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Diffstat (limited to 'extern/ceres/internal/ceres/linear_solver.cc')
-rw-r--r-- | extern/ceres/internal/ceres/linear_solver.cc | 119 |
1 files changed, 119 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/linear_solver.cc b/extern/ceres/internal/ceres/linear_solver.cc new file mode 100644 index 00000000000..38e4625f747 --- /dev/null +++ b/extern/ceres/internal/ceres/linear_solver.cc @@ -0,0 +1,119 @@ +// 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/linear_solver.h" + +#include "ceres/cgnr_solver.h" +#include "ceres/dense_normal_cholesky_solver.h" +#include "ceres/dense_qr_solver.h" +#include "ceres/iterative_schur_complement_solver.h" +#include "ceres/schur_complement_solver.h" +#include "ceres/sparse_normal_cholesky_solver.h" +#include "ceres/types.h" +#include "glog/logging.h" + +namespace ceres { +namespace internal { + +LinearSolver::~LinearSolver() { +} + +LinearSolverType LinearSolver::LinearSolverForZeroEBlocks( + LinearSolverType linear_solver_type) { + if (!IsSchurType(linear_solver_type)) { + return linear_solver_type; + } + + if (linear_solver_type == SPARSE_SCHUR) { + return SPARSE_NORMAL_CHOLESKY; + } + + if (linear_solver_type == DENSE_SCHUR) { + // TODO(sameeragarwal): This is probably not a great choice. + // Ideally, we should have a DENSE_NORMAL_CHOLESKY, that can take + // a BlockSparseMatrix as input. + return DENSE_QR; + } + + if (linear_solver_type == ITERATIVE_SCHUR) { + return CGNR; + } + + return linear_solver_type; +} + +LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) { + switch (options.type) { + case CGNR: + return new CgnrSolver(options); + + case SPARSE_NORMAL_CHOLESKY: +#if defined(CERES_NO_SUITESPARSE) && \ + defined(CERES_NO_CXSPARSE) && \ + !defined(CERES_USE_EIGEN_SPARSE) + return NULL; +#else + return new SparseNormalCholeskySolver(options); +#endif + + case SPARSE_SCHUR: +#if defined(CERES_NO_SUITESPARSE) && \ + defined(CERES_NO_CXSPARSE) && \ + !defined(CERES_USE_EIGEN_SPARSE) + return NULL; +#else + return new SparseSchurComplementSolver(options); +#endif + + case DENSE_SCHUR: + return new DenseSchurComplementSolver(options); + + case ITERATIVE_SCHUR: + if (options.use_explicit_schur_complement) { + return new SparseSchurComplementSolver(options); + } else { + return new IterativeSchurComplementSolver(options); + } + + case DENSE_QR: + return new DenseQRSolver(options); + + case DENSE_NORMAL_CHOLESKY: + return new DenseNormalCholeskySolver(options); + + default: + LOG(FATAL) << "Unknown linear solver type :" + << options.type; + return NULL; // MSVC doesn't understand that LOG(FATAL) never returns. + } +} + +} // namespace internal +} // namespace ceres |