Vehicle-cpp/zjw/ceres-solver-master/internal/ceres/evaluator.cc

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2023 Google Inc. All rights reserved.
// http://ceres-solver.org/
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// modification, are permitted provided that the following conditions are met:
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// Author: keir@google.com (Keir Mierle)

#include "ceres/evaluator.h"

#include <memory>
#include <vector>

#include "ceres/block_evaluate_preparer.h"
#include "ceres/block_jacobian_writer.h"
#include "ceres/compressed_row_jacobian_writer.h"
#include "ceres/compressed_row_sparse_matrix.h"
#include "ceres/crs_matrix.h"
#include "ceres/dense_jacobian_writer.h"
#include "ceres/dynamic_compressed_row_finalizer.h"
#include "ceres/dynamic_compressed_row_jacobian_writer.h"
#include "ceres/internal/export.h"
#include "ceres/program_evaluator.h"
#include "ceres/scratch_evaluate_preparer.h"
#include "glog/logging.h"

namespace ceres::internal {

Evaluator::~Evaluator() = default;

std::unique_ptr<Evaluator> Evaluator::Create(const Evaluator::Options& options,
                                             Program* program,
                                             std::string* error) {
  CHECK(options.context != nullptr);

  switch (options.linear_solver_type) {
    case DENSE_QR:
    case DENSE_NORMAL_CHOLESKY:
      return std::make_unique<
          ProgramEvaluator<ScratchEvaluatePreparer, DenseJacobianWriter>>(
          options, program);
    case DENSE_SCHUR:
    case SPARSE_SCHUR:
    case ITERATIVE_SCHUR:
    case CGNR: {
      if (options.sparse_linear_algebra_library_type == CUDA_SPARSE) {
        return std::make_unique<ProgramEvaluator<ScratchEvaluatePreparer,
                                                 CompressedRowJacobianWriter>>(
            options, program);
      } else {
        return std::make_unique<
            ProgramEvaluator<BlockEvaluatePreparer, BlockJacobianWriter>>(
            options, program);
      }
    }
    case SPARSE_NORMAL_CHOLESKY:
      if (options.dynamic_sparsity) {
        return std::make_unique<
            ProgramEvaluator<ScratchEvaluatePreparer,
                             DynamicCompressedRowJacobianWriter,
                             DynamicCompressedRowJacobianFinalizer>>(options,
                                                                     program);
      } else {
        return std::make_unique<
            ProgramEvaluator<BlockEvaluatePreparer, BlockJacobianWriter>>(
            options, program);
      }

    default:
      *error = "Invalid Linear Solver Type. Unable to create evaluator.";
      return nullptr;
  }
}

}  // namespace ceres::internal