| // 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/linear_solver.h" |
| |
| #include "ceres/cgnr_solver.h" |
| #include "ceres/dense_normal_cholesky_solver.h" |
| #include "ceres/dense_qr_solver.h" |
| #include "ceres/iterative_schur_complement_solver.h" |
| #include "ceres/schur_complement_solver.h" |
| #include "ceres/dynamic_sparse_normal_cholesky_solver.h" |
| #include "ceres/sparse_normal_cholesky_solver.h" |
| #include "ceres/types.h" |
| #include "glog/logging.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| LinearSolver::~LinearSolver() { |
| } |
| |
| LinearSolverType LinearSolver::LinearSolverForZeroEBlocks( |
| LinearSolverType linear_solver_type) { |
| if (!IsSchurType(linear_solver_type)) { |
| return linear_solver_type; |
| } |
| |
| if (linear_solver_type == SPARSE_SCHUR) { |
| return SPARSE_NORMAL_CHOLESKY; |
| } |
| |
| if (linear_solver_type == DENSE_SCHUR) { |
| // TODO(sameeragarwal): This is probably not a great choice. |
| // Ideally, we should have a DENSE_NORMAL_CHOLESKY, that can take |
| // a BlockSparseMatrix as input. |
| return DENSE_QR; |
| } |
| |
| if (linear_solver_type == ITERATIVE_SCHUR) { |
| return CGNR; |
| } |
| |
| return linear_solver_type; |
| } |
| |
| LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) { |
| CHECK(options.context != NULL); |
| |
| switch (options.type) { |
| case CGNR: |
| return new CgnrSolver(options); |
| |
| case SPARSE_NORMAL_CHOLESKY: |
| #if defined(CERES_NO_SUITESPARSE) && \ |
| defined(CERES_NO_CXSPARSE) && \ |
| !defined(CERES_USE_EIGEN_SPARSE) |
| return NULL; |
| #else |
| if (options.dynamic_sparsity) { |
| return new DynamicSparseNormalCholeskySolver(options); |
| } |
| |
| return new SparseNormalCholeskySolver(options); |
| #endif |
| |
| case SPARSE_SCHUR: |
| #if defined(CERES_NO_SUITESPARSE) && \ |
| defined(CERES_NO_CXSPARSE) && \ |
| !defined(CERES_USE_EIGEN_SPARSE) |
| return NULL; |
| #else |
| return new SparseSchurComplementSolver(options); |
| #endif |
| |
| case DENSE_SCHUR: |
| return new DenseSchurComplementSolver(options); |
| |
| case ITERATIVE_SCHUR: |
| if (options.use_explicit_schur_complement) { |
| return new SparseSchurComplementSolver(options); |
| } else { |
| return new IterativeSchurComplementSolver(options); |
| } |
| |
| case DENSE_QR: |
| return new DenseQRSolver(options); |
| |
| case DENSE_NORMAL_CHOLESKY: |
| return new DenseNormalCholeskySolver(options); |
| |
| default: |
| LOG(FATAL) << "Unknown linear solver type :" |
| << options.type; |
| return NULL; // MSVC doesn't understand that LOG(FATAL) never returns. |
| } |
| } |
| |
| } // namespace internal |
| } // namespace ceres |