You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
101 lines
3.7 KiB
101 lines
3.7 KiB
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2017 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/sparse_cholesky.h"
|
|
|
|
#include "ceres/cxsparse.h"
|
|
#include "ceres/eigensparse.h"
|
|
#include "ceres/suitesparse.h"
|
|
|
|
namespace ceres {
|
|
namespace internal {
|
|
|
|
SparseCholesky* SparseCholesky::Create(
|
|
SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
|
|
OrderingType ordering_type) {
|
|
switch (sparse_linear_algebra_library_type) {
|
|
case SUITE_SPARSE:
|
|
#ifndef CERES_NO_SUITESPARSE
|
|
return SuiteSparseCholesky::Create(ordering_type);
|
|
#else
|
|
LOG(FATAL) << "Ceres was compiled without support for SuiteSparse.";
|
|
return NULL;
|
|
#endif
|
|
|
|
case EIGEN_SPARSE:
|
|
#ifdef CERES_USE_EIGEN_SPARSE
|
|
return EigenSparseCholesky::Create(ordering_type);
|
|
#else
|
|
LOG(FATAL) << "Ceres was compiled without support for "
|
|
<< "Eigen's sparse Cholesky factorization routines.";
|
|
return NULL;
|
|
#endif
|
|
|
|
case CX_SPARSE:
|
|
#ifndef CERES_NO_CXSPARSE
|
|
return CXSparseCholesky::Create(ordering_type);
|
|
#else
|
|
LOG(FATAL) << "Ceres was compiled without support for CXSparse.";
|
|
return NULL;
|
|
#endif
|
|
|
|
default:
|
|
LOG(FATAL) << "Unknown sparse linear algebra library type : "
|
|
<< SparseLinearAlgebraLibraryTypeToString(
|
|
sparse_linear_algebra_library_type);
|
|
}
|
|
return NULL;
|
|
}
|
|
|
|
SparseCholesky::~SparseCholesky() {}
|
|
|
|
LinearSolverTerminationType SparseCholesky::FactorAndSolve(
|
|
CompressedRowSparseMatrix* lhs,
|
|
const double* rhs,
|
|
double* solution,
|
|
std::string* message) {
|
|
LinearSolverTerminationType termination_type = Factorize(lhs, message);
|
|
if (termination_type == LINEAR_SOLVER_SUCCESS) {
|
|
termination_type = Solve(rhs, solution, message);
|
|
}
|
|
return termination_type;
|
|
}
|
|
|
|
CompressedRowSparseMatrix::StorageType StorageTypeForSparseLinearAlgebraLibrary(
|
|
SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type) {
|
|
if (sparse_linear_algebra_library_type == SUITE_SPARSE) {
|
|
return CompressedRowSparseMatrix::UPPER_TRIANGULAR;
|
|
}
|
|
return CompressedRowSparseMatrix::LOWER_TRIANGULAR;
|
|
}
|
|
|
|
} // namespace internal
|
|
} // namespace ceres
|