include/ceres/tiny_solver.h - ceres-solver - Git at Google

 // Ceres Solver - A fast non-linear least squares minimizer
 // Copyright 2021 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: mierle@gmail.com (Keir Mierle)
 //
 // WARNING WARNING WARNING
 // WARNING WARNING WARNING  Tiny solver is experimental and will change.
 // WARNING WARNING WARNING
 //
 // A tiny least squares solver using Levenberg-Marquardt, intended for solving
 // small dense problems with low latency and low overhead. The implementation
 // takes care to do all allocation up front, so that no memory is allocated
 // during solving. This is especially useful when solving many similar problems;
 // for example, inverse pixel distortion for every pixel on a grid.
 //
 // Note: This code has no dependencies beyond Eigen, including on other parts of
 // Ceres, so it is possible to take this file alone and put it in another
 // project without the rest of Ceres.
 //
 // Algorithm based off of:
 //
 // [1] K. Madsen, H. Nielsen, O. Tingleoff.
 //     Methods for Non-linear Least Squares Problems.
 //     http://www2.imm.dtu.dk/pubdb/views/edoc_download.php/3215/pdf/imm3215.pdf

 #ifndef CERES_PUBLIC_TINY_SOLVER_H_
 #define CERES_PUBLIC_TINY_SOLVER_H_

 #include <cassert>
 #include <cmath>

 #include "Eigen/Dense"

 namespace ceres {

 // To use tiny solver, create a class or struct that allows computing the cost
 // function (described below). This is similar to a ceres::CostFunction, but is
 // different to enable statically allocating all memory for the solver
 // (specifically, enum sizes). Key parts are the Scalar typedef, the enums to
 // describe problem sizes (needed to remove all heap allocations), and the
 // operator() overload to evaluate the cost and (optionally) jacobians.
 //
 //   struct TinySolverCostFunctionTraits {
 //     typedef double Scalar;
 //     enum {
 //       NUM_RESIDUALS = <int> OR Eigen::Dynamic,
 //       NUM_PARAMETERS = <int> OR Eigen::Dynamic,
 //     };
 //     bool operator()(const double* parameters,
 //                     double* residuals,
 //                     double* jacobian) const;
 //
 //     int NumResiduals() const;  -- Needed if NUM_RESIDUALS == Eigen::Dynamic.
 //     int NumParameters() const; -- Needed if NUM_PARAMETERS == Eigen::Dynamic.
 //   };
 //
 // For operator(), the size of the objects is:
 //
 //   double* parameters -- NUM_PARAMETERS or NumParameters()
 //   double* residuals  -- NUM_RESIDUALS or NumResiduals()
 //   double* jacobian   -- NUM_RESIDUALS * NUM_PARAMETERS in column-major format
 //                         (Eigen's default); or nullptr if no jacobian
 //                         requested.
 //
 // An example (fully statically sized):
 //
 //   struct MyCostFunctionExample {
 //     typedef double Scalar;
 //     enum {
 //       NUM_RESIDUALS = 2,
 //       NUM_PARAMETERS = 3,
 //     };
 //     bool operator()(const double* parameters,
 //                     double* residuals,
 //                     double* jacobian) const {
 //       residuals[0] = x + 2*y + 4*z;
 //       residuals[1] = y * z;
 //       if (jacobian) {
 //         jacobian[0 * 2 + 0] = 1;   // First column (x).
 //         jacobian[0 * 2 + 1] = 0;
 //
 //         jacobian[1 * 2 + 0] = 2;   // Second column (y).
 //         jacobian[1 * 2 + 1] = z;
 //
 //         jacobian[2 * 2 + 0] = 4;   // Third column (z).
 //         jacobian[2 * 2 + 1] = y;
 //       }
 //       return true;
 //     }
 //   };
 //
 // The solver supports either statically or dynamically sized cost
 // functions. If the number of residuals is dynamic then the Function
 // must define:
 //
 //   int NumResiduals() const;
 //
 // If the number of parameters is dynamic then the Function must
 // define:
 //
 //   int NumParameters() const;
 //
 template <typename Function,
           typename LinearSolver =
               Eigen::LDLT<Eigen::Matrix<typename Function::Scalar,  //
                                         Function::NUM_PARAMETERS,   //
                                         Function::NUM_PARAMETERS>>>
 class TinySolver {
  public:
   // This class needs to have an Eigen aligned operator new as it contains
   // fixed-size Eigen types.
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW

