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@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 #include "ceres/cxsparse.h" 38 #include "ceres/linear_solver.h" 39 #include "ceres/internal/macros.h" 40 #include "ceres/suitesparse.h" 41 42 namespace ceres { 43 namespace internal { 44 45 class CompressedRowSparseMatrix; 46 47 // Solves the normal equations (A'A + D'D) x = A'b, using the CHOLMOD sparse 48 // cholesky solver. 49 class SparseNormalCholeskySolver : public CompressedRowSparseMatrixSolver { 50 public: 51 explicit SparseNormalCholeskySolver(const LinearSolver::Options& options); 52 virtual ~SparseNormalCholeskySolver(); 53 54 private: 55 virtual LinearSolver::Summary SolveImpl( 56 CompressedRowSparseMatrix* A, 57 const double* b, 58 const LinearSolver::PerSolveOptions& options, 59 double* x); 60 61 LinearSolver::Summary SolveImplUsingSuiteSparse( 62 CompressedRowSparseMatrix* A, 63 const double* b, 64 const LinearSolver::PerSolveOptions& options, 65 double* x); 66 67 // Crashes if CSparse is not installed. 68 LinearSolver::Summary SolveImplUsingCXSparse( 69 CompressedRowSparseMatrix* A, 70 const double* b, 71 const LinearSolver::PerSolveOptions& options, 72 double* x); 73 74 #ifndef CERES_NO_SUITESPARSE 75 SuiteSparse ss_; 76 // Cached factorization 77 cholmod_factor* factor_; 78 #endif // CERES_NO_SUITESPARSE 79 80 #ifndef CERES_NO_CXSPARSE 81 CXSparse cxsparse_; 82 // Cached factorization 83 cs_dis* cxsparse_factor_; 84 #endif // CERES_NO_CXSPARSE 85 86 const LinearSolver::Options options_; 87 CERES_DISALLOW_COPY_AND_ASSIGN(SparseNormalCholeskySolver); 88 }; 89 90 } // namespace internal 91 } // namespace ceres 92 93 #endif // CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_ 94