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@google.com (Sameer Agarwal) 30 31 #ifndef CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_ 32 #define CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_ 33 34 #include "ceres/evaluator.h" 35 #include "ceres/minimizer.h" 36 #include "ceres/problem_impl.h" 37 #include "ceres/program.h" 38 #include "ceres/solver.h" 39 40 namespace ceres { 41 namespace internal { 42 43 // Given a Program, and a ParameterBlockOrdering which partitions 44 // (non-exhaustively) the Hessian matrix into independent sets, 45 // perform coordinate descent on the parameter blocks in the 46 // ordering. The independent set structure allows for all parameter 47 // blocks in the same independent set to be optimized in parallel, and 48 // the order of the independent set determines the order in which the 49 // parameter block groups are optimized. 50 // 51 // The minimizer assumes that none of the parameter blocks in the 52 // program are constant. 53 class CoordinateDescentMinimizer : public Minimizer { 54 public: 55 bool Init(const Program& program, 56 const ProblemImpl::ParameterMap& parameter_map, 57 const ParameterBlockOrdering& ordering, 58 string* error); 59 60 // Minimizer interface. 61 virtual ~CoordinateDescentMinimizer(); 62 virtual void Minimize(const Minimizer::Options& options, 63 double* parameters, 64 Solver::Summary* summary); 65 66 private: 67 void Solve(Program* program, 68 LinearSolver* linear_solver, 69 double* parameters, 70 Solver::Summary* summary); 71 72 vector<ParameterBlock*> parameter_blocks_; 73 vector<vector<ResidualBlock*> > residual_blocks_; 74 // The optimization is performed in rounds. In each round all the 75 // parameter blocks that form one independent set are optimized in 76 // parallel. This array, marks the boundaries of the independent 77 // sets in parameter_blocks_. 78 vector<int> independent_set_offsets_; 79 80 Evaluator::Options evaluator_options_; 81 }; 82 83 } // namespace internal 84 } // namespace ceres 85 86 #endif // CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_ 87