| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2017 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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| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| // |
| // A solver for sparse linear least squares problem based on solving |
| // the normal equations via a sparse cholesky factorization. |
| |
| #ifndef CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_ |
| #define CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_ |
| |
| // This include must come before any #ifndef check on Ceres compile options. |
| // clang-format off |
| #include "ceres/internal/config.h" |
| // clang-format on |
| |
| #include <memory> |
| #include <vector> |
| |
| #include "ceres/internal/export.h" |
| #include "ceres/linear_solver.h" |
| |
| namespace ceres::internal { |
| |
| class CompressedRowSparseMatrix; |
| class InnerProductComputer; |
| class SparseCholesky; |
| |
| // Solves the normal equations (A'A + D'D) x = A'b, using the sparse |
| // linear algebra library of the user's choice. |
| class CERES_NO_EXPORT SparseNormalCholeskySolver |
| : public BlockSparseMatrixSolver { |
| public: |
| explicit SparseNormalCholeskySolver(const LinearSolver::Options& options); |
| SparseNormalCholeskySolver(const SparseNormalCholeskySolver&) = delete; |
| void operator=(const SparseNormalCholeskySolver&) = delete; |
| |
| ~SparseNormalCholeskySolver() override; |
| |
| private: |
| LinearSolver::Summary SolveImpl(BlockSparseMatrix* A, |
| const double* b, |
| const LinearSolver::PerSolveOptions& options, |
| double* x) final; |
| |
| const LinearSolver::Options options_; |
| Vector rhs_; |
| std::unique_ptr<SparseCholesky> sparse_cholesky_; |
| std::unique_ptr<InnerProductComputer> inner_product_computer_; |
| }; |
| |
| } // namespace ceres::internal |
| |
| #endif // CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_ |