   enum {
     NUM_RESIDUALS = Function::NUM_RESIDUALS,
     NUM_PARAMETERS = Function::NUM_PARAMETERS
   };
   using Scalar = typename Function::Scalar;
   using Parameters = typename Eigen::Matrix<Scalar, NUM_PARAMETERS, 1>;

   enum Status {
     // max_norm |J'(x) * f(x)| < gradient_tolerance
     GRADIENT_TOO_SMALL,
     //  ||dx|| <= parameter_tolerance * (||x|| + parameter_tolerance)
     RELATIVE_STEP_SIZE_TOO_SMALL,
     // cost_threshold > ||f(x)||^2 / 2
     COST_TOO_SMALL,
     // num_iterations >= max_num_iterations
     HIT_MAX_ITERATIONS,
     // (new_cost - old_cost) < function_tolerance * old_cost
     COST_CHANGE_TOO_SMALL,

     // TODO(sameeragarwal): Deal with numerical failures.
   };

   struct Options {
     int max_num_iterations = 50;

     // max_norm |J'(x) * f(x)| < gradient_tolerance
     Scalar gradient_tolerance = 1e-10;

     //  ||dx|| <= parameter_tolerance * (||x|| + parameter_tolerance)
     Scalar parameter_tolerance = 1e-8;

     // (new_cost - old_cost) < function_tolerance * old_cost
     Scalar function_tolerance = 1e-6;

     // cost_threshold > ||f(x)||^2 / 2
     Scalar cost_threshold = std::numeric_limits<Scalar>::epsilon();

     Scalar initial_trust_region_radius = 1e4;
   };

   struct Summary {
     // 1/2 ||f(x_0)||^2
     Scalar initial_cost = -1;
     // 1/2 ||f(x)||^2
     Scalar final_cost = -1;
     // max_norm(J'f(x))
     Scalar gradient_max_norm = -1;
     int iterations = -1;
     Status status = HIT_MAX_ITERATIONS;
   };

   bool Update(const Function& function, const Parameters& x) {
     if (!function(x.data(), residuals_.data(), jacobian_.data())) {
       return false;
     }

     residuals_ = -residuals_;

     // On the first iteration, compute a diagonal (Jacobi) scaling
     // matrix, which we store as a vector.
     if (summary.iterations == 0) {
       // jacobi_scaling = 1 / (1 + diagonal(J'J))
       //
       // 1 is added to the denominator to regularize small diagonal
       // entries.
       jacobi_scaling_ = 1.0 / (1.0 + jacobian_.colwise().norm().array());
     }

     // This explicitly computes the normal equations, which is numerically
     // unstable. Nevertheless, it is often good enough and is fast.
     //
     // TODO(sameeragarwal): Refactor this to allow for DenseQR
     // factorization.
     jacobian_ = jacobian_ * jacobi_scaling_.asDiagonal();
     jtj_ = jacobian_.transpose() * jacobian_;
     g_ = jacobian_.transpose() * residuals_;
     summary.gradient_max_norm = g_.array().abs().maxCoeff();
     cost_ = residuals_.squaredNorm() / 2;
     return true;
   }

   const Summary& Solve(const Function& function, Parameters* x_and_min) {
     Initialize<NUM_RESIDUALS, NUM_PARAMETERS>(function);
     assert(x_and_min);
     Parameters& x = *x_and_min;
     summary = Summary();
     summary.iterations = 0;

     // TODO(sameeragarwal): Deal with failure here.
     Update(function, x);
     summary.initial_cost = cost_;
     summary.final_cost = cost_;

     if (summary.gradient_max_norm < options.gradient_tolerance) {
       summary.status = GRADIENT_TOO_SMALL;
       return summary;
     }

     if (cost_ < options.cost_threshold) {
       summary.status = COST_TOO_SMALL;
       return summary;
     }

