MYNT-EYE-S-SDK/3rdparty/ceres-solver-1.11.0/internal/ceres/line_search_preprocessor.cc
2019-01-03 16:25:18 +08:00

107 lines
3.7 KiB
C++

// 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: sameeragarwal@google.com (Sameer Agarwal)
#include "ceres/line_search_preprocessor.h"
#include <numeric>
#include <string>
#include "ceres/evaluator.h"
#include "ceres/minimizer.h"
#include "ceres/problem_impl.h"
#include "ceres/program.h"
#include "ceres/wall_time.h"
namespace ceres {
namespace internal {
namespace {
bool IsProgramValid(const Program& program, std::string* error) {
if (program.IsBoundsConstrained()) {
*error = "LINE_SEARCH Minimizer does not support bounds.";
return false;
}
return program.ParameterBlocksAreFinite(error);
}
bool SetupEvaluator(PreprocessedProblem* pp) {
pp->evaluator_options = Evaluator::Options();
// This ensures that we get a Block Jacobian Evaluator without any
// requirement on orderings.
pp->evaluator_options.linear_solver_type = CGNR;
pp->evaluator_options.num_eliminate_blocks = 0;
pp->evaluator_options.num_threads = pp->options.num_threads;
pp->evaluator.reset(Evaluator::Create(pp->evaluator_options,
pp->reduced_program.get(),
&pp->error));
return (pp->evaluator.get() != NULL);
}
} // namespace
LineSearchPreprocessor::~LineSearchPreprocessor() {
}
bool LineSearchPreprocessor::Preprocess(const Solver::Options& options,
ProblemImpl* problem,
PreprocessedProblem* pp) {
CHECK_NOTNULL(pp);
pp->options = options;
ChangeNumThreadsIfNeeded(&pp->options);
pp->problem = problem;
Program* program = problem->mutable_program();
if (!IsProgramValid(*program, &pp->error)) {
return false;
}
pp->reduced_program.reset(
program->CreateReducedProgram(&pp->removed_parameter_blocks,
&pp->fixed_cost,
&pp->error));
if (pp->reduced_program.get() == NULL) {
return false;
}
if (pp->reduced_program->NumParameterBlocks() == 0) {
return true;
}
if (!SetupEvaluator(pp)) {
return false;
}
SetupCommonMinimizerOptions(pp);
return true;
}
} // namespace internal
} // namespace ceres