Squashed 'third_party/ceres/' content from commit e51e9b4
Change-Id: I763587619d57e594d3fa158dc3a7fe0b89a1743b
git-subtree-dir: third_party/ceres
git-subtree-split: e51e9b46f6ca88ab8b2266d0e362771db6d98067
diff --git a/internal/ceres/preprocessor.cc b/internal/ceres/preprocessor.cc
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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/callbacks.h"
+#include "ceres/gradient_checking_cost_function.h"
+#include "ceres/line_search_preprocessor.h"
+#include "ceres/parallel_for.h"
+#include "ceres/preprocessor.h"
+#include "ceres/problem_impl.h"
+#include "ceres/solver.h"
+#include "ceres/trust_region_preprocessor.h"
+
+namespace ceres {
+namespace internal {
+
+Preprocessor* Preprocessor::Create(MinimizerType minimizer_type) {
+ if (minimizer_type == TRUST_REGION) {
+ return new TrustRegionPreprocessor;
+ }
+
+ if (minimizer_type == LINE_SEARCH) {
+ return new LineSearchPreprocessor;
+ }
+
+ LOG(FATAL) << "Unknown minimizer_type: " << minimizer_type;
+ return NULL;
+}
+
+Preprocessor::~Preprocessor() {
+}
+
+void ChangeNumThreadsIfNeeded(Solver::Options* options) {
+ const int num_threads_available = MaxNumThreadsAvailable();
+ if (options->num_threads > num_threads_available) {
+ LOG(WARNING)
+ << "Specified options.num_threads: " << options->num_threads
+ << " exceeds maximum available from the threading model Ceres "
+ << "was compiled with: " << num_threads_available
+ << ". Bounding to maximum number available.";
+ options->num_threads = num_threads_available;
+ }
+}
+
+void SetupCommonMinimizerOptions(PreprocessedProblem* pp) {
+ const Solver::Options& options = pp->options;
+ Program* program = pp->reduced_program.get();
+
+ // Assuming that the parameter blocks in the program have been
+ // reordered as needed, extract them into a contiguous vector.
+ pp->reduced_parameters.resize(program->NumParameters());
+ double* reduced_parameters = pp->reduced_parameters.data();
+ program->ParameterBlocksToStateVector(reduced_parameters);
+
+ Minimizer::Options& minimizer_options = pp->minimizer_options;
+ minimizer_options = Minimizer::Options(options);
+ minimizer_options.evaluator = pp->evaluator;
+
+ if (options.logging_type != SILENT) {
+ pp->logging_callback.reset(
+ new LoggingCallback(options.minimizer_type,
+ options.minimizer_progress_to_stdout));
+ minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
+ pp->logging_callback.get());
+ }
+
+ if (options.update_state_every_iteration) {
+ pp->state_updating_callback.reset(
+ new StateUpdatingCallback(program, reduced_parameters));
+ // This must get pushed to the front of the callbacks so that it
+ // is run before any of the user callbacks.
+ minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
+ pp->state_updating_callback.get());
+ }
+}
+
+} // namespace internal
+} // namespace ceres