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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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// 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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// * 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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// 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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// Author: sameeragarwal@google.com (Sameer Agarwal)
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// A solver for sparse linear least squares problem based on solving
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// the normal equations via a sparse cholesky factorization.
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#ifndef CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
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#define CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
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#include "ceres/cxsparse.h"
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#include "ceres/linear_solver.h"
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#include "ceres/internal/macros.h"
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#include "ceres/suitesparse.h"
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class CompressedRowSparseMatrix;
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// Solves the normal equations (A'A + D'D) x = A'b, using the CHOLMOD sparse
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class SparseNormalCholeskySolver : public CompressedRowSparseMatrixSolver {
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explicit SparseNormalCholeskySolver(const LinearSolver::Options& options);
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virtual ~SparseNormalCholeskySolver();
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virtual LinearSolver::Summary SolveImpl(
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CompressedRowSparseMatrix* A,
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const LinearSolver::PerSolveOptions& options,
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LinearSolver::Summary SolveImplUsingSuiteSparse(
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CompressedRowSparseMatrix* A,
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const LinearSolver::PerSolveOptions& options,
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// Crashes if CSparse is not installed.
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LinearSolver::Summary SolveImplUsingCXSparse(
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CompressedRowSparseMatrix* A,
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const LinearSolver::PerSolveOptions& options,
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#ifndef CERES_NO_SUITESPARSE
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// Cached factorization
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cholmod_factor* factor_;
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#endif // CERES_NO_SUITESPARSE
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#ifndef CERES_NO_CXSPARSE
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// Cached factorization
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cs_dis* cxsparse_factor_;
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#endif // CERES_NO_CXSPARSE
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const LinearSolver::Options options_;
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CERES_DISALLOW_COPY_AND_ASSIGN(SparseNormalCholeskySolver);
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} // namespace internal
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#endif // CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_