| // 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 |
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| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| |
| #ifndef CERES_INTERNAL_DOGLEG_STRATEGY_H_ |
| #define CERES_INTERNAL_DOGLEG_STRATEGY_H_ |
| |
| #include "ceres/internal/disable_warnings.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/linear_solver.h" |
| #include "ceres/trust_region_strategy.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| // Dogleg step computation and trust region sizing strategy based on |
| // on "Methods for Nonlinear Least Squares" by K. Madsen, H.B. Nielsen |
| // and O. Tingleff. Available to download from |
| // |
| // http://www2.imm.dtu.dk/pubdb/views/edoc_download.php/3215/pdf/imm3215.pdf |
| // |
| // One minor modification is that instead of computing the pure |
| // Gauss-Newton step, we compute a regularized version of it. This is |
| // because the Jacobian is often rank-deficient and in such cases |
| // using a direct solver leads to numerical failure. |
| // |
| // If SUBSPACE is passed as the type argument to the constructor, the |
| // DoglegStrategy follows the approach by Shultz, Schnabel, Byrd. |
| // This finds the exact optimum over the two-dimensional subspace |
| // spanned by the two Dogleg vectors. |
| class CERES_NO_EXPORT DoglegStrategy final : public TrustRegionStrategy { |
| public: |
| explicit DoglegStrategy(const TrustRegionStrategy::Options& options); |
| |
| // TrustRegionStrategy interface |
| Summary ComputeStep(const PerSolveOptions& per_solve_options, |
| SparseMatrix* jacobian, |
| const double* residuals, |
| double* step) final; |
| void StepAccepted(double step_quality) final; |
| void StepRejected(double step_quality) final; |
| void StepIsInvalid() override; |
| double Radius() const final; |
| |
| // These functions are predominantly for testing. |
| Vector gradient() const { return gradient_; } |
| Vector gauss_newton_step() const { return gauss_newton_step_; } |
| Matrix subspace_basis() const { return subspace_basis_; } |
| Vector subspace_g() const { return subspace_g_; } |
| Matrix subspace_B() const { return subspace_B_; } |
| |
| private: |
| using Vector2d = Eigen::Matrix<double, 2, 1, Eigen::DontAlign>; |
| using Matrix2d = Eigen::Matrix<double, 2, 2, Eigen::DontAlign>; |
| |
| LinearSolver::Summary ComputeGaussNewtonStep( |
| const PerSolveOptions& per_solve_options, |
| SparseMatrix* jacobian, |
| const double* residuals); |
| void ComputeCauchyPoint(SparseMatrix* jacobian); |
| void ComputeGradient(SparseMatrix* jacobian, const double* residuals); |
| void ComputeTraditionalDoglegStep(double* step); |
| bool ComputeSubspaceModel(SparseMatrix* jacobian); |
| void ComputeSubspaceDoglegStep(double* step); |
| |
| bool FindMinimumOnTrustRegionBoundary(Vector2d* minimum) const; |
| Vector MakePolynomialForBoundaryConstrainedProblem() const; |
| Vector2d ComputeSubspaceStepFromRoot(double lambda) const; |
| double EvaluateSubspaceModel(const Vector2d& x) const; |
| |
| LinearSolver* linear_solver_; |
| double radius_; |
| const double max_radius_; |
| |
| const double min_diagonal_; |
| const double max_diagonal_; |
| |
| // mu is used to scale the diagonal matrix used to make the |
| // Gauss-Newton solve full rank. In each solve, the strategy starts |
| // out with mu = min_mu, and tries values up to max_mu. If the user |
| // reports an invalid step, the value of mu_ is increased so that |
| // the next solve starts with a stronger regularization. |
| // |
| // If a successful step is reported, then the value of mu_ is |
| // decreased with a lower bound of min_mu_. |
| double mu_; |
| const double min_mu_; |
| const double max_mu_; |
| const double mu_increase_factor_; |
| const double increase_threshold_; |
| const double decrease_threshold_; |
| |
| Vector diagonal_; // sqrt(diag(J^T J)) |
| Vector lm_diagonal_; |
| |
| Vector gradient_; |
| Vector gauss_newton_step_; |
| |
| // cauchy_step = alpha * gradient |
| double alpha_; |
| double dogleg_step_norm_; |
| |
| // When, ComputeStep is called, reuse_ indicates whether the |
| // Gauss-Newton and Cauchy steps from the last call to ComputeStep |
| // can be reused or not. |
| // |
| // If the user called StepAccepted, then it is expected that the |
| // user has recomputed the Jacobian matrix and new Gauss-Newton |
| // solve is needed and reuse is set to false. |
| // |
| // If the user called StepRejected, then it is expected that the |
| // user wants to solve the trust region problem with the same matrix |
| // but a different trust region radius and the Gauss-Newton and |
| // Cauchy steps can be reused to compute the Dogleg, thus reuse is |
| // set to true. |
| // |
| // If the user called StepIsInvalid, then there was a numerical |
| // problem with the step computed in the last call to ComputeStep, |
| // and the regularization used to do the Gauss-Newton solve is |
| // increased and a new solve should be done when ComputeStep is |
| // called again, thus reuse is set to false. |
| bool reuse_; |
| |
| // The dogleg type determines how the minimum of the local |
| // quadratic model is found. |
| DoglegType dogleg_type_; |
| |
| // If the type is SUBSPACE_DOGLEG, the two-dimensional |
| // model 1/2 x^T B x + g^T x has to be computed and stored. |
| bool subspace_is_one_dimensional_; |
| Matrix subspace_basis_; |
| Vector2d subspace_g_; |
| Matrix2d subspace_B_; |
| }; |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #include "ceres/internal/reenable_warnings.h" |
| |
| #endif // CERES_INTERNAL_DOGLEG_STRATEGY_H_ |