     Scalar u = 1.0 / options.initial_trust_region_radius;
     Scalar v = 2;

     for (summary.iterations = 1;
          summary.iterations < options.max_num_iterations;
          summary.iterations++) {
       jtj_regularized_ = jtj_;
       const Scalar min_diagonal = 1e-6;
       const Scalar max_diagonal = 1e32;
       for (int i = 0; i < lm_diagonal_.rows(); ++i) {
         lm_diagonal_[i] = std::sqrt(
             u * (std::min)((std::max)(jtj_(i, i), min_diagonal), max_diagonal));
         jtj_regularized_(i, i) += lm_diagonal_[i] * lm_diagonal_[i];
       }

       // TODO(sameeragarwal): Check for failure and deal with it.
       linear_solver_.compute(jtj_regularized_);
       lm_step_ = linear_solver_.solve(g_);
       dx_ = jacobi_scaling_.asDiagonal() * lm_step_;

       // Adding parameter_tolerance to x.norm() ensures that this
       // works if x is near zero.
       const Scalar parameter_tolerance =
           options.parameter_tolerance *
           (x.norm() + options.parameter_tolerance);
       if (dx_.norm() < parameter_tolerance) {
         summary.status = RELATIVE_STEP_SIZE_TOO_SMALL;
         break;
       }
       x_new_ = x + dx_;

       // TODO(keir): Add proper handling of errors from user eval of cost
       // functions.
       function(&x_new_[0], &f_x_new_[0], nullptr);

       const Scalar cost_change = (2 * cost_ - f_x_new_.squaredNorm());
       // TODO(sameeragarwal): Better more numerically stable evaluation.
       const Scalar model_cost_change = lm_step_.dot(2 * g_ - jtj_ * lm_step_);

       // rho is the ratio of the actual reduction in error to the reduction
       // in error that would be obtained if the problem was linear. See [1]
       // for details.
       Scalar rho(cost_change / model_cost_change);
       if (rho > 0) {
         // Accept the Levenberg-Marquardt step because the linear
         // model fits well.
         x = x_new_;

         if (std::abs(cost_change) < options.function_tolerance) {
           cost_ = f_x_new_.squaredNorm() / 2;
           summary.status = COST_CHANGE_TOO_SMALL;
           break;
         }

         // TODO(sameeragarwal): Deal with failure.
         Update(function, x);
         if (summary.gradient_max_norm < options.gradient_tolerance) {
           summary.status = GRADIENT_TOO_SMALL;
           break;
         }

         if (cost_ < options.cost_threshold) {
           summary.status = COST_TOO_SMALL;
           break;
         }

         Scalar tmp = Scalar(2 * rho - 1);
         u = u * (std::max)(Scalar(1 / 3.), Scalar(1) - tmp * tmp * tmp);
         v = 2;

       } else {
         // Reject the update because either the normal equations failed to solve
         // or the local linear model was not good (rho < 0).

         // Additionally if the cost change is too small, then terminate.
         if (std::abs(cost_change) < options.function_tolerance) {
           // Terminate
           summary.status = COST_CHANGE_TOO_SMALL;
           break;
         }

         // Reduce the size of the trust region.
         u *= v;
         v *= 2;
       }
     }

     summary.final_cost = cost_;
     return summary;
   }

   Options options;
   Summary summary;

  private:
   // Preallocate everything, including temporary storage needed for solving the
   // linear system. This allows reusing the intermediate storage across solves.
   LinearSolver linear_solver_;
   Scalar cost_;
   Parameters dx_, x_new_, g_, jacobi_scaling_, lm_diagonal_, lm_step_;
   Eigen::Matrix<Scalar, NUM_RESIDUALS, 1> residuals_, f_x_new_;
   Eigen::Matrix<Scalar, NUM_RESIDUALS, NUM_PARAMETERS> jacobian_;
   Eigen::Matrix<Scalar, NUM_PARAMETERS, NUM_PARAMETERS> jtj_, jtj_regularized_;

