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Diffstat (limited to 'extern/libmv/third_party/ceres/internal/ceres/cgnr_solver.cc')
| -rw-r--r-- | extern/libmv/third_party/ceres/internal/ceres/cgnr_solver.cc | 88 |
1 files changed, 0 insertions, 88 deletions
diff --git a/extern/libmv/third_party/ceres/internal/ceres/cgnr_solver.cc b/extern/libmv/third_party/ceres/internal/ceres/cgnr_solver.cc deleted file mode 100644 index 88e61d9ed1b..00000000000 --- a/extern/libmv/third_party/ceres/internal/ceres/cgnr_solver.cc +++ /dev/null @@ -1,88 +0,0 @@ -// Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2012 Google Inc. All rights reserved. -// http://code.google.com/p/ceres-solver/ -// -// 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 "ceres/cgnr_solver.h" - -#include "ceres/block_jacobi_preconditioner.h" -#include "ceres/cgnr_linear_operator.h" -#include "ceres/conjugate_gradients_solver.h" -#include "ceres/internal/eigen.h" -#include "ceres/linear_solver.h" -#include "ceres/wall_time.h" -#include "glog/logging.h" - -namespace ceres { -namespace internal { - -CgnrSolver::CgnrSolver(const LinearSolver::Options& options) - : options_(options), - preconditioner_(NULL) { - if (options_.preconditioner_type != JACOBI && - options_.preconditioner_type != IDENTITY) { - LOG(FATAL) << "CGNR only supports IDENTITY and JACOBI preconditioners."; - } -} - -LinearSolver::Summary CgnrSolver::SolveImpl( - BlockSparseMatrix* A, - const double* b, - const LinearSolver::PerSolveOptions& per_solve_options, - double* x) { - EventLogger event_logger("CgnrSolver::Solve"); - - // Form z = Atb. - Vector z(A->num_cols()); - z.setZero(); - A->LeftMultiply(b, z.data()); - - // Precondition if necessary. - LinearSolver::PerSolveOptions cg_per_solve_options = per_solve_options; - if (options_.preconditioner_type == JACOBI) { - if (preconditioner_.get() == NULL) { - preconditioner_.reset(new BlockJacobiPreconditioner(*A)); - } - preconditioner_->Update(*A, per_solve_options.D); - cg_per_solve_options.preconditioner = preconditioner_.get(); - } - - // Solve (AtA + DtD)x = z (= Atb). - VectorRef(x, A->num_cols()).setZero(); - CgnrLinearOperator lhs(*A, per_solve_options.D); - event_logger.AddEvent("Setup"); - - ConjugateGradientsSolver conjugate_gradient_solver(options_); - LinearSolver::Summary summary = - conjugate_gradient_solver.Solve(&lhs, z.data(), cg_per_solve_options, x); - event_logger.AddEvent("Solve"); - return summary; -} - -} // namespace internal -} // namespace ceres |