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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// 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 <vector>
#include "ceres/block_evaluate_preparer.h"
#include "ceres/block_jacobian_writer.h"
#include "ceres/compressed_row_jacobian_writer.h"
#include "ceres/compressed_row_sparse_matrix.h"
#include "ceres/crs_matrix.h"
#include "ceres/dense_jacobian_writer.h"
#include "ceres/evaluator.h"
#include "ceres/internal/port.h"
#include "ceres/program_evaluator.h"
#include "ceres/scratch_evaluate_preparer.h"
#include "glog/logging.h"
namespace ceres {
namespace internal {
Evaluator::~Evaluator() {}
Evaluator* Evaluator::Create(const Evaluator::Options& options,
Program* program,
string* error) {
switch (options.linear_solver_type) {
case DENSE_QR:
case DENSE_NORMAL_CHOLESKY:
return new ProgramEvaluator<ScratchEvaluatePreparer,
DenseJacobianWriter>(options,
program);
case DENSE_SCHUR:
case SPARSE_SCHUR:
case ITERATIVE_SCHUR:
case CGNR:
return new ProgramEvaluator<BlockEvaluatePreparer,
BlockJacobianWriter>(options,
program);
case SPARSE_NORMAL_CHOLESKY:
return new ProgramEvaluator<ScratchEvaluatePreparer,
CompressedRowJacobianWriter>(options,
program);
default:
*error = "Invalid Linear Solver Type. Unable to create evaluator.";
return NULL;
}
}
bool Evaluator::Evaluate(Program* program,
int num_threads,
double* cost,
vector<double>* residuals,
vector<double>* gradient,
CRSMatrix* output_jacobian) {
CHECK_GE(num_threads, 1)
<< "This is a Ceres bug; please contact the developers!";
CHECK_NOTNULL(cost);
// Setup the Parameter indices and offsets before an evaluator can
// be constructed and used.
program->SetParameterOffsetsAndIndex();
Evaluator::Options evaluator_options;
evaluator_options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
evaluator_options.num_threads = num_threads;
string error;
scoped_ptr<Evaluator> evaluator(
Evaluator::Create(evaluator_options, program, &error));
if (evaluator.get() == NULL) {
LOG(ERROR) << "Unable to create an Evaluator object. "
<< "Error: " << error
<< "This is a Ceres bug; please contact the developers!";
return false;
}
if (residuals !=NULL) {
residuals->resize(evaluator->NumResiduals());
}
if (gradient != NULL) {
gradient->resize(evaluator->NumEffectiveParameters());
}
scoped_ptr<CompressedRowSparseMatrix> jacobian;
if (output_jacobian != NULL) {
jacobian.reset(
down_cast<CompressedRowSparseMatrix*>(evaluator->CreateJacobian()));
}
// Point the state pointers to the user state pointers. This is
// needed so that we can extract a parameter vector which is then
// passed to Evaluator::Evaluate.
program->SetParameterBlockStatePtrsToUserStatePtrs();
// Copy the value of the parameter blocks into a vector, since the
// Evaluate::Evaluate method needs its input as such. The previous
// call to SetParameterBlockStatePtrsToUserStatePtrs ensures that
// these values are the ones corresponding to the actual state of
// the parameter blocks, rather than the temporary state pointer
// used for evaluation.
Vector parameters(program->NumParameters());
program->ParameterBlocksToStateVector(parameters.data());
if (!evaluator->Evaluate(parameters.data(),
cost,
residuals != NULL ? &(*residuals)[0] : NULL,
gradient != NULL ? &(*gradient)[0] : NULL,
jacobian.get())) {
return false;
}
if (output_jacobian != NULL) {
jacobian->ToCRSMatrix(output_jacobian);
}
return true;
}
} // namespace internal
} // namespace ceres
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