90 lines
4.0 KiB
C
90 lines
4.0 KiB
C
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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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: sameeragarwal@google.com (Sameer Agarwal)
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#ifndef CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_
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#define CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_
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#include <vector>
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#include "ceres/ordered_groups.h"
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#include "ceres/graph.h"
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#include "ceres/types.h"
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namespace ceres {
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namespace internal {
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class Program;
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class ParameterBlock;
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// Uses an approximate independent set ordering to order the parameter
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// blocks of a problem so that it is suitable for use with Schur
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// complement based solvers. The output variable ordering contains an
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// ordering of the parameter blocks and the return value is size of
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// the independent set or the number of e_blocks (see
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// schur_complement_solver.h for an explanation). Constant parameters
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// are added to the end.
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//
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// The ordering vector has the structure
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//
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// ordering = [independent set,
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// complement of the independent set,
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// fixed blocks]
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int ComputeSchurOrdering(const Program& program,
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std::vector<ParameterBlock* >* ordering);
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// Same as above, except that ties while computing the independent set
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// ordering are resolved in favour of the order in which the parameter
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// blocks occur in the program.
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int ComputeStableSchurOrdering(const Program& program,
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std::vector<ParameterBlock* >* ordering);
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// Use an approximate independent set ordering to decompose the
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// parameter blocks of a problem in a sequence of independent
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// sets. The ordering covers all the non-constant parameter blocks in
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// the program.
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void ComputeRecursiveIndependentSetOrdering(const Program& program,
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ParameterBlockOrdering* ordering);
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// Builds a graph on the parameter blocks of a Problem, whose
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// structure reflects the sparsity structure of the Hessian. Each
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// vertex corresponds to a parameter block in the Problem except for
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// parameter blocks that are marked constant. An edge connects two
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// parameter blocks, if they co-occur in a residual block.
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Graph<ParameterBlock*>* CreateHessianGraph(const Program& program);
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// Iterate over each of the groups in order of their priority and fill
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// summary with their sizes.
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void OrderingToGroupSizes(const ParameterBlockOrdering* ordering,
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std::vector<int>* group_sizes);
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_
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