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Diffstat (limited to 'extern/libmv/third_party/ceres/internal/ceres/schur_jacobi_preconditioner.cc')
| -rw-r--r-- | extern/libmv/third_party/ceres/internal/ceres/schur_jacobi_preconditioner.cc | 115 |
1 files changed, 0 insertions, 115 deletions
diff --git a/extern/libmv/third_party/ceres/internal/ceres/schur_jacobi_preconditioner.cc b/extern/libmv/third_party/ceres/internal/ceres/schur_jacobi_preconditioner.cc deleted file mode 100644 index cbdb7086102..00000000000 --- a/extern/libmv/third_party/ceres/internal/ceres/schur_jacobi_preconditioner.cc +++ /dev/null @@ -1,115 +0,0 @@ -// Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2013 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/schur_jacobi_preconditioner.h" - -#include <utility> -#include <vector> -#include "ceres/block_random_access_diagonal_matrix.h" -#include "ceres/block_sparse_matrix.h" -#include "ceres/collections_port.h" -#include "ceres/internal/scoped_ptr.h" -#include "ceres/linear_solver.h" -#include "ceres/schur_eliminator.h" -#include "glog/logging.h" - -namespace ceres { -namespace internal { - -SchurJacobiPreconditioner::SchurJacobiPreconditioner( - const CompressedRowBlockStructure& bs, - const Preconditioner::Options& options) - : options_(options) { - CHECK_GT(options_.elimination_groups.size(), 1); - CHECK_GT(options_.elimination_groups[0], 0); - const int num_blocks = bs.cols.size() - options_.elimination_groups[0]; - CHECK_GT(num_blocks, 0) - << "Jacobian should have atleast 1 f_block for " - << "SCHUR_JACOBI preconditioner."; - - vector<int> blocks(num_blocks); - for (int i = 0; i < num_blocks; ++i) { - blocks[i] = bs.cols[i + options_.elimination_groups[0]].size; - } - - m_.reset(new BlockRandomAccessDiagonalMatrix(blocks)); - InitEliminator(bs); -} - -SchurJacobiPreconditioner::~SchurJacobiPreconditioner() { -} - -// Initialize the SchurEliminator. -void SchurJacobiPreconditioner::InitEliminator( - const CompressedRowBlockStructure& bs) { - LinearSolver::Options eliminator_options; - eliminator_options.elimination_groups = options_.elimination_groups; - eliminator_options.num_threads = options_.num_threads; - eliminator_options.e_block_size = options_.e_block_size; - eliminator_options.f_block_size = options_.f_block_size; - eliminator_options.row_block_size = options_.row_block_size; - eliminator_.reset(SchurEliminatorBase::Create(eliminator_options)); - eliminator_->Init(eliminator_options.elimination_groups[0], &bs); -} - -// Update the values of the preconditioner matrix and factorize it. -bool SchurJacobiPreconditioner::UpdateImpl(const BlockSparseMatrix& A, - const double* D) { - const int num_rows = m_->num_rows(); - CHECK_GT(num_rows, 0); - - // We need a dummy rhs vector and a dummy b vector since the Schur - // eliminator combines the computation of the reduced camera matrix - // with the computation of the right hand side of that linear - // system. - // - // TODO(sameeragarwal): Perhaps its worth refactoring the - // SchurEliminator::Eliminate function to allow NULL for the rhs. As - // of now it does not seem to be worth the effort. - Vector rhs = Vector::Zero(m_->num_rows()); - Vector b = Vector::Zero(A.num_rows()); - - // Compute a subset of the entries of the Schur complement. - eliminator_->Eliminate(&A, b.data(), D, m_.get(), rhs.data()); - m_->Invert(); - return true; -} - -void SchurJacobiPreconditioner::RightMultiply(const double* x, - double* y) const { - m_->RightMultiply(x, y); -} - -int SchurJacobiPreconditioner::num_rows() const { - return m_->num_rows(); -} - -} // namespace internal -} // namespace ceres |