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

66 lines
2.8 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)
#ifndef CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_
#define CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_
#include "ceres/minimizer.h"
#include "ceres/solver.h"
#include "ceres/types.h"
namespace ceres {
namespace internal {
// Generic trust region minimization algorithm. The heavy lifting is
// done by a TrustRegionStrategy object passed in as part of options.
//
// For example usage, see SolverImpl::Minimize.
class TrustRegionMinimizer : public Minimizer {
public:
~TrustRegionMinimizer() {}
virtual void Minimize(const Minimizer::Options& options,
double* parameters,
Solver::Summary* summary);
private:
void Init(const Minimizer::Options& options);
void EstimateScale(const SparseMatrix& jacobian, double* scale) const;
bool MaybeDumpLinearLeastSquaresProblem(const int iteration,
const SparseMatrix* jacobian,
const double* residuals,
const double* step) const;
Minimizer::Options options_;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_