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  • Committer: Package Import Robot
  • Author(s): Jeremy Bicha
  • Date: 2013-03-06 12:08:47 UTC
  • mfrom: (1.5.1) (14.1.8 experimental)
  • Revision ID: package-import@ubuntu.com-20130306120847-frjfaryb2zrotwcg
Tags: 2.66a-1ubuntu1
https://launchpad.net/bugs/1076930
https://launchpad.net/bugs/1089256
https://launchpad.net/bugs/1052743
https://launchpad.net/bugs/999024
* Resynchronize with Debian (LP: #1076930, #1089256, #1052743, #999024,
  #1122888, #1147084)
* debian/control:
  - Lower build-depends on libavcodec-dev since we're not
    doing the libav9 transition in Ubuntu yet

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extern/libmv/third_party/ceres/internal/ceres/solver_impl.h
 
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// Ceres Solver - A fast non-linear least squares minimizer
 
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// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
 
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// http://code.google.com/p/ceres-solver/
 
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//
 
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// Redistribution and use in source and binary forms, with or without
 
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// modification, are permitted provided that the following conditions are met:
 
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//
 
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// * Redistributions of source code must retain the above copyright notice,
 
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//   this list of conditions and the following disclaimer.
 
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// * Redistributions in binary form must reproduce the above copyright notice,
 
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//   this list of conditions and the following disclaimer in the documentation
 
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//   and/or other materials provided with the distribution.
 
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// * Neither the name of Google Inc. nor the names of its contributors may be
 
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//   used to endorse or promote products derived from this software without
 
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//   specific prior written permission.
 
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//
 
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 
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// POSSIBILITY OF SUCH DAMAGE.
 
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//
 
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// Author: keir@google.com (Keir Mierle)
 
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#ifndef CERES_INTERNAL_SOLVER_IMPL_H_
 
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#define CERES_INTERNAL_SOLVER_IMPL_H_
 
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#include <string>
 
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#include <vector>
 
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#include "ceres/internal/port.h"
 
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#include "ceres/solver.h"
 
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namespace ceres {
 
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namespace internal {
 
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class Evaluator;
 
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class LinearSolver;
 
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class ProblemImpl;
 
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class Program;
 
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class SolverImpl {
 
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 public:
 
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  // Mirrors the interface in solver.h, but exposes implementation
 
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  // details for testing internally.
 
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  static void Solve(const Solver::Options& options,
 
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                    ProblemImpl* problem_impl,
 
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                    Solver::Summary* summary);
 
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  // Create the transformed Program, which has all the fixed blocks
 
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  // and residuals eliminated, and in the case of automatic schur
 
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  // ordering, has the E blocks first in the resulting program, with
 
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  // options.num_eliminate_blocks set appropriately.
 
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  // If fixed_cost is not NULL, the residual blocks that are removed
 
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  // are evaluated and the sum of their cost is returned in fixed_cost.
 
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  static Program* CreateReducedProgram(Solver::Options* options,
 
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                                       ProblemImpl* problem_impl,
 
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                                       double* fixed_cost,
 
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                                       string* error);
 
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  // Create the appropriate linear solver, taking into account any
 
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  // config changes decided by CreateTransformedProgram(). The
 
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  // selected linear solver, which may be different from what the user
 
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  // selected; consider the case that the remaining elimininated
 
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  // blocks is zero after removing fixed blocks.
 
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  static LinearSolver* CreateLinearSolver(Solver::Options* options,
 
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                                          string* error);
 
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  // Reorder the parameter blocks in program using the vector
 
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  // ordering. A return value of true indicates success and false
 
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  // indicates an error was encountered whose cause is logged to
 
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  // LOG(ERROR).
 
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  static bool ApplyUserOrdering(const ProblemImpl& problem_impl,
 
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                                vector<double*>& ordering,
 
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                                Program* program,
 
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                                string* error);
 
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  // Reorder the residuals for program, if necessary, so that the
 
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  // residuals involving each E block occur together. This is a
 
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  // necessary condition for the Schur eliminator, which works on
 
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  // these "row blocks" in the jacobian.
 
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  static bool MaybeReorderResidualBlocks(const Solver::Options& options,
 
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                                         Program* program,
 
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                                         string* error);
 
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  // Create the appropriate evaluator for the transformed program.
 
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  static Evaluator* CreateEvaluator(const Solver::Options& options,
 
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                                    Program* program,
 
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                                    string* error);
 
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  // Run the minimization for the given evaluator and configuration.
 
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  static void Minimize(const Solver::Options &options,
 
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                       Program* program,
 
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                       Evaluator* evaluator,
 
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                       LinearSolver* linear_solver,
 
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                       double* parameters,
 
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                       Solver::Summary* summary);
 
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  // Remove the fixed or unused parameter blocks and residuals
 
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  // depending only on fixed parameters from the problem. Also updates
 
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  // num_eliminate_blocks, since removed parameters changes the point
 
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  // at which the eliminated blocks is valid.
 
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  // If fixed_cost is not NULL, the residual blocks that are removed
 
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  // are evaluated and the sum of their cost is returned in fixed_cost.
 
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  static bool RemoveFixedBlocksFromProgram(Program* program,
 
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                                           int* num_eliminate_blocks,
 
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                                           double* fixed_cost,
 
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                                           string* error);
 
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};
 
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}  // namespace internal
 
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}  // namespace ceres
 
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#endif  // CERES_INTERNAL_SOLVER_IMPL_H_