| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2022 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
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| // modification, are permitted provided that the following conditions are met: |
| // |
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| // this list of conditions and the following disclaimer in the documentation |
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| // specific prior written permission. |
| // |
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| // |
| // Author: markshachkov@gmail.com (Mark Shachkov) |
| |
| #ifndef CERES_INTERNAL_POWER_SERIES_EXPANSION_PRECONDITIONER_H_ |
| #define CERES_INTERNAL_POWER_SERIES_EXPANSION_PRECONDITIONER_H_ |
| |
| #include "ceres/implicit_schur_complement.h" |
| #include "ceres/internal/eigen.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/preconditioner.h" |
| |
| namespace ceres::internal { |
| |
| // This is a preconditioner via power series expansion of Schur |
| // complement inverse based on "Weber et al, Power Bundle Adjustment for |
| // Large-Scale 3D Reconstruction". |
| |
| class CERES_NO_EXPORT PowerSeriesExpansionPreconditioner |
| : public Preconditioner { |
| public: |
| PowerSeriesExpansionPreconditioner(const ImplicitSchurComplement* isc, |
| const int max_num_spse_iterations, |
| const double spse_tolerance); |
| PowerSeriesExpansionPreconditioner( |
| const PowerSeriesExpansionPreconditioner&) = delete; |
| void operator=(const PowerSeriesExpansionPreconditioner&) = delete; |
| ~PowerSeriesExpansionPreconditioner() override; |
| |
| void RightMultiplyAndAccumulate(const double* x, double* y) const final; |
| bool Update(const LinearOperator& A, const double* D) final; |
| int num_rows() const final; |
| |
| private: |
| const ImplicitSchurComplement* isc_; |
| const int max_num_spse_iterations_; |
| const double spse_tolerance_; |
| }; |
| |
| } // namespace ceres::internal |
| |
| #endif // CERES_INTERNAL_POWER_SERIES_EXPANSION_PRECONDITIONER_H_ |