   // The following definitions are needed for template metaprogramming.
   template <bool Condition, typename T>
   struct enable_if;

   template <typename T>
   struct enable_if<true, T> {
     using type = T;
   };

   // The number of parameters and residuals are dynamically sized.
   template <int R, int P>
   typename enable_if<(R == Eigen::Dynamic && P == Eigen::Dynamic), void>::type
   Initialize(const Function& function) {
     Initialize(function.NumResiduals(), function.NumParameters());
   }

   // The number of parameters is dynamically sized and the number of
   // residuals is statically sized.
   template <int R, int P>
   typename enable_if<(R == Eigen::Dynamic && P != Eigen::Dynamic), void>::type
   Initialize(const Function& function) {
     Initialize(function.NumResiduals(), P);
   }

   // The number of parameters is statically sized and the number of
   // residuals is dynamically sized.
   template <int R, int P>
   typename enable_if<(R != Eigen::Dynamic && P == Eigen::Dynamic), void>::type
   Initialize(const Function& function) {
     Initialize(R, function.NumParameters());
   }

   // The number of parameters and residuals are statically sized.
   template <int R, int P>
   typename enable_if<(R != Eigen::Dynamic && P != Eigen::Dynamic), void>::type
   Initialize(const Function& /* function */) {}

   void Initialize(int num_residuals, int num_parameters) {
     dx_.resize(num_parameters);
     x_new_.resize(num_parameters);
     g_.resize(num_parameters);
     jacobi_scaling_.resize(num_parameters);
     lm_diagonal_.resize(num_parameters);
     lm_step_.resize(num_parameters);
     residuals_.resize(num_residuals);
     f_x_new_.resize(num_residuals);
     jacobian_.resize(num_residuals, num_parameters);
     jtj_.resize(num_parameters, num_parameters);
     jtj_regularized_.resize(num_parameters, num_parameters);
   }
 };

 }  // namespace ceres

 #endif  // CERES_PUBLIC_TINY_SOLVER_H_
	// Ceres Solver - A fast non-linear least squares minimizer
	// Copyright 2021 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: mierle@gmail.com (Keir Mierle)
	//
	// WARNING WARNING WARNING
	// WARNING WARNING WARNING Tiny solver is experimental and will change.
	// WARNING WARNING WARNING
	//
	// A tiny least squares solver using Levenberg-Marquardt, intended for solving
	// small dense problems with low latency and low overhead. The implementation
	// takes care to do all allocation up front, so that no memory is allocated
	// during solving. This is especially useful when solving many similar problems;
	// for example, inverse pixel distortion for every pixel on a grid.
	//
	// Note: This code has no dependencies beyond Eigen, including on other parts of
	// Ceres, so it is possible to take this file alone and put it in another
	// project without the rest of Ceres.
	//
	// Algorithm based off of:
	//
	// [1] K. Madsen, H. Nielsen, O. Tingleoff.
	// Methods for Non-linear Least Squares Problems.
	// http://www2.imm.dtu.dk/pubdb/views/edoc_download.php/3215/pdf/imm3215.pdf

	#ifndef CERES_PUBLIC_TINY_SOLVER_H_
	#define CERES_PUBLIC_TINY_SOLVER_H_

	#include <cassert>
	#include <cmath>

	#include "Eigen/Dense"

