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Diffstat (limited to 'extern/ceres/internal/ceres/lapack.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/lapack.cc | 190 |
1 files changed, 0 insertions, 190 deletions
diff --git a/extern/ceres/internal/ceres/lapack.cc b/extern/ceres/internal/ceres/lapack.cc deleted file mode 100644 index a159ec70696..00000000000 --- a/extern/ceres/internal/ceres/lapack.cc +++ /dev/null @@ -1,190 +0,0 @@ -// 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: sameeragarwal@google.com (Sameer Agarwal) - -#include "ceres/lapack.h" - -#include "ceres/internal/port.h" -#include "ceres/linear_solver.h" -#include "glog/logging.h" - -#ifndef CERES_NO_LAPACK -// C interface to the LAPACK Cholesky factorization and triangular solve. -extern "C" void dpotrf_(char* uplo, int* n, double* a, int* lda, int* info); - -extern "C" void dpotrs_(char* uplo, - int* n, - int* nrhs, - double* a, - int* lda, - double* b, - int* ldb, - int* info); - -extern "C" void dgels_(char* uplo, - int* m, - int* n, - int* nrhs, - double* a, - int* lda, - double* b, - int* ldb, - double* work, - int* lwork, - int* info); -#endif - -namespace ceres { -namespace internal { - -LinearSolverTerminationType LAPACK::SolveInPlaceUsingCholesky( - int num_rows, - const double* in_lhs, - double* rhs_and_solution, - std::string* message) { -#ifdef CERES_NO_LAPACK - LOG(FATAL) << "Ceres was built without a BLAS library."; - return LINEAR_SOLVER_FATAL_ERROR; -#else - char uplo = 'L'; - int n = num_rows; - int info = 0; - int nrhs = 1; - double* lhs = const_cast<double*>(in_lhs); - - dpotrf_(&uplo, &n, lhs, &n, &info); - if (info < 0) { - LOG(FATAL) << "Congratulations, you found a bug in Ceres." - << "Please report it." - << "LAPACK::dpotrf fatal error." - << "Argument: " << -info << " is invalid."; - return LINEAR_SOLVER_FATAL_ERROR; - } - - if (info > 0) { - *message = StringPrintf( - "LAPACK::dpotrf numerical failure. " - "The leading minor of order %d is not positive definite.", - info); - return LINEAR_SOLVER_FAILURE; - } - - dpotrs_(&uplo, &n, &nrhs, lhs, &n, rhs_and_solution, &n, &info); - if (info < 0) { - LOG(FATAL) << "Congratulations, you found a bug in Ceres." - << "Please report it." - << "LAPACK::dpotrs fatal error." - << "Argument: " << -info << " is invalid."; - return LINEAR_SOLVER_FATAL_ERROR; - } - - *message = "Success"; - return LINEAR_SOLVER_SUCCESS; -#endif -} - -int LAPACK::EstimateWorkSizeForQR(int num_rows, int num_cols) { -#ifdef CERES_NO_LAPACK - LOG(FATAL) << "Ceres was built without a LAPACK library."; - return -1; -#else - char trans = 'N'; - int nrhs = 1; - int lwork = -1; - double work; - int info = 0; - dgels_(&trans, - &num_rows, - &num_cols, - &nrhs, - NULL, - &num_rows, - NULL, - &num_rows, - &work, - &lwork, - &info); - - if (info < 0) { - LOG(FATAL) << "Congratulations, you found a bug in Ceres." - << "Please report it." - << "LAPACK::dgels fatal error." - << "Argument: " << -info << " is invalid."; - } - return static_cast<int>(work); -#endif -} - -LinearSolverTerminationType LAPACK::SolveInPlaceUsingQR( - int num_rows, - int num_cols, - const double* in_lhs, - int work_size, - double* work, - double* rhs_and_solution, - std::string* message) { -#ifdef CERES_NO_LAPACK - LOG(FATAL) << "Ceres was built without a LAPACK library."; - return LINEAR_SOLVER_FATAL_ERROR; -#else - char trans = 'N'; - int m = num_rows; - int n = num_cols; - int nrhs = 1; - int lda = num_rows; - int ldb = num_rows; - int info = 0; - double* lhs = const_cast<double*>(in_lhs); - - dgels_(&trans, - &m, - &n, - &nrhs, - lhs, - &lda, - rhs_and_solution, - &ldb, - work, - &work_size, - &info); - - if (info < 0) { - LOG(FATAL) << "Congratulations, you found a bug in Ceres." - << "Please report it." - << "LAPACK::dgels fatal error." - << "Argument: " << -info << " is invalid."; - } - - *message = "Success."; - return LINEAR_SOLVER_SUCCESS; -#endif -} - -} // namespace internal -} // namespace ceres |