| // 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/evaluator.h" |
| |
| #include <memory> |
| #include <vector> |
| |
| #include "ceres/block_evaluate_preparer.h" |
| #include "ceres/block_jacobian_writer.h" |
| #include "ceres/compressed_row_jacobian_writer.h" |
| #include "ceres/compressed_row_sparse_matrix.h" |
| #include "ceres/crs_matrix.h" |
| #include "ceres/dense_jacobian_writer.h" |
| #include "ceres/dynamic_compressed_row_finalizer.h" |
| #include "ceres/dynamic_compressed_row_jacobian_writer.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/program_evaluator.h" |
| #include "ceres/scratch_evaluate_preparer.h" |
| #include "glog/logging.h" |
| |
| namespace ceres::internal { |
| |
| Evaluator::~Evaluator() = default; |
| |
| std::unique_ptr<Evaluator> Evaluator::Create(const Evaluator::Options& options, |
| Program* program, |
| std::string* error) { |
| CHECK(options.context != nullptr); |
| |
| switch (options.linear_solver_type) { |
| case DENSE_QR: |
| case DENSE_NORMAL_CHOLESKY: |
| return std::make_unique< |
| ProgramEvaluator<ScratchEvaluatePreparer, DenseJacobianWriter>>( |
| options, program); |
| case DENSE_SCHUR: |
| case SPARSE_SCHUR: |
| case ITERATIVE_SCHUR: |
| case CGNR: { |
| if (options.sparse_linear_algebra_library_type == CUDA_SPARSE) { |
| return std::make_unique<ProgramEvaluator<ScratchEvaluatePreparer, |
| CompressedRowJacobianWriter>>( |
| options, program); |
| } else { |
| return std::make_unique< |
| ProgramEvaluator<BlockEvaluatePreparer, BlockJacobianWriter>>( |
| options, program); |
| } |
| } |
| case SPARSE_NORMAL_CHOLESKY: |
| if (options.dynamic_sparsity) { |
| return std::make_unique< |
| ProgramEvaluator<ScratchEvaluatePreparer, |
| DynamicCompressedRowJacobianWriter, |
| DynamicCompressedRowJacobianFinalizer>>(options, |
| program); |
| } else { |
| return std::make_unique< |
| ProgramEvaluator<BlockEvaluatePreparer, BlockJacobianWriter>>( |
| options, program); |
| } |
| |
| default: |
| *error = "Invalid Linear Solver Type. Unable to create evaluator."; |
| return nullptr; |
| } |
| } |
| |
| } // namespace ceres::internal |
