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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2023 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:
//
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// 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
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// Author: markshachkov@gmail.com (Mark Shachkov)
#ifndef CERES_INTERNAL_POWER_SERIES_EXPANSION_PRECONDITIONER_H_
#define CERES_INTERNAL_POWER_SERIES_EXPANSION_PRECONDITIONER_H_
#include "ceres/implicit_schur_complement.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/export.h"
#include "ceres/preconditioner.h"
namespace ceres::internal {
// This is a preconditioner via power series expansion of Schur
// complement inverse based on "Weber et al, Power Bundle Adjustment for
// Large-Scale 3D Reconstruction".
class CERES_NO_EXPORT PowerSeriesExpansionPreconditioner
: public Preconditioner {
public:
// TODO: Consider moving max_num_spse_iterations and spse_tolerance to
// Preconditioner::Options
PowerSeriesExpansionPreconditioner(const ImplicitSchurComplement* isc,
const int max_num_spse_iterations,
const double spse_tolerance,
const Preconditioner::Options& options);
PowerSeriesExpansionPreconditioner(
const PowerSeriesExpansionPreconditioner&) = delete;
void operator=(const PowerSeriesExpansionPreconditioner&) = delete;
~PowerSeriesExpansionPreconditioner() override;
void RightMultiplyAndAccumulate(const double* x, double* y) const final;
bool Update(const LinearOperator& A, const double* D) final;
int num_rows() const final;
private:
const ImplicitSchurComplement* isc_;
const int max_num_spse_iterations_;
const double spse_tolerance_;
const Preconditioner::Options options_;
};
} // namespace ceres::internal
#endif // CERES_INTERNAL_POWER_SERIES_EXPANSION_PRECONDITIONER_H_