1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
|
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// 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/evaluator.h"
#include <vector>
#include "ceres/block_evaluate_preparer.h"
#include "ceres/block_jacobian_writer.h"
#include "ceres/compressed_row_jacobian_writer.h"
#include "ceres/compressed_row_sparse_matrix.h"
#include "ceres/crs_matrix.h"
#include "ceres/dense_jacobian_writer.h"
#include "ceres/dynamic_compressed_row_finalizer.h"
#include "ceres/dynamic_compressed_row_jacobian_writer.h"
#include "ceres/internal/port.h"
#include "ceres/program_evaluator.h"
#include "ceres/scratch_evaluate_preparer.h"
#include "glog/logging.h"
namespace ceres {
namespace internal {
Evaluator::~Evaluator() {}
Evaluator* Evaluator::Create(const Evaluator::Options& options,
Program* program,
std::string* error) {
CHECK(options.context != NULL);
switch (options.linear_solver_type) {
case DENSE_QR:
case DENSE_NORMAL_CHOLESKY:
return new ProgramEvaluator<ScratchEvaluatePreparer, DenseJacobianWriter>(
options, program);
case DENSE_SCHUR:
case SPARSE_SCHUR:
case ITERATIVE_SCHUR:
case CGNR:
return new ProgramEvaluator<BlockEvaluatePreparer, BlockJacobianWriter>(
options, program);
case SPARSE_NORMAL_CHOLESKY:
if (options.dynamic_sparsity) {
return new ProgramEvaluator<ScratchEvaluatePreparer,
DynamicCompressedRowJacobianWriter,
DynamicCompressedRowJacobianFinalizer>(
options, program);
} else {
return new ProgramEvaluator<BlockEvaluatePreparer, BlockJacobianWriter>(
options, program);
}
default:
*error = "Invalid Linear Solver Type. Unable to create evaluator.";
return NULL;
}
}
} // namespace internal
} // namespace ceres
|