	namespace ceres {

	// To use tiny solver, create a class or struct that allows computing the cost
	// function (described below). This is similar to a ceres::CostFunction, but is
	// different to enable statically allocating all memory for the solver
	// (specifically, enum sizes). Key parts are the Scalar typedef, the enums to
	// describe problem sizes (needed to remove all heap allocations), and the
	// operator() overload to evaluate the cost and (optionally) jacobians.
	//
	// struct TinySolverCostFunctionTraits {
	// typedef double Scalar;
	// enum {
	// NUM_RESIDUALS = <int> OR Eigen::Dynamic,
	// NUM_PARAMETERS = <int> OR Eigen::Dynamic,
	// };
	// bool operator()(const double* parameters,
	// double* residuals,
	// double* jacobian) const;
	//
	// int NumResiduals() const; -- Needed if NUM_RESIDUALS == Eigen::Dynamic.
	// int NumParameters() const; -- Needed if NUM_PARAMETERS == Eigen::Dynamic.
	// };
	//
	// For operator(), the size of the objects is:
	//
	// double* parameters -- NUM_PARAMETERS or NumParameters()
	// double* residuals -- NUM_RESIDUALS or NumResiduals()
	// double* jacobian -- NUM_RESIDUALS * NUM_PARAMETERS in column-major format
	// (Eigen's default); or nullptr if no jacobian
	// requested.
	//
	// An example (fully statically sized):
	//
	// struct MyCostFunctionExample {
	// typedef double Scalar;
	// enum {
	// NUM_RESIDUALS = 2,
	// NUM_PARAMETERS = 3,
	// };
	// bool operator()(const double* parameters,
	// double* residuals,
	// double* jacobian) const {
	// residuals[0] = x + 2y + 4z;
	// residuals[1] = y * z;
	// if (jacobian) {
	// jacobian[0 * 2 + 0] = 1; // First column (x).
	// jacobian[0 * 2 + 1] = 0;
	//
	// jacobian[1 * 2 + 0] = 2; // Second column (y).
	// jacobian[1 * 2 + 1] = z;
	//
	// jacobian[2 * 2 + 0] = 4; // Third column (z).
	// jacobian[2 * 2 + 1] = y;
	// }
	// return true;
	// }
	// };
	//
	// The solver supports either statically or dynamically sized cost
	// functions. If the number of residuals is dynamic then the Function
	// must define:
	//
	// int NumResiduals() const;
	//
	// If the number of parameters is dynamic then the Function must
	// define:
	//
	// int NumParameters() const;
	//
	template <typename Function,
	typename LinearSolver =
	Eigen::LDLT<Eigen::Matrix<typename Function::Scalar, //
	Function::NUM_PARAMETERS, //
	Function::NUM_PARAMETERS>>>
	class TinySolver {
	public:
	// This class needs to have an Eigen aligned operator new as it contains
	// fixed-size Eigen types.
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

	enum {
	NUM_RESIDUALS = Function::NUM_RESIDUALS,
	NUM_PARAMETERS = Function::NUM_PARAMETERS
	};
	using Scalar = typename Function::Scalar;
	using Parameters = typename Eigen::Matrix<Scalar, NUM_PARAMETERS, 1>;

	enum Status {
	// max_norm \|J'(x) * f(x)\| < gradient_tolerance
	GRADIENT_TOO_SMALL,
	// \|\|dx\|\| <= parameter_tolerance * (\|\|x\|\| + parameter_tolerance)
	RELATIVE_STEP_SIZE_TOO_SMALL,
	// cost_threshold > \|\|f(x)\|\|^2 / 2
	COST_TOO_SMALL,
	// num_iterations >= max_num_iterations
	HIT_MAX_ITERATIONS,
	// (new_cost - old_cost) < function_tolerance * old_cost
	COST_CHANGE_TOO_SMALL,

	// TODO(sameeragarwal): Deal with numerical failures.
	};

	struct Options {
	int max_num_iterations = 50;

	// max_norm \|J'(x) * f(x)\| < gradient_tolerance
	Scalar gradient_tolerance = 1e-10;

	// \|\|dx\|\| <= parameter_tolerance * (\|\|x\|\| + parameter_tolerance)
	Scalar parameter_tolerance = 1e-8;

	// (new_cost - old_cost) < function_tolerance * old_cost
	Scalar function_tolerance = 1e-6;

	// cost_threshold > \|\|f(x)\|\|^2 / 2
	Scalar cost_threshold = std::numeric_limits<Scalar>::epsilon();

