| // 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: sameragarwal@google.com (Sameer Agarwal) |
| |
| #ifndef CERES_INTERNAL_PREPROCESSOR_H_ |
| #define CERES_INTERNAL_PREPROCESSOR_H_ |
| |
| #include <memory> |
| #include <string> |
| #include <vector> |
| |
| #include "ceres/coordinate_descent_minimizer.h" |
| #include "ceres/evaluator.h" |
| #include "ceres/internal/disable_warnings.h" |
| #include "ceres/internal/eigen.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/iteration_callback.h" |
| #include "ceres/linear_solver.h" |
| #include "ceres/minimizer.h" |
| #include "ceres/problem_impl.h" |
| #include "ceres/program.h" |
| #include "ceres/solver.h" |
| |
| namespace ceres::internal { |
| |
| struct PreprocessedProblem; |
| |
| // Given a Problem object and a Solver::Options object indicating the |
| // configuration of the solver, the job of the Preprocessor is to |
| // analyze the Problem and perform the setup needed to solve it using |
| // the desired Minimization algorithm. The setup involves removing |
| // redundancies in the input problem (inactive parameter and residual |
| // blocks), finding fill reducing orderings as needed, configuring and |
| // creating various objects needed by the Minimizer to solve the |
| // problem such as an evaluator, a linear solver etc. |
| // |
| // Each Minimizer (LineSearchMinimizer and TrustRegionMinimizer) comes |
| // with a corresponding Preprocessor (LineSearchPreprocessor and |
| // TrustRegionPreprocessor) that knows about its needs and performs |
| // the preprocessing needed. |
| // |
| // The output of the Preprocessor is stored in a PreprocessedProblem |
| // object. |
| class CERES_NO_EXPORT Preprocessor { |
| public: |
| // Factory. |
| static std::unique_ptr<Preprocessor> Create(MinimizerType minimizer_type); |
| virtual ~Preprocessor(); |
| virtual bool Preprocess(const Solver::Options& options, |
| ProblemImpl* problem, |
| PreprocessedProblem* pp) = 0; |
| }; |
| |
| // A PreprocessedProblem is the result of running the Preprocessor on |
| // a Problem and Solver::Options object. |
| struct CERES_NO_EXPORT PreprocessedProblem { |
| PreprocessedProblem() = default; |
| |
| std::string error; |
| Solver::Options options; |
| LinearSolver::Options linear_solver_options; |
| Evaluator::Options evaluator_options; |
| Minimizer::Options minimizer_options; |
| |
| ProblemImpl* problem; |
| std::unique_ptr<ProblemImpl> gradient_checking_problem; |
| std::unique_ptr<Program> reduced_program; |
| std::unique_ptr<LinearSolver> linear_solver; |
| std::unique_ptr<IterationCallback> logging_callback; |
| std::unique_ptr<IterationCallback> state_updating_callback; |
| |
| std::shared_ptr<Evaluator> evaluator; |
| std::shared_ptr<CoordinateDescentMinimizer> inner_iteration_minimizer; |
| |
| std::vector<double*> removed_parameter_blocks; |
| Vector reduced_parameters; |
| double fixed_cost{0.0}; |
| }; |
| |
| // Common functions used by various preprocessors. |
| |
| // If the user has specified a num_threads > the maximum number of threads |
| // available from the compiled threading model, bound the number of threads |
| // to the maximum. |
| CERES_NO_EXPORT |
| void ChangeNumThreadsIfNeeded(Solver::Options* options); |
| |
| // Extract the effective parameter vector from the preprocessed |
| // problem and setup bits of the Minimizer::Options object that are |
| // common to all Preprocessors. |
| CERES_NO_EXPORT |
| void SetupCommonMinimizerOptions(PreprocessedProblem* pp); |
| |
| } // namespace ceres::internal |
| |
| #include "ceres/internal/reenable_warnings.h" |
| |
| #endif // CERES_INTERNAL_PREPROCESSOR_H_ |