74 lines
2.8 KiB
C++
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
|
|
// 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/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
|