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

74 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
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// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#include "ceres/preconditioner.h"
#include "glog/logging.h"
namespace ceres {
namespace internal {
Preconditioner::~Preconditioner() {
}
PreconditionerType Preconditioner::PreconditionerForZeroEBlocks(
PreconditionerType preconditioner_type) {
if (preconditioner_type == SCHUR_JACOBI ||
preconditioner_type == CLUSTER_JACOBI ||
preconditioner_type == CLUSTER_TRIDIAGONAL) {
return JACOBI;
}
return preconditioner_type;
}
SparseMatrixPreconditionerWrapper::SparseMatrixPreconditionerWrapper(
const SparseMatrix* matrix)
: matrix_(CHECK_NOTNULL(matrix)) {
}
SparseMatrixPreconditionerWrapper::~SparseMatrixPreconditionerWrapper() {
}
bool SparseMatrixPreconditionerWrapper::UpdateImpl(const SparseMatrix& A,
const double* D) {
return true;
}
void SparseMatrixPreconditionerWrapper::RightMultiply(const double* x,
double* y) const {
matrix_->RightMultiply(x, y);
}
int SparseMatrixPreconditionerWrapper::num_rows() const {
return matrix_->num_rows();
}
} // namespace internal
} // namespace ceres