| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109 | // 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/cgnr_solver.h"#include "ceres/block_jacobi_preconditioner.h"#include "ceres/cgnr_linear_operator.h"#include "ceres/conjugate_gradients_solver.h"#include "ceres/internal/eigen.h"#include "ceres/linear_solver.h"#include "ceres/subset_preconditioner.h"#include "ceres/wall_time.h"#include "glog/logging.h"namespace ceres {namespace internal {CgnrSolver::CgnrSolver(const LinearSolver::Options& options)    : options_(options) {  if (options_.preconditioner_type != JACOBI &&      options_.preconditioner_type != IDENTITY &&      options_.preconditioner_type != SUBSET) {    LOG(FATAL)        << "Preconditioner = "        << PreconditionerTypeToString(options_.preconditioner_type) << ". "        << "Congratulations, you found a bug in Ceres. Please report it.";  }}CgnrSolver::~CgnrSolver() {}LinearSolver::Summary CgnrSolver::SolveImpl(    BlockSparseMatrix* A,    const double* b,    const LinearSolver::PerSolveOptions& per_solve_options,    double* x) {  EventLogger event_logger("CgnrSolver::Solve");  // Form z = Atb.  Vector z(A->num_cols());  z.setZero();  A->LeftMultiply(b, z.data());  if (!preconditioner_) {    if (options_.preconditioner_type == JACOBI) {      preconditioner_.reset(new BlockJacobiPreconditioner(*A));    } else if (options_.preconditioner_type == SUBSET) {      Preconditioner::Options preconditioner_options;      preconditioner_options.type = SUBSET;      preconditioner_options.subset_preconditioner_start_row_block =          options_.subset_preconditioner_start_row_block;      preconditioner_options.sparse_linear_algebra_library_type =          options_.sparse_linear_algebra_library_type;      preconditioner_options.use_postordering = options_.use_postordering;      preconditioner_options.num_threads = options_.num_threads;      preconditioner_options.context = options_.context;      preconditioner_.reset(          new SubsetPreconditioner(preconditioner_options, *A));    }  }  if (preconditioner_) {    preconditioner_->Update(*A, per_solve_options.D);  }  LinearSolver::PerSolveOptions cg_per_solve_options = per_solve_options;  cg_per_solve_options.preconditioner = preconditioner_.get();  // Solve (AtA + DtD)x = z (= Atb).  VectorRef(x, A->num_cols()).setZero();  CgnrLinearOperator lhs(*A, per_solve_options.D);  event_logger.AddEvent("Setup");  ConjugateGradientsSolver conjugate_gradient_solver(options_);  LinearSolver::Summary summary =      conjugate_gradient_solver.Solve(&lhs, z.data(), cg_per_solve_options, x);  event_logger.AddEvent("Solve");  return summary;}}  // namespace internal}  // namespace ceres
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