| // 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: keir@google.com (Keir Mierle) |
| |
| #include "ceres/cgnr_solver.h" |
| |
| #include <memory> |
| #include <utility> |
| |
| #include "ceres/block_jacobi_preconditioner.h" |
| #include "ceres/cgnr_linear_operator.h" |
| #include "ceres/conjugate_gradients_solver.h" |
| #include "ceres/internal/eigen.h" |
| #include "ceres/linear_solver.h" |
| #include "ceres/subset_preconditioner.h" |
| #include "ceres/wall_time.h" |
| #include "glog/logging.h" |
| |
| namespace ceres::internal { |
| |
| CgnrSolver::CgnrSolver(LinearSolver::Options options) |
| : options_(std::move(options)) { |
| if (options_.preconditioner_type != JACOBI && |
| options_.preconditioner_type != IDENTITY && |
| options_.preconditioner_type != SUBSET) { |
| LOG(FATAL) |
| << "Preconditioner = " |
| << PreconditionerTypeToString(options_.preconditioner_type) << ". " |
| << "Congratulations, you found a bug in Ceres. Please report it."; |
| } |
| } |
| |
| CgnrSolver::~CgnrSolver() = default; |
| |
| LinearSolver::Summary CgnrSolver::SolveImpl( |
| BlockSparseMatrix* A, |
| const double* b, |
| const LinearSolver::PerSolveOptions& per_solve_options, |
| double* x) { |
| EventLogger event_logger("CgnrSolver::Solve"); |
| |
| // Form z = Atb. |
| Vector z(A->num_cols()); |
| z.setZero(); |
| A->LeftMultiply(b, z.data()); |
| |
| if (!preconditioner_) { |
| if (options_.preconditioner_type == JACOBI) { |
| preconditioner_ = std::make_unique<BlockJacobiPreconditioner>(*A); |
| } else if (options_.preconditioner_type == SUBSET) { |
| Preconditioner::Options preconditioner_options; |
| preconditioner_options.type = SUBSET; |
| preconditioner_options.subset_preconditioner_start_row_block = |
| options_.subset_preconditioner_start_row_block; |
| preconditioner_options.sparse_linear_algebra_library_type = |
| options_.sparse_linear_algebra_library_type; |
| preconditioner_options.use_postordering = options_.use_postordering; |
| preconditioner_options.num_threads = options_.num_threads; |
| preconditioner_options.context = options_.context; |
| preconditioner_ = |
| std::make_unique<SubsetPreconditioner>(preconditioner_options, *A); |
| } |
| } |
| |
| if (preconditioner_) { |
| preconditioner_->Update(*A, per_solve_options.D); |
| } |
| |
| LinearSolver::PerSolveOptions cg_per_solve_options = per_solve_options; |
| cg_per_solve_options.preconditioner = preconditioner_.get(); |
| |
| // Solve (AtA + DtD)x = z (= Atb). |
| VectorRef(x, A->num_cols()).setZero(); |
| CgnrLinearOperator lhs(*A, per_solve_options.D); |
| event_logger.AddEvent("Setup"); |
| |
| ConjugateGradientsSolver conjugate_gradient_solver(options_); |
| LinearSolver::Summary summary = |
| conjugate_gradient_solver.Solve(&lhs, z.data(), cg_per_solve_options, x); |
| event_logger.AddEvent("Solve"); |
| return summary; |
| } |
| |
| } // namespace ceres::internal |