	Scalar initial_trust_region_radius = 1e4;
	};

	struct Summary {
	// 1/2 \|\|f(x_0)\|\|^2
	Scalar initial_cost = -1;
	// 1/2 \|\|f(x)\|\|^2
	Scalar final_cost = -1;
	// max_norm(J'f(x))
	Scalar gradient_max_norm = -1;
	int iterations = -1;
	Status status = HIT_MAX_ITERATIONS;
	};

	bool Update(const Function& function, const Parameters& x) {
	if (!function(x.data(), residuals_.data(), jacobian_.data())) {
	return false;
	}

	residuals_ = -residuals_;

	// On the first iteration, compute a diagonal (Jacobi) scaling
	// matrix, which we store as a vector.
	if (summary.iterations == 0) {
	// jacobi_scaling = 1 / (1 + diagonal(J'J))
	//
	// 1 is added to the denominator to regularize small diagonal
	// entries.
	jacobi_scaling_ = 1.0 / (1.0 + jacobian_.colwise().norm().array());
	}

	// This explicitly computes the normal equations, which is numerically
	// unstable. Nevertheless, it is often good enough and is fast.
	//
	// TODO(sameeragarwal): Refactor this to allow for DenseQR
	// factorization.
	jacobian_ = jacobian_ * jacobi_scaling_.asDiagonal();
	jtj_ = jacobian_.transpose() * jacobian_;
	g_ = jacobian_.transpose() * residuals_;
	summary.gradient_max_norm = g_.array().abs().maxCoeff();
	cost_ = residuals_.squaredNorm() / 2;
	return true;
	}

	const Summary& Solve(const Function& function, Parameters* x_and_min) {
	Initialize<NUM_RESIDUALS, NUM_PARAMETERS>(function);
	assert(x_and_min);
	Parameters& x = *x_and_min;
	summary = Summary();
	summary.iterations = 0;

	// TODO(sameeragarwal): Deal with failure here.
	Update(function, x);
	summary.initial_cost = cost_;
	summary.final_cost = cost_;

	if (summary.gradient_max_norm < options.gradient_tolerance) {
	summary.status = GRADIENT_TOO_SMALL;
	return summary;
	}

	if (cost_ < options.cost_threshold) {
	summary.status = COST_TOO_SMALL;
	return summary;
	}

	Scalar u = 1.0 / options.initial_trust_region_radius;
	Scalar v = 2;

	for (summary.iterations = 1;
	summary.iterations < options.max_num_iterations;
	summary.iterations++) {
	jtj_regularized_ = jtj_;
	const Scalar min_diagonal = 1e-6;
	const Scalar max_diagonal = 1e32;
	for (int i = 0; i < lm_diagonal_.rows(); ++i) {
	lm_diagonal_[i] = std::sqrt(
	u * (std::min)((std::max)(jtj_(i, i), min_diagonal), max_diagonal));
	jtj_regularized_(i, i) += lm_diagonal_[i] * lm_diagonal_[i];
	}

	// TODO(sameeragarwal): Check for failure and deal with it.
	linear_solver_.compute(jtj_regularized_);
	lm_step_ = linear_solver_.solve(g_);
	dx_ = jacobi_scaling_.asDiagonal() * lm_step_;

	// Adding parameter_tolerance to x.norm() ensures that this
	// works if x is near zero.
	const Scalar parameter_tolerance =
	options.parameter_tolerance *
	(x.norm() + options.parameter_tolerance);
	if (dx_.norm() < parameter_tolerance) {
	summary.status = RELATIVE_STEP_SIZE_TOO_SMALL;
	break;
	}
	x_new_ = x + dx_;

	// TODO(keir): Add proper handling of errors from user eval of cost
	// functions.
	function(&x_new_[0], &f_x_new_[0], nullptr);

	const Scalar cost_change = (2 * cost_ - f_x_new_.squaredNorm());
	// TODO(sameeragarwal): Better more numerically stable evaluation.
	const Scalar model_cost_change = lm_step_.dot(2 * g_ - jtj_ * lm_step_);

