Initial commit of Ceres Solver.
diff --git a/internal/ceres/solver.cc b/internal/ceres/solver.cc
new file mode 100644
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--- /dev/null
+++ b/internal/ceres/solver.cc
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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: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/solver.h"
+
+#include <vector>
+#include "ceres/levenberg_marquardt.h"
+#include "ceres/program.h"
+#include "ceres/solver_impl.h"
+#include "ceres/stringprintf.h"
+#include "ceres/problem.h"
+
+namespace ceres {
+
+Solver::~Solver() {}
+
+// TODO(sameeragarwal): The timing code here should use a sub-second
+// timer.
+void Solver::Solve(const Solver::Options& options,
+ Problem* problem,
+ Solver::Summary* summary) {
+ time_t start_time_seconds = time(NULL);
+ internal::SolverImpl::Solve(options, problem, summary);
+ summary->total_time_in_seconds = time(NULL) - start_time_seconds;
+ summary->preprocessor_time_in_seconds =
+ summary->total_time_in_seconds - summary->minimizer_time_in_seconds;
+}
+
+void Solve(const Solver::Options& options,
+ Problem* problem,
+ Solver::Summary* summary) {
+ time_t start_time_seconds = time(NULL);
+ internal::SolverImpl::Solve(options, problem, summary);
+ summary->total_time_in_seconds = time(NULL) - start_time_seconds;
+ summary->preprocessor_time_in_seconds =
+ summary->total_time_in_seconds - summary->minimizer_time_in_seconds;
+}
+
+Solver::Summary::Summary()
+ // Invalid values for most fields, to ensure that we are not
+ // accidentally reporting default values.
+ : termination_type(DID_NOT_RUN),
+ initial_cost(-1.0),
+ final_cost(-1.0),
+ fixed_cost(-1.0),
+ num_successful_steps(-1),
+ num_unsuccessful_steps(-1),
+ preprocessor_time_in_seconds(-1.0),
+ minimizer_time_in_seconds(-1.0),
+ total_time_in_seconds(-1.0),
+ num_parameter_blocks(-1),
+ num_parameters(-1),
+ num_residual_blocks(-1),
+ num_residuals(-1),
+ num_parameter_blocks_reduced(-1),
+ num_parameters_reduced(-1),
+ num_residual_blocks_reduced(-1),
+ num_residuals_reduced(-1),
+ num_eliminate_blocks_given(-1),
+ num_eliminate_blocks_used(-1),
+ num_threads_given(-1),
+ num_threads_used(-1),
+ num_linear_solver_threads_given(-1),
+ num_linear_solver_threads_used(-1),
+ linear_solver_type_given(SPARSE_NORMAL_CHOLESKY),
+ linear_solver_type_used(SPARSE_NORMAL_CHOLESKY),
+ preconditioner_type(IDENTITY),
+ ordering_type(NATURAL) {
+}
+
+string Solver::Summary::BriefReport() const {
+ string report = "Ceres Solver Report: ";
+ if (termination_type == DID_NOT_RUN) {
+ CHECK(!error.empty())
+ << "Solver terminated with DID_NOT_RUN but the solver did not "
+ << "return a reason. This is a Ceres error. Please report this "
+ << "to the Ceres team";
+ return report + "Termination: DID_NOT_RUN, because " + error;
+ }
+
+ internal::StringAppendF(&report, "Iterations: %d",
+ num_successful_steps + num_unsuccessful_steps);
+ internal::StringAppendF(&report, ", Initial cost: %e", initial_cost);
+
+ // If the solver failed or was aborted, then the final_cost has no
+ // meaning.
