| // 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 |
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| // 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) |
| |
| #ifndef CERES_INTERNAL_TRUST_REGION_STRATEGY_H_ |
| #define CERES_INTERNAL_TRUST_REGION_STRATEGY_H_ |
| |
| #include <memory> |
| #include <string> |
| |
| #include "ceres/internal/disable_warnings.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/linear_solver.h" |
| |
| namespace ceres::internal { |
| |
| class LinearSolver; |
| class SparseMatrix; |
| |
| // Interface for classes implementing various trust region strategies |
| // for nonlinear least squares problems. |
| // |
| // The object is expected to maintain and update a trust region |
| // radius, which it then uses to solve for the trust region step using |
| // the jacobian matrix and residual vector. |
| // |
| // Here the term trust region radius is used loosely, as the strategy |
| // is free to treat it as guidance and violate it as need be. e.g., |
| // the LevenbergMarquardtStrategy uses the inverse of the trust region |
| // radius to scale the damping term, which controls the step size, but |
| // does not set a hard limit on its size. |
| class CERES_NO_EXPORT TrustRegionStrategy { |
| public: |
| struct Options { |
| TrustRegionStrategyType trust_region_strategy_type = LEVENBERG_MARQUARDT; |
| // Linear solver used for actually solving the trust region step. |
| LinearSolver* linear_solver = nullptr; |
| double initial_radius = 1e4; |
| double max_radius = 1e32; |
| |
| // Minimum and maximum values of the diagonal damping matrix used |
| // by LevenbergMarquardtStrategy. The DoglegStrategy also uses |
| // these bounds to construct a regularizing diagonal to ensure |
| // that the Gauss-Newton step computation is of full rank. |
| double min_lm_diagonal = 1e-6; |
| double max_lm_diagonal = 1e32; |
| |
| // Further specify which dogleg method to use |
| DoglegType dogleg_type = TRADITIONAL_DOGLEG; |
| }; |
| |
| // Factory. |
| static std::unique_ptr<TrustRegionStrategy> Create(const Options& options); |
| |
| virtual ~TrustRegionStrategy(); |
| |
| // Per solve options. |
| struct PerSolveOptions { |
| // Forcing sequence for inexact solves. |
| double eta = 1e-1; |
| |
| DumpFormatType dump_format_type = TEXTFILE; |
| |
| // If non-empty and dump_format_type is not CONSOLE, the trust |
| // regions strategy will write the linear system to file(s) with |
| // name starting with dump_filename_base. If dump_format_type is |
| // CONSOLE then dump_filename_base will be ignored and the linear |
| // system will be written to the standard error. |
| std::string dump_filename_base; |
| }; |
| |
| struct Summary { |
| // If the trust region problem is, |
| // |
| // 1/2 x'Ax + b'x + c, |
| // |
| // then |
| // |
| // residual_norm = |Ax -b| |
| double residual_norm = -1; |
| |
| // Number of iterations used by the linear solver. If a linear |
| // solver was not called (e.g., DogLegStrategy after an |
| // unsuccessful step), then this would be zero. |
| int num_iterations = -1; |
| |
| // Status of the linear solver used to solve the Newton system. |
| LinearSolverTerminationType termination_type = |
| LinearSolverTerminationType::FAILURE; |
| }; |
| |
| // Use the current radius to solve for the trust region step. |
| virtual Summary ComputeStep(const PerSolveOptions& per_solve_options, |
| SparseMatrix* jacobian, |
| const double* residuals, |
| double* step) = 0; |
| |
| // Inform the strategy that the current step has been accepted, and |
| // that the ratio of the decrease in the non-linear objective to the |
| // decrease in the trust region model is step_quality. |
| virtual void StepAccepted(double step_quality) = 0; |
| |
| // Inform the strategy that the current step has been rejected, and |
| // that the ratio of the decrease in the non-linear objective to the |
| // decrease in the trust region model is step_quality. |
| virtual void StepRejected(double step_quality) = 0; |
| |
| // Inform the strategy that the current step has been rejected |
| // because it was found to be numerically invalid. |
| // StepRejected/StepAccepted will not be called for this step, and |
| // the strategy is free to do what it wants with this information. |
| virtual void StepIsInvalid() = 0; |
| |
| // Current trust region radius. |
| virtual double Radius() const = 0; |
| }; |
| |
| } // namespace ceres::internal |
| |
| #include "ceres/internal/reenable_warnings.h" |
| |
| #endif // CERES_INTERNAL_TRUST_REGION_STRATEGY_H_ |