107 lines
4.2 KiB
C
107 lines
4.2 KiB
C
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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//
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// Detailed descriptions of these preconditions beyond what is
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// documented here can be found in
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//
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// Bundle Adjustment in the Large
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// S. Agarwal, N. Snavely, S. Seitz & R. Szeliski, ECCV 2010
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// http://www.cs.washington.edu/homes/sagarwal/bal.pdf
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#ifndef CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_
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#define CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_
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#include <set>
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#include <vector>
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#include <utility>
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#include "ceres/collections_port.h"
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#include "ceres/internal/macros.h"
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#include "ceres/internal/scoped_ptr.h"
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#include "ceres/preconditioner.h"
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namespace ceres {
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namespace internal {
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class BlockRandomAccessDiagonalMatrix;
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class BlockSparseMatrix;
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struct CompressedRowBlockStructure;
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class SchurEliminatorBase;
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// This class implements the SCHUR_JACOBI preconditioner for Structure
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// from Motion/Bundle Adjustment problems. Full mathematical details
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// can be found in
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//
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// Bundle Adjustment in the Large
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// S. Agarwal, N. Snavely, S. Seitz & R. Szeliski, ECCV 2010
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// http://www.cs.washington.edu/homes/sagarwal/bal.pdf
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//
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// Example usage:
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//
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// Preconditioner::Options options;
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// options.preconditioner_type = SCHUR_JACOBI;
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// options.elimination_groups.push_back(num_points);
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// options.elimination_groups.push_back(num_cameras);
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// SchurJacobiPreconditioner preconditioner(
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// *A.block_structure(), options);
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// preconditioner.Update(A, NULL);
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// preconditioner.RightMultiply(x, y);
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//
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class SchurJacobiPreconditioner : public BlockSparseMatrixPreconditioner {
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public:
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// Initialize the symbolic structure of the preconditioner. bs is
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// the block structure of the linear system to be solved. It is used
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// to determine the sparsity structure of the preconditioner matrix.
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//
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// It has the same structural requirement as other Schur complement
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// based solvers. Please see schur_eliminator.h for more details.
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SchurJacobiPreconditioner(const CompressedRowBlockStructure& bs,
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const Preconditioner::Options& options);
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virtual ~SchurJacobiPreconditioner();
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// Preconditioner interface.
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virtual void RightMultiply(const double* x, double* y) const;
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virtual int num_rows() const;
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private:
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void InitEliminator(const CompressedRowBlockStructure& bs);
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virtual bool UpdateImpl(const BlockSparseMatrix& A, const double* D);
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Preconditioner::Options options_;
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scoped_ptr<SchurEliminatorBase> eliminator_;
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// Preconditioner matrix.
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scoped_ptr<BlockRandomAccessDiagonalMatrix> m_;
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CERES_DISALLOW_COPY_AND_ASSIGN(SchurJacobiPreconditioner);
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_
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