1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2012 Google Inc. All rights reserved. 3 // http://code.google.com/p/ceres-solver/ 4 // 5 // Redistribution and use in source and binary forms, with or without 6 // modification, are permitted provided that the following conditions are met: 7 // 8 // * Redistributions of source code must retain the above copyright notice, 9 // this list of conditions and the following disclaimer. 10 // * Redistributions in binary form must reproduce the above copyright notice, 11 // this list of conditions and the following disclaimer in the documentation 12 // and/or other materials provided with the distribution. 13 // * Neither the name of Google Inc. nor the names of its contributors may be 14 // used to endorse or promote products derived from this software without 15 // specific prior written permission. 16 // 17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 // POSSIBILITY OF SUCH DAMAGE. 28 // 29 // Author: sameeragarwal (at) google.com (Sameer Agarwal) 30 31 #ifndef CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_ 32 #define CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_ 33 34 #include <string> 35 #include <vector> 36 37 #include "ceres/evaluator.h" 38 #include "ceres/minimizer.h" 39 #include "ceres/problem_impl.h" 40 #include "ceres/program.h" 41 #include "ceres/solver.h" 42 43 namespace ceres { 44 namespace internal { 45 46 // Given a Program, and a ParameterBlockOrdering which partitions 47 // (non-exhaustively) the Hessian matrix into independent sets, 48 // perform coordinate descent on the parameter blocks in the 49 // ordering. The independent set structure allows for all parameter 50 // blocks in the same independent set to be optimized in parallel, and 51 // the order of the independent set determines the order in which the 52 // parameter block groups are optimized. 53 // 54 // The minimizer assumes that none of the parameter blocks in the 55 // program are constant. 56 class CoordinateDescentMinimizer : public Minimizer { 57 public: 58 bool Init(const Program& program, 59 const ProblemImpl::ParameterMap& parameter_map, 60 const ParameterBlockOrdering& ordering, 61 string* error); 62 63 // Minimizer interface. 64 virtual ~CoordinateDescentMinimizer(); 65 virtual void Minimize(const Minimizer::Options& options, 66 double* parameters, 67 Solver::Summary* summary); 68 69 private: 70 void Solve(Program* program, 71 LinearSolver* linear_solver, 72 double* parameters, 73 Solver::Summary* summary); 74 75 vector<ParameterBlock*> parameter_blocks_; 76 vector<vector<ResidualBlock*> > residual_blocks_; 77 // The optimization is performed in rounds. In each round all the 78 // parameter blocks that form one independent set are optimized in 79 // parallel. This array, marks the boundaries of the independent 80 // sets in parameter_blocks_. 81 vector<int> independent_set_offsets_; 82 83 Evaluator::Options evaluator_options_; 84 }; 85 86 } // namespace internal 87 } // namespace ceres 88 89 #endif // CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_ 90
