| // 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 |
| // 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) |
| |
| #ifndef CERES_INTERNAL_SCHUR_COMPLEMENT_SOLVER_H_ |
| #define CERES_INTERNAL_SCHUR_COMPLEMENT_SOLVER_H_ |
| |
| #include <memory> |
| #include <set> |
| #include <utility> |
| #include <vector> |
| |
| #include "ceres/block_random_access_diagonal_matrix.h" |
| #include "ceres/block_random_access_matrix.h" |
| #include "ceres/block_sparse_matrix.h" |
| #include "ceres/block_structure.h" |
| #include "ceres/dense_cholesky.h" |
| #include "ceres/internal/config.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/linear_solver.h" |
| #include "ceres/schur_eliminator.h" |
| #include "ceres/types.h" |
| |
| #ifdef CERES_USE_EIGEN_SPARSE |
| #include "Eigen/OrderingMethods" |
| #include "Eigen/SparseCholesky" |
| #endif |
| |
| #include "ceres/internal/disable_warnings.h" |
| |
| namespace ceres::internal { |
| |
| class BlockSparseMatrix; |
| class SparseCholesky; |
| |
| // Base class for Schur complement based linear least squares |
| // solvers. It assumes that the input linear system Ax = b can be |
| // partitioned into |
| // |
| // E y + F z = b |
| // |
| // Where x = [y;z] is a partition of the variables. The partitioning |
| // of the variables is such that, E'E is a block diagonal |
| // matrix. Further, the rows of A are ordered so that for every |
| // variable block in y, all the rows containing that variable block |
| // occur as a vertically contiguous block. i.e the matrix A looks like |
| // |
| // E F |
| // A = [ y1 0 0 0 | z1 0 0 0 z5] |
| // [ y1 0 0 0 | z1 z2 0 0 0] |
| // [ 0 y2 0 0 | 0 0 z3 0 0] |
| // [ 0 0 y3 0 | z1 z2 z3 z4 z5] |
| // [ 0 0 y3 0 | z1 0 0 0 z5] |
| // [ 0 0 0 y4 | 0 0 0 0 z5] |
| // [ 0 0 0 y4 | 0 z2 0 0 0] |
| // [ 0 0 0 y4 | 0 0 0 0 0] |
| // [ 0 0 0 0 | z1 0 0 0 0] |
| // [ 0 0 0 0 | 0 0 z3 z4 z5] |
| // |
| // This structure should be reflected in the corresponding |
| // CompressedRowBlockStructure object associated with A. The linear |
| // system Ax = b should either be well posed or the array D below |
| // should be non-null and the diagonal matrix corresponding to it |
| // should be non-singular. |
| // |
| // SchurComplementSolver has two sub-classes. |
| // |
| // DenseSchurComplementSolver: For problems where the Schur complement |
| // matrix is small and dense, or if CHOLMOD/SuiteSparse is not |
| // installed. For structure from motion problems, this is solver can |
| // be used for problems with upto a few hundred cameras. |
| // |
| // SparseSchurComplementSolver: For problems where the Schur |
| // complement matrix is large and sparse. It requires that Ceres be |
| // build with at least one sparse linear algebra library, as it |
| // computes a sparse Cholesky factorization of the Schur complement. |
| // |
| // This solver can be used for solving structure from motion problems |
| // with tens of thousands of cameras, though depending on the exact |
| // sparsity structure, it maybe better to use an iterative solver. |
| // |
| // The two solvers can be instantiated by calling |
| // LinearSolver::CreateLinearSolver with LinearSolver::Options::type |
| // set to DENSE_SCHUR and SPARSE_SCHUR |
| // respectively. LinearSolver::Options::elimination_groups[0] should |
| // be at least 1. |
| class CERES_NO_EXPORT SchurComplementSolver : public BlockSparseMatrixSolver { |
| public: |
| explicit SchurComplementSolver(const LinearSolver::Options& options); |
| SchurComplementSolver(const SchurComplementSolver&) = delete; |
| void operator=(const SchurComplementSolver&) = delete; |
| |
| LinearSolver::Summary SolveImpl( |
| BlockSparseMatrix* A, |
| const double* b, |
| const LinearSolver::PerSolveOptions& per_solve_options, |
| double* x) override; |
| |
| protected: |
| const LinearSolver::Options& options() const { return options_; } |
| |
| void set_lhs(std::unique_ptr<BlockRandomAccessMatrix> lhs) { |
| lhs_ = std::move(lhs); |
| } |
| const BlockRandomAccessMatrix* lhs() const { return lhs_.get(); } |
| BlockRandomAccessMatrix* mutable_lhs() { return lhs_.get(); } |
| void ResizeRhs(int n) { rhs_.resize(n); } |
| const Vector& rhs() const { return rhs_; } |
| |
| private: |
| virtual void InitStorage(const CompressedRowBlockStructure* bs) = 0; |
| virtual LinearSolver::Summary SolveReducedLinearSystem( |
| const LinearSolver::PerSolveOptions& per_solve_options, |
| double* solution) = 0; |
| |
| LinearSolver::Options options_; |
| |
| std::unique_ptr<SchurEliminatorBase> eliminator_; |
| std::unique_ptr<BlockRandomAccessMatrix> lhs_; |
| Vector rhs_; |
| }; |
| |
| // Dense Cholesky factorization based solver. |
| class CERES_NO_EXPORT DenseSchurComplementSolver final |
| : public SchurComplementSolver { |
| public: |
| explicit DenseSchurComplementSolver(const LinearSolver::Options& options); |
| DenseSchurComplementSolver(const DenseSchurComplementSolver&) = delete; |
| void operator=(const DenseSchurComplementSolver&) = delete; |
| |
| ~DenseSchurComplementSolver() override; |
| |
| private: |
| void InitStorage(const CompressedRowBlockStructure* bs) final; |
| LinearSolver::Summary SolveReducedLinearSystem( |
| const LinearSolver::PerSolveOptions& per_solve_options, |
| double* solution) final; |
| |
| std::unique_ptr<DenseCholesky> cholesky_; |
| }; |
| |
| // Sparse Cholesky factorization based solver. |
| class CERES_NO_EXPORT SparseSchurComplementSolver final |
| : public SchurComplementSolver { |
| public: |
| explicit SparseSchurComplementSolver(const LinearSolver::Options& options); |
| SparseSchurComplementSolver(const SparseSchurComplementSolver&) = delete; |
| void operator=(const SparseSchurComplementSolver&) = delete; |
| |
| ~SparseSchurComplementSolver() override; |
| |
| private: |
| void InitStorage(const CompressedRowBlockStructure* bs) final; |
| LinearSolver::Summary SolveReducedLinearSystem( |
| const LinearSolver::PerSolveOptions& per_solve_options, |
| double* solution) final; |
| LinearSolver::Summary SolveReducedLinearSystemUsingConjugateGradients( |
| const LinearSolver::PerSolveOptions& per_solve_options, double* solution); |
| |
| std::vector<Block> blocks_; |
| std::unique_ptr<SparseCholesky> sparse_cholesky_; |
| std::unique_ptr<BlockRandomAccessDiagonalMatrix> preconditioner_; |
| Vector cg_solution_; |
| Vector* scratch_[4] = {nullptr, nullptr, nullptr, nullptr}; |
| }; |
| |
| } // namespace ceres::internal |
| |
| #include "ceres/internal/reenable_warnings.h" |
| |
| #endif // CERES_INTERNAL_SCHUR_COMPLEMENT_SOLVER_H_ |