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diff --git a/extern/libmv/third_party/ceres/internal/ceres/evaluator.h b/extern/libmv/third_party/ceres/internal/ceres/evaluator.h deleted file mode 100644 index 8fc60b87869..00000000000 --- a/extern/libmv/third_party/ceres/internal/ceres/evaluator.h +++ /dev/null @@ -1,205 +0,0 @@ -// Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2010, 2011, 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: sameeragarwal@google.com (Sameer Agarwal) -// keir@google.com (Keir Mierle) - -#ifndef CERES_INTERNAL_EVALUATOR_H_ -#define CERES_INTERNAL_EVALUATOR_H_ - -#include <map> -#include <string> -#include <vector> - -#include "ceres/execution_summary.h" -#include "ceres/internal/port.h" -#include "ceres/types.h" - -namespace ceres { - -struct CRSMatrix; - -namespace internal { - -class Program; -class SparseMatrix; - -// The Evaluator interface offers a way to interact with a least squares cost -// function that is useful for an optimizer that wants to minimize the least -// squares objective. This insulates the optimizer from issues like Jacobian -// storage, parameterization, etc. -class Evaluator { - public: - virtual ~Evaluator(); - - struct Options { - Options() - : num_threads(1), - num_eliminate_blocks(-1), - linear_solver_type(DENSE_QR), - dynamic_sparsity(false) {} - - int num_threads; - int num_eliminate_blocks; - LinearSolverType linear_solver_type; - bool dynamic_sparsity; - }; - - static Evaluator* Create(const Options& options, - Program* program, - string* error); - - // This is used for computing the cost, residual and Jacobian for - // returning to the user. For actually solving the optimization - // problem, the optimization algorithm uses the ProgramEvaluator - // objects directly. - // - // The residual, gradients and jacobian pointers can be NULL, in - // which case they will not be evaluated. cost cannot be NULL. - // - // The parallelism of the evaluator is controlled by num_threads; it - // should be at least 1. - // - // Note: That this function does not take a parameter vector as - // input. The parameter blocks are evaluated on the values contained - // in the arrays pointed to by their user_state pointers. - // - // Also worth noting is that this function mutates program by - // calling Program::SetParameterOffsetsAndIndex() on it so that an - // evaluator object can be constructed. - static bool Evaluate(Program* program, - int num_threads, - double* cost, - vector<double>* residuals, - vector<double>* gradient, - CRSMatrix* jacobian); - - // Build and return a sparse matrix for storing and working with the Jacobian - // of the objective function. The jacobian has dimensions - // NumEffectiveParameters() by NumParameters(), and is typically extremely - // sparse. Since the sparsity pattern of the Jacobian remains constant over - // the lifetime of the optimization problem, this method is used to - // instantiate a SparseMatrix object with the appropriate sparsity structure - // (which can be an expensive operation) and then reused by the optimization - // algorithm and the various linear solvers. - // - // It is expected that the classes implementing this interface will be aware - // of their client's requirements for the kind of sparse matrix storage and - // layout that is needed for an efficient implementation. For example - // CompressedRowOptimizationProblem creates a compressed row representation of - // the jacobian for use with CHOLMOD, where as BlockOptimizationProblem - // creates a BlockSparseMatrix representation of the jacobian for use in the - // Schur complement based methods. - virtual SparseMatrix* CreateJacobian() const = 0; - - - // Options struct to control Evaluator::Evaluate; - struct EvaluateOptions { - EvaluateOptions() - : apply_loss_function(true) { - } - - // If false, the loss function correction is not applied to the - // residual blocks. - bool apply_loss_function; - }; - - // Evaluate the cost function for the given state. Returns the cost, - // residuals, and jacobian in the corresponding arguments. Both residuals and - // jacobian are optional; to avoid computing them, pass NULL. - // - // If non-NULL, the Jacobian must have a suitable sparsity pattern; only the - // values array of the jacobian is modified. - // - // state is an array of size NumParameters(), cost is a pointer to a single - // double, and residuals is an array of doubles of size NumResiduals(). - virtual bool Evaluate(const EvaluateOptions& evaluate_options, - const double* state, - double* cost, - double* residuals, - double* gradient, - SparseMatrix* jacobian) = 0; - - // Variant of Evaluator::Evaluate where the user wishes to use the - // default EvaluateOptions struct. This is mostly here as a - // convenience method. - bool Evaluate(const double* state, - double* cost, - double* residuals, - double* gradient, - SparseMatrix* jacobian) { - return Evaluate(EvaluateOptions(), - state, - cost, - residuals, - gradient, - jacobian); - } - - // Make a change delta (of size NumEffectiveParameters()) to state (of size - // NumParameters()) and store the result in state_plus_delta. - // - // In the case that there are no parameterizations used, this is equivalent to - // - // state_plus_delta[i] = state[i] + delta[i] ; - // - // however, the mapping is more complicated in the case of parameterizations - // like quaternions. This is the same as the "Plus()" operation in - // local_parameterization.h, but operating over the entire state vector for a - // problem. - virtual bool Plus(const double* state, - const double* delta, - double* state_plus_delta) const = 0; - - // The number of parameters in the optimization problem. - virtual int NumParameters() const = 0; - - // This is the effective number of parameters that the optimizer may adjust. - // This applies when there are parameterizations on some of the parameters. - virtual int NumEffectiveParameters() const = 0; - - // The number of residuals in the optimization problem. - virtual int NumResiduals() const = 0; - - // The following two methods return copies instead of references so - // that the base class implementation does not have to worry about - // life time issues. Further, these calls are not expected to be - // frequent or performance sensitive. - virtual map<string, int> CallStatistics() const { - return map<string, int>(); - } - - virtual map<string, double> TimeStatistics() const { - return map<string, double>(); - } -}; - -} // namespace internal -} // namespace ceres - -#endif // CERES_INTERNAL_EVALUATOR_H_ |