+ if (termination_type != NUMERICAL_FAILURE &&
+ termination_type != USER_ABORT) {
+ internal::StringAppendF(&report, ", Final cost: %e", final_cost);
+ }
+
+ internal::StringAppendF(&report, ", Termination: %s.",
+ SolverTerminationTypeToString(termination_type));
+ return report;
+};
+
+string Solver::Summary::FullReport() const {
+ string report =
+ "\n"
+ "Ceres Solver Report\n"
+ "-------------------\n";
+
+ if (termination_type == DID_NOT_RUN) {
+ internal::StringAppendF(&report, " Original\n");
+ internal::StringAppendF(&report, "Parameter blocks % 10d\n",
+ num_parameter_blocks);
+ internal::StringAppendF(&report, "Parameters % 10d\n",
+ num_parameters);
+ internal::StringAppendF(&report, "Residual blocks % 10d\n",
+ num_residual_blocks);
+ internal::StringAppendF(&report, "Residual % 10d\n\n",
+ num_residuals);
+ } else {
+ internal::StringAppendF(&report, "%45s %21s\n", "Original", "Reduced");
+ internal::StringAppendF(&report, "Parameter blocks % 25d% 25d\n",
+ num_parameter_blocks, num_parameter_blocks_reduced);
+ internal::StringAppendF(&report, "Parameters % 25d% 25d\n",
+ num_parameters, num_parameters_reduced);
+ internal::StringAppendF(&report, "Residual blocks % 25d% 25d\n",
+ num_residual_blocks, num_residual_blocks_reduced);
+ internal::StringAppendF(&report, "Residual % 25d% 25d\n\n",
+ num_residuals, num_residuals_reduced);
+ }
+
+ internal::StringAppendF(&report, "%45s %21s\n", "Given", "Used");
+ internal::StringAppendF(&report, "Linear solver %25s%25s\n",
+ LinearSolverTypeToString(linear_solver_type_given),
+ LinearSolverTypeToString(linear_solver_type_used));
+
+ if (linear_solver_type_given == ITERATIVE_SCHUR) {
+ internal::StringAppendF(&report, "Preconditioner %25s%25s\n",
+ PreconditionerTypeToString(preconditioner_type),
+ PreconditionerTypeToString(preconditioner_type));
+ } else {
+ internal::StringAppendF(&report, "Preconditioner %25s%25s\n",
+ "N/A", "N/A");
+ }
+
+ internal::StringAppendF(&report, "Ordering %25s%25s\n",
+ OrderingTypeToString(ordering_type),
+ OrderingTypeToString(ordering_type));
+
+ if (IsSchurType(linear_solver_type_given)) {
+ if (ordering_type == SCHUR) {
+ internal::StringAppendF(&report, "num_eliminate_blocks%25s% 25d\n",
+ "N/A",
+ num_eliminate_blocks_used);
+ } else {
+ internal::StringAppendF(&report, "num_eliminate_blocks% 25d% 25d\n",
+ num_eliminate_blocks_given,
+ num_eliminate_blocks_used);
+ }
+ }
+
+ internal::StringAppendF(&report, "Threads: % 25d% 25d\n",
+ num_threads_given, num_threads_used);
+ internal::StringAppendF(&report, "Linear Solver Threads:% 23d% 25d\n",
+ num_linear_solver_threads_given,
+ num_linear_solver_threads_used);
+
+
+ if (termination_type == DID_NOT_RUN) {
+ CHECK(!error.empty())
+ << "Solver terminated with DID_NOT_RUN but the solver did not "
+ << "return a reason. This is a Ceres error. Please report this "
+ << "to the Ceres team";
+ internal::StringAppendF(&report, "Termination: %20s\n",
+ "DID_NOT_RUN");
+ internal::StringAppendF(&report, "Reason: %s\n", error.c_str());
+ return report;
+ }
+
+ internal::StringAppendF(&report, "\nCost:\n");
+ internal::StringAppendF(&report, "Initial % 30e\n", initial_cost);
+ if (termination_type != NUMERICAL_FAILURE && termination_type != USER_ABORT) {
+ internal::StringAppendF(&report, "Final % 30e\n", final_cost);
+ internal::StringAppendF(&report, "Change % 30e\n",
+ initial_cost - final_cost);
+ }
+
+ internal::StringAppendF(&report, "\nNumber of iterations:\n");
+ internal::StringAppendF(&report, "Successful % 20d\n",
+ num_successful_steps);
+ internal::StringAppendF(&report, "Unsuccessful % 20d\n",
+ num_unsuccessful_steps);
+ internal::StringAppendF(&report, "Total % 20d\n",
+ num_successful_steps + num_unsuccessful_steps);
+ internal::StringAppendF(&report, "\nTime (in seconds):\n");
+ internal::StringAppendF(&report, "Preprocessor % 25e\n",
+ preprocessor_time_in_seconds);
+ internal::StringAppendF(&report, "Minimizer % 25e\n",
+ minimizer_time_in_seconds);
+ internal::StringAppendF(&report, "Total % 25e\n",
+ total_time_in_seconds);
+
+ internal::StringAppendF(&report, "Termination: %25s\n",
+ SolverTerminationTypeToString(termination_type));
+ return report;
+};
+
+} // namespace ceres
