| // 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) |
| |
| #include "ceres/line_search_preprocessor.h" |
| |
| #include <numeric> |
| #include <string> |
| |
| #include "ceres/casts.h" |
| #include "ceres/context_impl.h" |
| #include "ceres/evaluator.h" |
| #include "ceres/minimizer.h" |
| #include "ceres/problem_impl.h" |
| #include "ceres/program.h" |
| #include "ceres/wall_time.h" |
| |
| namespace ceres { |
| namespace internal { |
| namespace { |
| |
| bool IsProgramValid(const Program& program, std::string* error) { |
| if (program.IsBoundsConstrained()) { |
| *error = "LINE_SEARCH Minimizer does not support bounds."; |
| return false; |
| } |
| return program.ParameterBlocksAreFinite(error); |
| } |
| |
| bool SetupEvaluator(PreprocessedProblem* pp) { |
| pp->evaluator_options = Evaluator::Options(); |
| // This ensures that we get a Block Jacobian Evaluator without any |
| // requirement on orderings. |
| pp->evaluator_options.linear_solver_type = CGNR; |
| pp->evaluator_options.num_eliminate_blocks = 0; |
| pp->evaluator_options.num_threads = pp->options.num_threads; |
| pp->evaluator_options.context = pp->problem->context(); |
| pp->evaluator_options.evaluation_callback = |
| pp->reduced_program->mutable_evaluation_callback(); |
| pp->evaluator.reset(Evaluator::Create( |
| pp->evaluator_options, pp->reduced_program.get(), &pp->error)); |
| return (pp->evaluator.get() != NULL); |
| } |
| |
| } // namespace |
| |
| LineSearchPreprocessor::~LineSearchPreprocessor() {} |
| |
| bool LineSearchPreprocessor::Preprocess(const Solver::Options& options, |
| ProblemImpl* problem, |
| PreprocessedProblem* pp) { |
| CHECK(pp != nullptr); |
| pp->options = options; |
| ChangeNumThreadsIfNeeded(&pp->options); |
| |
| pp->problem = problem; |
| Program* program = problem->mutable_program(); |
| if (!IsProgramValid(*program, &pp->error)) { |
| return false; |
| } |
| |
| pp->reduced_program.reset(program->CreateReducedProgram( |
| &pp->removed_parameter_blocks, &pp->fixed_cost, &pp->error)); |
| |
| if (pp->reduced_program.get() == NULL) { |
| return false; |
| } |
| |
| if (pp->reduced_program->NumParameterBlocks() == 0) { |
| return true; |
| } |
| |
| if (!SetupEvaluator(pp)) { |
| return false; |
| } |
| |
| SetupCommonMinimizerOptions(pp); |
| return true; |
| } |
| |
| } // namespace internal |
| } // namespace ceres |