| // 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_LINEAR_LEAST_SQUARES_PROBLEMS_H_ |
| #define CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_ |
| |
| #include <memory> |
| #include <string> |
| #include <vector> |
| |
| #include "ceres/internal/disable_warnings.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/sparse_matrix.h" |
| |
| namespace ceres::internal { |
| |
| // Structure defining a linear least squares problem and if possible |
| // ground truth solutions. To be used by various LinearSolver tests. |
| struct CERES_NO_EXPORT LinearLeastSquaresProblem { |
| LinearLeastSquaresProblem() = default; |
| |
| std::unique_ptr<SparseMatrix> A; |
| std::unique_ptr<double[]> b; |
| std::unique_ptr<double[]> D; |
| // If using the schur eliminator then how many of the variable |
| // blocks are e_type blocks. |
| int num_eliminate_blocks{0}; |
| |
| // Solution to min_x |Ax - b|^2 |
| std::unique_ptr<double[]> x; |
| // Solution to min_x |Ax - b|^2 + |Dx|^2 |
| std::unique_ptr<double[]> x_D; |
| }; |
| |
| // Factories for linear least squares problem. |
| CERES_NO_EXPORT std::unique_ptr<LinearLeastSquaresProblem> |
| CreateLinearLeastSquaresProblemFromId(int id); |
| |
| CERES_NO_EXPORT |
| std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem0(); |
| CERES_NO_EXPORT |
| std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem1(); |
| CERES_NO_EXPORT |
| std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem2(); |
| CERES_NO_EXPORT |
| std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem3(); |
| CERES_NO_EXPORT |
| std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem4(); |
| |
| // Write the linear least squares problem to disk. The exact format |
| // depends on dump_format_type. |
| CERES_NO_EXPORT |
| bool DumpLinearLeastSquaresProblem(const std::string& filename_base, |
| DumpFormatType dump_format_type, |
| const SparseMatrix* A, |
| const double* D, |
| const double* b, |
| const double* x, |
| int num_eliminate_blocks); |
| } // namespace ceres::internal |
| |
| #include "ceres/internal/reenable_warnings.h" |
| |
| #endif // CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_ |