Initial commit of Ceres Solver.
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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// 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)
+//
+// Enums and other top level class definitions.
+//
+// Note: internal/types.cc defines stringification routines for some
+// of these enums. Please update those routines if you extend or
+// remove enums from here.
+
+#ifndef CERES_PUBLIC_TYPES_H_
+#define CERES_PUBLIC_TYPES_H_
+
+namespace ceres {
+
+// Basic integer types. These typedefs are in the Ceres namespace to avoid
+// conflicts with other packages having similar typedefs.
+typedef short int16;
+typedef int int32;
+
+// Argument type used in interfaces that can optionally take ownership
+// of a passed in argument. If TAKE_OWNERSHIP is passed, the called
+// object takes ownership of the pointer argument, and will call
+// delete on it upon completion.
+enum Ownership {
+ DO_NOT_TAKE_OWNERSHIP,
+ TAKE_OWNERSHIP
+};
+
+// TODO(keir): Considerably expand the explanations of each solver type.
+enum LinearSolverType {
+ // These solvers are for general rectangular systems formed from the
+ // normal equations A'A x = A'b. They are direct solvers and do not
+ // assume any special problem structure.
+
+ // Solve the normal equations using a sparse cholesky solver; based
+ // on CHOLMOD.
+ SPARSE_NORMAL_CHOLESKY,
+
+ // Solve the normal equations using a dense QR solver; based on
+ // Eigen.
+ DENSE_QR,
+
+ // Specialized solvers, specific to problems with a generalized
+ // bi-partitite structure.
+
+ // Solves the reduced linear system using a dense Cholesky solver;
+ // based on Eigen.
+ DENSE_SCHUR,
+
+ // Solves the reduced linear system using a sparse Cholesky solver;
+ // based on CHOLMOD.
+ SPARSE_SCHUR,
+
+ // Solves the reduced linear system using Conjugate Gradients, based
+ // on a new Ceres implementation. Suitable for large scale
+ // problems.
+ ITERATIVE_SCHUR,
+
+ // Symmetric positive definite solvers
+
+ // This is not meant for direct client use; it is used under the
+ // hood while using ITERATIVE_SCHUR. Once there is a decent
+ // preconditioner, this will make sense for general sparse problems.
+ CONJUGATE_GRADIENTS,
+};
+
+enum PreconditionerType {
+ // Trivial preconditioner - the identity matrix.
+ IDENTITY,
+
+ // Block diagonal of the Gauss-Newton Hessian.
+ JACOBI,
+
+ // Block diagonal of the Schur complement. This preconditioner may
+ // only be used with the ITERATIVE_SCHUR solver. Requires
+ // SuiteSparse/CHOLMOD.
+ SCHUR_JACOBI,
+
+ // Visibility clustering based preconditioners.
+ //
+ // These preconditioners are well suited for Structure from Motion
+ // problems, particularly problems arising from community photo
+ // collections. These preconditioners use the visibility structure
+ // of the scene to determine the sparsity structure of the
+ // preconditioner. Requires SuiteSparse/CHOLMOD.
+ CLUSTER_JACOBI,
+ CLUSTER_TRIDIAGONAL
+};
+
+enum LinearSolverTerminationType {
+ // Termination criterion was met. For factorization based solvers
+ // the tolerance is assumed to be zero. Any user provided values are
+ // ignored.
+ TOLERANCE,
+
+ // Solver ran for max_num_iterations and terminated before the
+ // termination tolerance could be satified.
+ MAX_ITERATIONS,
+
+ // Solver is stuck and further iterations will not result in any
+ // measurable progress.
+ STAGNATION,
+
+ // Solver failed. Solver was terminated due to numerical errors. The
+ // exact cause of failure depends on the particular solver being
+ // used.
+ FAILURE
+};
+
+enum OrderingType {
+ // The order in which the parameter blocks were defined.
+ NATURAL,
+
+ // Use the ordering specificed in the vector ordering.
+ USER,
+
+ // Automatically figure out the best ordering to use the schur
+ // complement based solver.
+ SCHUR
+};
+
+// Logging options
+// The options get progressively noisier.
+enum LoggingType {
+ SILENT,
+ PER_MINIMIZER_ITERATION,
+};
+
+enum MinimizerType {
+ LEVENBERG_MARQUARDT,
+};
+
+enum SolverTerminationType {
+ // The minimizer did not run at all; usually due to errors in the user's
+ // Problem or the solver options.
+ DID_NOT_RUN,
+
+ // The solver ran for maximum number of iterations specified by the
+ // user, but none of the convergence criterion specified by the user
+ // were met.
+ NO_CONVERGENCE,
+
+ // Minimizer terminated because
+ // (new_cost - old_cost) < function_tolerance * old_cost;
+ FUNCTION_TOLERANCE,
+
+ // Minimizer terminated because
+ // max_i |gradient_i| < gradient_tolerance * max_i|initial_gradient_i|
+ GRADIENT_TOLERANCE,
+
+ // Minimized terminated because
+ // |step|_2 <= parameter_tolerance * ( |x|_2 + parameter_tolerance)
+ PARAMETER_TOLERANCE,
+
+ // The minimizer terminated because it encountered a numerical error
+ // that it could not recover from.
+ NUMERICAL_FAILURE,
+
+ // Using an IterationCallback object, user code can control the
+ // minimizer. The following enums indicate that the user code was
+ // responsible for termination.
+
+ // User's IterationCallback returned SOLVER_ABORT.
+ USER_ABORT,
+
+ // User's IterationCallback returned SOLVER_TERMINATE_SUCCESSFULLY
+ USER_SUCCESS,
+};
+
+// Enums used by the IterationCallback instances to indicate to the
+// solver whether it should continue solving, the user detected an
+// error or the solution is good enough and the solver should
+// terminate.
+enum CallbackReturnType {
+ // Continue solving to next iteration.
+ SOLVER_CONTINUE,
+
+ // Terminate solver, and do not update the parameter blocks upon
+ // return. Unless the user has set
+ // Solver:Options:::update_state_every_iteration, in which case the
+ // state would have been updated every iteration
+ // anyways. Solver::Summary::termination_type is set to USER_ABORT.
+ SOLVER_ABORT,
+
+ // Terminate solver, update state and
+ // return. Solver::Summary::termination_type is set to USER_SUCCESS.
+ SOLVER_TERMINATE_SUCCESSFULLY
+};
+
+const char* LinearSolverTypeToString(LinearSolverType type);
+const char* PreconditionerTypeToString(PreconditionerType type);
+const char* LinearSolverTerminationTypeToString(
+ LinearSolverTerminationType type);
+const char* OrderingTypeToString(OrderingType type);
+const char* SolverTerminationTypeToString(SolverTerminationType type);
+
+bool IsSchurType(LinearSolverType type);
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_TYPES_H_
