| // 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: sameragarwal@google.com (Sameer Agarwal) |
| |
| #include "ceres/preprocessor.h" |
| |
| #include <memory> |
| |
| #include "ceres/callbacks.h" |
| #include "ceres/gradient_checking_cost_function.h" |
| #include "ceres/line_search_preprocessor.h" |
| #include "ceres/parallel_for.h" |
| #include "ceres/problem_impl.h" |
| #include "ceres/solver.h" |
| #include "ceres/trust_region_preprocessor.h" |
| |
| namespace ceres::internal { |
| |
| std::unique_ptr<Preprocessor> Preprocessor::Create( |
| MinimizerType minimizer_type) { |
| if (minimizer_type == TRUST_REGION) { |
| return std::make_unique<TrustRegionPreprocessor>(); |
| } |
| |
| if (minimizer_type == LINE_SEARCH) { |
| return std::make_unique<LineSearchPreprocessor>(); |
| } |
| |
| LOG(FATAL) << "Unknown minimizer_type: " << minimizer_type; |
| return nullptr; |
| } |
| |
| Preprocessor::~Preprocessor() = default; |
| |
| void ChangeNumThreadsIfNeeded(Solver::Options* options) { |
| if (options->num_threads == 1) { |
| return; |
| } |
| const int num_threads_available = MaxNumThreadsAvailable(); |
| if (options->num_threads > num_threads_available) { |
| LOG(WARNING) << "Specified options.num_threads: " << options->num_threads |
| << " exceeds maximum available from the threading model Ceres " |
| << "was compiled with: " << num_threads_available |
| << ". Bounding to maximum number available."; |
| options->num_threads = num_threads_available; |
| } |
| } |
| |
| void SetupCommonMinimizerOptions(PreprocessedProblem* pp) { |
| const Solver::Options& options = pp->options; |
| Program* program = pp->reduced_program.get(); |
| |
| // Assuming that the parameter blocks in the program have been |
| // reordered as needed, extract them into a contiguous vector. |
| pp->reduced_parameters.resize(program->NumParameters()); |
| double* reduced_parameters = pp->reduced_parameters.data(); |
| program->ParameterBlocksToStateVector(reduced_parameters); |
| |
| Minimizer::Options& minimizer_options = pp->minimizer_options; |
| minimizer_options = Minimizer::Options(options); |
| minimizer_options.evaluator = pp->evaluator; |
| |
| if (options.logging_type != SILENT) { |
| pp->logging_callback = std::make_unique<LoggingCallback>( |
| options.minimizer_type, options.minimizer_progress_to_stdout); |
| minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(), |
| pp->logging_callback.get()); |
| } |
| |
| if (options.update_state_every_iteration) { |
| pp->state_updating_callback = |
| std::make_unique<StateUpdatingCallback>(program, reduced_parameters); |
| // This must get pushed to the front of the callbacks so that it |
| // is run before any of the user callbacks. |
| minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(), |
| pp->state_updating_callback.get()); |
| } |
| } |
| |
| } // namespace ceres::internal |