	// rho is the ratio of the actual reduction in error to the reduction
	// in error that would be obtained if the problem was linear. See [1]
	// for details.
	Scalar rho(cost_change / model_cost_change);
	if (rho > 0) {
	// Accept the Levenberg-Marquardt step because the linear
	// model fits well.
	x = x_new_;

	if (std::abs(cost_change) < options.function_tolerance) {
	cost_ = f_x_new_.squaredNorm() / 2;
	summary.status = COST_CHANGE_TOO_SMALL;
	break;
	}

	// TODO(sameeragarwal): Deal with failure.
	Update(function, x);
	if (summary.gradient_max_norm < options.gradient_tolerance) {
	summary.status = GRADIENT_TOO_SMALL;
	break;
	}

	if (cost_ < options.cost_threshold) {
	summary.status = COST_TOO_SMALL;
	break;
	}

	Scalar tmp = Scalar(2 * rho - 1);
	u = u * (std::max)(Scalar(1 / 3.), Scalar(1) - tmp * tmp * tmp);
	v = 2;

	} else {
	// Reject the update because either the normal equations failed to solve
	// or the local linear model was not good (rho < 0).

	// Additionally if the cost change is too small, then terminate.
	if (std::abs(cost_change) < options.function_tolerance) {
	// Terminate
	summary.status = COST_CHANGE_TOO_SMALL;
	break;
	}

	// Reduce the size of the trust region.
	u *= v;
	v *= 2;
	}
	}

	summary.final_cost = cost_;
	return summary;
	}

	Options options;
	Summary summary;

	private:
	// Preallocate everything, including temporary storage needed for solving the
	// linear system. This allows reusing the intermediate storage across solves.
	LinearSolver linear_solver_;
	Scalar cost_;
	Parameters dx_, x_new_, g_, jacobi_scaling_, lm_diagonal_, lm_step_;
	Eigen::Matrix<Scalar, NUM_RESIDUALS, 1> residuals_, f_x_new_;
	Eigen::Matrix<Scalar, NUM_RESIDUALS, NUM_PARAMETERS> jacobian_;
	Eigen::Matrix<Scalar, NUM_PARAMETERS, NUM_PARAMETERS> jtj_, jtj_regularized_;

	// The following definitions are needed for template metaprogramming.
	template <bool Condition, typename T>
	struct enable_if;

	template <typename T>
	struct enable_if<true, T> {
	using type = T;
	};

	// The number of parameters and residuals are dynamically sized.
	template <int R, int P>
	typename enable_if<(R == Eigen::Dynamic && P == Eigen::Dynamic), void>::type
	Initialize(const Function& function) {
	Initialize(function.NumResiduals(), function.NumParameters());
	}

	// The number of parameters is dynamically sized and the number of
	// residuals is statically sized.
	template <int R, int P>
	typename enable_if<(R == Eigen::Dynamic && P != Eigen::Dynamic), void>::type
	Initialize(const Function& function) {
	Initialize(function.NumResiduals(), P);
	}

	// The number of parameters is statically sized and the number of
	// residuals is dynamically sized.
	template <int R, int P>
	typename enable_if<(R != Eigen::Dynamic && P == Eigen::Dynamic), void>::type
	Initialize(const Function& function) {
	Initialize(R, function.NumParameters());
	}

	// The number of parameters and residuals are statically sized.
	template <int R, int P>
	typename enable_if<(R != Eigen::Dynamic && P != Eigen::Dynamic), void>::type
	Initialize(const Function& /* function */) {}

	void Initialize(int num_residuals, int num_parameters) {
	dx_.resize(num_parameters);
	x_new_.resize(num_parameters);
	g_.resize(num_parameters);
	jacobi_scaling_.resize(num_parameters);
	lm_diagonal_.resize(num_parameters);
	lm_step_.resize(num_parameters);
	residuals_.resize(num_residuals);
	f_x_new_.resize(num_residuals);
	jacobian_.resize(num_residuals, num_parameters);
	jtj_.resize(num_parameters, num_parameters);
	jtj_regularized_.resize(num_parameters, num_parameters);
	}
	};

	} // namespace ceres

	#endif // CERES_PUBLIC_TINY_SOLVER_H_