diff options
Diffstat (limited to 'extern/libmv/third_party/ceres/internal/ceres/levenberg_marquardt_strategy.cc')
| -rw-r--r-- | extern/libmv/third_party/ceres/internal/ceres/levenberg_marquardt_strategy.cc | 163 |
1 files changed, 0 insertions, 163 deletions
diff --git a/extern/libmv/third_party/ceres/internal/ceres/levenberg_marquardt_strategy.cc b/extern/libmv/third_party/ceres/internal/ceres/levenberg_marquardt_strategy.cc deleted file mode 100644 index ce3b69a8005..00000000000 --- a/extern/libmv/third_party/ceres/internal/ceres/levenberg_marquardt_strategy.cc +++ /dev/null @@ -1,163 +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: sameeragarwal@google.com (Sameer Agarwal) - -#include "ceres/levenberg_marquardt_strategy.h" - -#include <cmath> -#include "Eigen/Core" -#include "ceres/array_utils.h" -#include "ceres/internal/eigen.h" -#include "ceres/linear_least_squares_problems.h" -#include "ceres/linear_solver.h" -#include "ceres/sparse_matrix.h" -#include "ceres/trust_region_strategy.h" -#include "ceres/types.h" -#include "glog/logging.h" - -namespace ceres { -namespace internal { - -LevenbergMarquardtStrategy::LevenbergMarquardtStrategy( - const TrustRegionStrategy::Options& options) - : linear_solver_(options.linear_solver), - radius_(options.initial_radius), - max_radius_(options.max_radius), - min_diagonal_(options.min_lm_diagonal), - max_diagonal_(options.max_lm_diagonal), - decrease_factor_(2.0), - reuse_diagonal_(false) { - CHECK_NOTNULL(linear_solver_); - CHECK_GT(min_diagonal_, 0.0); - CHECK_LE(min_diagonal_, max_diagonal_); - CHECK_GT(max_radius_, 0.0); -} - -LevenbergMarquardtStrategy::~LevenbergMarquardtStrategy() { -} - -TrustRegionStrategy::Summary LevenbergMarquardtStrategy::ComputeStep( - const TrustRegionStrategy::PerSolveOptions& per_solve_options, - SparseMatrix* jacobian, - const double* residuals, - double* step) { - CHECK_NOTNULL(jacobian); - CHECK_NOTNULL(residuals); - CHECK_NOTNULL(step); - - const int num_parameters = jacobian->num_cols(); - if (!reuse_diagonal_) { - if (diagonal_.rows() != num_parameters) { - diagonal_.resize(num_parameters, 1); - } - - jacobian->SquaredColumnNorm(diagonal_.data()); - for (int i = 0; i < num_parameters; ++i) { - diagonal_[i] = min(max(diagonal_[i], min_diagonal_), max_diagonal_); - } - } - - lm_diagonal_ = (diagonal_ / radius_).array().sqrt(); - - LinearSolver::PerSolveOptions solve_options; - solve_options.D = lm_diagonal_.data(); - solve_options.q_tolerance = per_solve_options.eta; - // Disable r_tolerance checking. Since we only care about - // termination via the q_tolerance. As Nash and Sofer show, - // r_tolerance based termination is essentially useless in - // Truncated Newton methods. - solve_options.r_tolerance = -1.0; - - // Invalidate the output array lm_step, so that we can detect if - // the linear solver generated numerical garbage. This is known - // to happen for the DENSE_QR and then DENSE_SCHUR solver when - // the Jacobin is severly rank deficient and mu is too small. - InvalidateArray(num_parameters, step); - - // Instead of solving Jx = -r, solve Jy = r. - // Then x can be found as x = -y, but the inputs jacobian and residuals - // do not need to be modified. - LinearSolver::Summary linear_solver_summary = - linear_solver_->Solve(jacobian, residuals, solve_options, step); - - if (linear_solver_summary.termination_type == LINEAR_SOLVER_FATAL_ERROR) { - LOG(WARNING) << "Linear solver fatal error."; - } else if (linear_solver_summary.termination_type == LINEAR_SOLVER_FAILURE || - !IsArrayValid(num_parameters, step)) { - LOG(WARNING) << "Linear solver failure. Failed to compute a finite step."; - linear_solver_summary.termination_type = LINEAR_SOLVER_FAILURE; - } else { - VectorRef(step, num_parameters) *= -1.0; - } - reuse_diagonal_ = true; - - if (per_solve_options.dump_format_type == CONSOLE || - (per_solve_options.dump_format_type != CONSOLE && - !per_solve_options.dump_filename_base.empty())) { - if (!DumpLinearLeastSquaresProblem(per_solve_options.dump_filename_base, - per_solve_options.dump_format_type, - jacobian, - solve_options.D, - residuals, - step, - 0)) { - LOG(ERROR) << "Unable to dump trust region problem." - << " Filename base: " << per_solve_options.dump_filename_base; - } - } - - - TrustRegionStrategy::Summary summary; - summary.residual_norm = linear_solver_summary.residual_norm; - summary.num_iterations = linear_solver_summary.num_iterations; - summary.termination_type = linear_solver_summary.termination_type; - return summary; -} - -void LevenbergMarquardtStrategy::StepAccepted(double step_quality) { - CHECK_GT(step_quality, 0.0); - radius_ = radius_ / std::max(1.0 / 3.0, - 1.0 - pow(2.0 * step_quality - 1.0, 3)); - radius_ = std::min(max_radius_, radius_); - decrease_factor_ = 2.0; - reuse_diagonal_ = false; -} - -void LevenbergMarquardtStrategy::StepRejected(double step_quality) { - radius_ = radius_ / decrease_factor_; - decrease_factor_ *= 2.0; - reuse_diagonal_ = true; -} - -double LevenbergMarquardtStrategy::Radius() const { - return radius_; -} - -} // namespace internal -} // namespace ceres |