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Diffstat (limited to 'extern/ceres/internal/ceres/preprocessor.h')
-rw-r--r-- | extern/ceres/internal/ceres/preprocessor.h | 122 |
1 files changed, 122 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/preprocessor.h b/extern/ceres/internal/ceres/preprocessor.h new file mode 100644 index 00000000000..ff53d6f0d3f --- /dev/null +++ b/extern/ceres/internal/ceres/preprocessor.h @@ -0,0 +1,122 @@ +// 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: sameragarwal@google.com (Sameer Agarwal) + +#ifndef CERES_INTERNAL_PREPROCESSOR_H_ +#define CERES_INTERNAL_PREPROCESSOR_H_ + +#include <string> +#include <vector> + +#include "ceres/coordinate_descent_minimizer.h" +#include "ceres/evaluator.h" +#include "ceres/internal/eigen.h" +#include "ceres/internal/port.h" +#include "ceres/internal/scoped_ptr.h" +#include "ceres/iteration_callback.h" +#include "ceres/linear_solver.h" +#include "ceres/minimizer.h" +#include "ceres/problem_impl.h" +#include "ceres/program.h" +#include "ceres/solver.h" + +namespace ceres { +namespace internal { + +struct PreprocessedProblem; + +// Given a Problem object and a Solver::Options object indicating the +// configuration of the solver, the job of the Preprocessor is to +// analyze the Problem and perform the setup needed to solve it using +// the desired Minimization algorithm. The setup involves removing +// redundancies in the input problem (inactive parameter and residual +// blocks), finding fill reducing orderings as needed, configuring and +// creating various objects needed by the Minimizer to solve the +// problem such as an evaluator, a linear solver etc. +// +// Each Minimizer (LineSearchMinimizer and TrustRegionMinimizer) comes +// with a corresponding Preprocessor (LineSearchPreprocessor and +// TrustRegionPreprocessor) that knows about its needs and performs +// the preprocessing needed. +// +// The output of the Preprocessor is stored in a PreprocessedProblem +// object. +class Preprocessor { + public: + // Factory. + static Preprocessor* Create(MinimizerType minimizer_type); + virtual ~Preprocessor(); + virtual bool Preprocess(const Solver::Options& options, + ProblemImpl* problem, + PreprocessedProblem* pp) = 0; +}; + +// A PreprocessedProblem is the result of running the Preprocessor on +// a Problem and Solver::Options object. +struct PreprocessedProblem { + PreprocessedProblem() + : fixed_cost(0.0) { + } + + std::string error; + Solver::Options options; + LinearSolver::Options linear_solver_options; + Evaluator::Options evaluator_options; + Minimizer::Options minimizer_options; + + ProblemImpl* problem; + scoped_ptr<ProblemImpl> gradient_checking_problem; + scoped_ptr<Program> reduced_program; + scoped_ptr<LinearSolver> linear_solver; + scoped_ptr<IterationCallback> logging_callback; + scoped_ptr<IterationCallback> state_updating_callback; + + shared_ptr<Evaluator> evaluator; + shared_ptr<CoordinateDescentMinimizer> inner_iteration_minimizer; + + std::vector<double*> removed_parameter_blocks; + Vector reduced_parameters; + double fixed_cost; +}; + +// Common functions used by various preprocessors. + +// If OpenMP support is not available and user has requested more than +// one thread, then set the *_num_threads options as needed to 1. +void ChangeNumThreadsIfNeeded(Solver::Options* options); + +// Extract the effective parameter vector from the preprocessed +// problem and setup bits of the Minimizer::Options object that are +// common to all Preprocessors. +void SetupCommonMinimizerOptions(PreprocessedProblem* pp); + +} // namespace internal +} // namespace ceres + +#endif // CERES_INTERNAL_PREPROCESSOR_H_ |