internal/ceres/evaluator.cc

   1 // Ceres Solver - A fast non-linear least squares minimizer
   2 // Copyright 2015 Google Inc. All rights reserved.
   3 // http://ceres-solver.org/
   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: keir@google.com (Keir Mierle)
  30
  31 #include <vector>
  32 #include "ceres/block_evaluate_preparer.h"
  33 #include "ceres/block_jacobian_writer.h"
  34 #include "ceres/compressed_row_jacobian_writer.h"
  35 #include "ceres/compressed_row_sparse_matrix.h"
  36 #include "ceres/crs_matrix.h"
  37 #include "ceres/dense_jacobian_writer.h"
  38 #include "ceres/dynamic_compressed_row_finalizer.h"
  39 #include "ceres/dynamic_compressed_row_jacobian_writer.h"
  40 #include "ceres/evaluator.h"
  41 #include "ceres/internal/port.h"
  42 #include "ceres/program_evaluator.h"
  43 #include "ceres/scratch_evaluate_preparer.h"
  44 #include "glog/logging.h"
  45
  46 namespace ceres {
  47 namespace internal {
  48
  49 Evaluator::~Evaluator() {}
  50
  51 Evaluator* Evaluator::Create(const Evaluator::Options& options,
  52                              Program* program,
  53                              std::string* error) {
  54   switch (options.linear_solver_type) {
  55     case DENSE_QR:
  56     case DENSE_NORMAL_CHOLESKY:
  57       return new ProgramEvaluator<ScratchEvaluatePreparer,
  58                                   DenseJacobianWriter>(options,
  59                                                        program);
  60     case DENSE_SCHUR:
  61     case SPARSE_SCHUR:
  62     case ITERATIVE_SCHUR:
  63     case CGNR:
  64       return new ProgramEvaluator<BlockEvaluatePreparer,
  65                                   BlockJacobianWriter>(options,
  66                                                        program);
  67     case SPARSE_NORMAL_CHOLESKY:
  68       if (options.dynamic_sparsity) {
  69         return new ProgramEvaluator<ScratchEvaluatePreparer,
  70                                     DynamicCompressedRowJacobianWriter,
  71                                     DynamicCompressedRowJacobianFinalizer>(
  72                                         options, program);
  73       } else {
  74         return new ProgramEvaluator<BlockEvaluatePreparer,
  75                                     BlockJacobianWriter>(options,
  76                                                          program);
  77       }
  78
  79     default:
  80       *error = "Invalid Linear Solver Type. Unable to create evaluator.";
  81       return NULL;
  82   }
  83 }
  84
  85 }  // namespace internal
  86 }  // namespace ceres