /dev/null +++ b/extern/ceres/internal/ceres/evaluator.cc @@ -0,0 +1,86 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2015 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: keir@google.com (Keir Mierle) + +#include <vector> +#include "ceres/block_evaluate_preparer.h" +#include "ceres/block_jacobian_writer.h" +#include "ceres/compressed_row_jacobian_writer.h" +#include "ceres/compressed_row_sparse_matrix.h" +#include "ceres/crs_matrix.h" +#include "ceres/dense_jacobian_writer.h" +#include "ceres/dynamic_compressed_row_finalizer.h" +#include "ceres/dynamic_compressed_row_jacobian_writer.h" +#include "ceres/evaluator.h" +#include "ceres/internal/port.h" +#include "ceres/program_evaluator.h" +#include "ceres/scratch_evaluate_preparer.h" +#include "glog/logging.h" + +namespace ceres { +namespace internal { + +Evaluator::~Evaluator() {} + +Evaluator* Evaluator::Create(const Evaluator::Options& options, + Program* program, + std::string* error) { + switch (options.linear_solver_type) { + case DENSE_QR: + case DENSE_NORMAL_CHOLESKY: + return new ProgramEvaluator<ScratchEvaluatePreparer, + DenseJacobianWriter>(options, + program); + case DENSE_SCHUR: + case SPARSE_SCHUR: + case ITERATIVE_SCHUR: + case CGNR: + return new ProgramEvaluator<BlockEvaluatePreparer, + BlockJacobianWriter>(options, + program); + case SPARSE_NORMAL_CHOLESKY: + if (options.dynamic_sparsity) { + return new ProgramEvaluator<ScratchEvaluatePreparer, + DynamicCompressedRowJacobianWriter, + DynamicCompressedRowJacobianFinalizer>( + options, program); + } else { + return new ProgramEvaluator<ScratchEvaluatePreparer, + CompressedRowJacobianWriter>(options, + program); + } + + default: + *error = "Invalid Linear Solver Type. Unable to create evaluator."; + return NULL; + } +} + +} // namespace internal +} // namespace ceres |