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Diffstat (limited to 'extern/libmv/third_party/ceres/internal/ceres/program.h')
| -rw-r--r-- | extern/libmv/third_party/ceres/internal/ceres/program.h | 191 |
1 files changed, 0 insertions, 191 deletions
diff --git a/extern/libmv/third_party/ceres/internal/ceres/program.h b/extern/libmv/third_party/ceres/internal/ceres/program.h deleted file mode 100644 index c7b22c4d244..00000000000 --- a/extern/libmv/third_party/ceres/internal/ceres/program.h +++ /dev/null @@ -1,191 +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: keir@google.com (Keir Mierle) - -#ifndef CERES_INTERNAL_PROGRAM_H_ -#define CERES_INTERNAL_PROGRAM_H_ - -#include <set> -#include <string> -#include <vector> -#include "ceres/internal/port.h" - -namespace ceres { -namespace internal { - -class ParameterBlock; -class ProblemImpl; -class ResidualBlock; -class TripletSparseMatrix; - -// A nonlinear least squares optimization problem. This is different from the -// similarly-named "Problem" object, which offers a mutation interface for -// adding and modifying parameters and residuals. The Program contains the core -// part of the Problem, which is the parameters and the residuals, stored in a -// particular ordering. The ordering is critical, since it defines the mapping -// between (residual, parameter) pairs and a position in the jacobian of the -// objective function. Various parts of Ceres transform one Program into -// another; for example, the first stage of solving involves stripping all -// constant parameters and residuals. This is in contrast with Problem, which is -// not built for transformation. -class Program { - public: - Program(); - explicit Program(const Program& program); - - // The ordered parameter and residual blocks for the program. - const vector<ParameterBlock*>& parameter_blocks() const; - const vector<ResidualBlock*>& residual_blocks() const; - vector<ParameterBlock*>* mutable_parameter_blocks(); - vector<ResidualBlock*>* mutable_residual_blocks(); - - // Serialize to/from the program and update states. - // - // NOTE: Setting the state of a parameter block can trigger the - // computation of the Jacobian of its local parameterization. If - // this computation fails for some reason, then this method returns - // false and the state of the parameter blocks cannot be trusted. - bool StateVectorToParameterBlocks(const double *state); - void ParameterBlocksToStateVector(double *state) const; - - // Copy internal state to the user's parameters. - void CopyParameterBlockStateToUserState(); - - // Set the parameter block pointers to the user pointers. Since this - // runs parameter block set state internally, which may call local - // parameterizations, this can fail. False is returned on failure. - bool SetParameterBlockStatePtrsToUserStatePtrs(); - - // Update a state vector for the program given a delta. - bool Plus(const double* state, - const double* delta, - double* state_plus_delta) const; - - // Set the parameter indices and offsets. This permits mapping backward - // from a ParameterBlock* to an index in the parameter_blocks() vector. For - // any parameter block p, after calling SetParameterOffsetsAndIndex(), it - // is true that - // - // parameter_blocks()[p->index()] == p - // - // If a parameter appears in a residual but not in the parameter block, then - // it will have an index of -1. - // - // This also updates p->state_offset() and p->delta_offset(), which are the - // position of the parameter in the state and delta vector respectively. - void SetParameterOffsetsAndIndex(); - - // Check if the internal state of the program (the indexing and the - // offsets) are correct. - bool IsValid() const; - - bool ParameterBlocksAreFinite(string* message) const; - - // Returns true if the program has any non-constant parameter blocks - // which have non-trivial bounds constraints. - bool IsBoundsConstrained() const; - - // Returns false, if the program has any constant parameter blocks - // which are not feasible, or any variable parameter blocks which - // have a lower bound greater than or equal to the upper bound. - bool IsFeasible(string* message) const; - - // Loop over each residual block and ensure that no two parameter - // blocks in the same residual block are part of - // parameter_blocks as that would violate the assumption that it - // is an independent set in the Hessian matrix. - bool IsParameterBlockSetIndependent(const set<double*>& independent_set) const; - - // Create a TripletSparseMatrix which contains the zero-one - // structure corresponding to the block sparsity of the transpose of - // the Jacobian matrix. - // - // Caller owns the result. - TripletSparseMatrix* CreateJacobianBlockSparsityTranspose() const; - - // Create a copy of this program and removes constant parameter - // blocks and residual blocks with no varying parameter blocks while - // preserving their relative order. - // - // removed_parameter_blocks on exit will contain the list of - // parameter blocks that were removed. - // - // fixed_cost will be equal to the sum of the costs of the residual - // blocks that were removed. - // - // If there was a problem, then the function will return a NULL - // pointer and error will contain a human readable description of - // the problem. - Program* CreateReducedProgram(vector<double*>* removed_parameter_blocks, - double* fixed_cost, - string* error) const; - - // See problem.h for what these do. - int NumParameterBlocks() const; - int NumParameters() const; - int NumEffectiveParameters() const; - int NumResidualBlocks() const; - int NumResiduals() const; - - int MaxScratchDoublesNeededForEvaluate() const; - int MaxDerivativesPerResidualBlock() const; - int MaxParametersPerResidualBlock() const; - int MaxResidualsPerResidualBlock() const; - - // A human-readable dump of the parameter blocks for debugging. - // TODO(keir): If necessary, also dump the residual blocks. - string ToString() const; - - private: - // Remove constant parameter blocks and residual blocks with no - // varying parameter blocks while preserving their relative order. - // - // removed_parameter_blocks on exit will contain the list of - // parameter blocks that were removed. - // - // fixed_cost will be equal to the sum of the costs of the residual - // blocks that were removed. - // - // If there was a problem, then the function will return false and - // error will contain a human readable description of the problem. - bool RemoveFixedBlocks(vector<double*>* removed_parameter_blocks, - double* fixed_cost, - string* message); - - // The Program does not own the ParameterBlock or ResidualBlock objects. - vector<ParameterBlock*> parameter_blocks_; - vector<ResidualBlock*> residual_blocks_; - - friend class ProblemImpl; -}; - -} // namespace internal -} // namespace ceres - -#endif // CERES_INTERNAL_PROGRAM_H_ |