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
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
|
// 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)
//
// Detailed descriptions of these preconditions beyond what is
// documented here can be found in
//
// Bundle Adjustment in the Large
// S. Agarwal, N. Snavely, S. Seitz & R. Szeliski, ECCV 2010
// http://www.cs.washington.edu/homes/sagarwal/bal.pdf
#ifndef CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_
#define CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_
#include <set>
#include <vector>
#include <utility>
#include "ceres/collections_port.h"
#include "ceres/internal/macros.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/preconditioner.h"
namespace ceres {
namespace internal {
class BlockRandomAccessDiagonalMatrix;
class BlockSparseMatrix;
struct CompressedRowBlockStructure;
class SchurEliminatorBase;
// This class implements the SCHUR_JACOBI preconditioner for Structure
// from Motion/Bundle Adjustment problems. Full mathematical details
// can be found in
//
// Bundle Adjustment in the Large
// S. Agarwal, N. Snavely, S. Seitz & R. Szeliski, ECCV 2010
// http://www.cs.washington.edu/homes/sagarwal/bal.pdf
//
// Example usage:
//
// Preconditioner::Options options;
// options.preconditioner_type = SCHUR_JACOBI;
// options.elimination_groups.push_back(num_points);
// options.elimination_groups.push_back(num_cameras);
// SchurJacobiPreconditioner preconditioner(
// *A.block_structure(), options);
// preconditioner.Update(A, NULL);
// preconditioner.RightMultiply(x, y);
//
class SchurJacobiPreconditioner : public BlockSparseMatrixPreconditioner {
public:
// Initialize the symbolic structure of the preconditioner. bs is
// the block structure of the linear system to be solved. It is used
// to determine the sparsity structure of the preconditioner matrix.
//
// It has the same structural requirement as other Schur complement
// based solvers. Please see schur_eliminator.h for more details.
SchurJacobiPreconditioner(const CompressedRowBlockStructure& bs,
const Preconditioner::Options& options);
virtual ~SchurJacobiPreconditioner();
// Preconditioner interface.
virtual void RightMultiply(const double* x, double* y) const;
virtual int num_rows() const;
private:
void InitEliminator(const CompressedRowBlockStructure& bs);
virtual bool UpdateImpl(const BlockSparseMatrix& A, const double* D);
Preconditioner::Options options_;
scoped_ptr<SchurEliminatorBase> eliminator_;
// Preconditioner matrix.
scoped_ptr<BlockRandomAccessDiagonalMatrix> m_;
CERES_DISALLOW_COPY_AND_ASSIGN(SchurJacobiPreconditioner);
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_
|
