1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2010, 2011, 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 // A solver for sparse linear least squares problem based on solving 32 // the normal equations via a sparse cholesky factorization. 33 34 #ifndef CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_ 35 #define CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_ 36 37 #if !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARSE) 38 39 #include "ceres/cxsparse.h" 40 #include "ceres/internal/macros.h" 41 #include "ceres/linear_solver.h" 42 #include "ceres/suitesparse.h" 43 44 namespace ceres { 45 namespace internal { 46 47 class CompressedRowSparseMatrix; 48 49 // Solves the normal equations (A'A + D'D) x = A'b, using the CHOLMOD sparse 50 // cholesky solver. 51 class SparseNormalCholeskySolver : public CompressedRowSparseMatrixSolver { 52 public: 53 explicit SparseNormalCholeskySolver(const LinearSolver::Options& options); 54 virtual ~SparseNormalCholeskySolver(); 55 56 private: 57 virtual LinearSolver::Summary SolveImpl( 58 CompressedRowSparseMatrix* A, 59 const double* b, 60 const LinearSolver::PerSolveOptions& options, 61 double* x); 62 63 LinearSolver::Summary SolveImplUsingSuiteSparse( 64 CompressedRowSparseMatrix* A, 65 const double* b, 66 const LinearSolver::PerSolveOptions& options, 67 double* x); 68 69 // Crashes if CSparse is not installed. 70 LinearSolver::Summary SolveImplUsingCXSparse( 71 CompressedRowSparseMatrix* A, 72 const double* b, 73 const LinearSolver::PerSolveOptions& options, 74 double* x); 75 76 SuiteSparse ss_; 77 // Cached factorization 78 cholmod_factor* factor_; 79 80 CXSparse cxsparse_; 81 // Cached factorization 82 cs_dis* cxsparse_factor_; 83 84 const LinearSolver::Options options_; 85 CERES_DISALLOW_COPY_AND_ASSIGN(SparseNormalCholeskySolver); 86 }; 87 88 } // namespace internal 89 } // namespace ceres 90 91 #endif // !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARSE) 92 #endif // CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_ 93
