107 lines
3.7 KiB
C++
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
|