102 lines
4.6 KiB
C
102 lines
4.6 KiB
C
|
// 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: sameeragarwal@google.com (Sameer Agarwal)
|
||
|
|
|
||
|
|
#ifndef CERES_INTERNAL_REORDER_PROGRAM_H_
|
||
|
|
#define CERES_INTERNAL_REORDER_PROGRAM_H_
|
||
|
|
|
||
|
|
#include <string>
|
||
|
|
#include "ceres/internal/port.h"
|
||
|
|
#include "ceres/parameter_block_ordering.h"
|
||
|
|
#include "ceres/problem_impl.h"
|
||
|
|
#include "ceres/types.h"
|
||
|
|
|
||
|
|
namespace ceres {
|
||
|
|
namespace internal {
|
||
|
|
|
||
|
|
class Program;
|
||
|
|
|
||
|
|
// Reorder the parameter blocks in program using the ordering
|
||
|
|
bool ApplyOrdering(const ProblemImpl::ParameterMap& parameter_map,
|
||
|
|
const ParameterBlockOrdering& ordering,
|
||
|
|
Program* program,
|
||
|
|
std::string* error);
|
||
|
|
|
||
|
|
// Reorder the residuals for program, if necessary, so that the residuals
|
||
|
|
// involving each E block occur together. This is a necessary condition for the
|
||
|
|
// Schur eliminator, which works on these "row blocks" in the jacobian.
|
||
|
|
bool LexicographicallyOrderResidualBlocks(int size_of_first_elimination_group,
|
||
|
|
Program* program,
|
||
|
|
std::string* error);
|
||
|
|
|
||
|
|
// Schur type solvers require that all parameter blocks eliminated
|
||
|
|
// by the Schur eliminator occur before others and the residuals be
|
||
|
|
// sorted in lexicographic order of their parameter blocks.
|
||
|
|
//
|
||
|
|
// If the parameter_block_ordering only contains one elimination
|
||
|
|
// group then a maximal independent set is computed and used as the
|
||
|
|
// first elimination group, otherwise the user's ordering is used.
|
||
|
|
//
|
||
|
|
// If the linear solver type is SPARSE_SCHUR and support for
|
||
|
|
// constrained fill-reducing ordering is available in the sparse
|
||
|
|
// linear algebra library (SuiteSparse version >= 4.2.0) then
|
||
|
|
// columns of the schur complement matrix are ordered to reduce the
|
||
|
|
// fill-in the Cholesky factorization.
|
||
|
|
//
|
||
|
|
// Upon return, ordering contains the parameter block ordering that
|
||
|
|
// was used to order the program.
|
||
|
|
bool ReorderProgramForSchurTypeLinearSolver(
|
||
|
|
LinearSolverType linear_solver_type,
|
||
|
|
SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
|
||
|
|
const ProblemImpl::ParameterMap& parameter_map,
|
||
|
|
ParameterBlockOrdering* parameter_block_ordering,
|
||
|
|
Program* program,
|
||
|
|
std::string* error);
|
||
|
|
|
||
|
|
// Sparse cholesky factorization routines when doing the sparse
|
||
|
|
// cholesky factorization of the Jacobian matrix, reorders its
|
||
|
|
// columns to reduce the fill-in. Compute this permutation and
|
||
|
|
// re-order the parameter blocks.
|
||
|
|
//
|
||
|
|
// When using SuiteSparse, if the parameter_block_ordering contains
|
||
|
|
// more than one elimination group and support for constrained
|
||
|
|
// fill-reducing ordering is available in the sparse linear algebra
|
||
|
|
// library (SuiteSparse version >= 4.2.0) then the fill reducing
|
||
|
|
// ordering will take it into account, otherwise it will be ignored.
|
||
|
|
bool ReorderProgramForSparseNormalCholesky(
|
||
|
|
SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
|
||
|
|
const ParameterBlockOrdering& parameter_block_ordering,
|
||
|
|
Program* program,
|
||
|
|
std::string* error);
|
||
|
|
|
||
|
|
} // namespace internal
|
||
|
|
} // namespace ceres
|
||
|
|
|
||
|
|
#endif // CERES_INTERNAL_REORDER_PROGRAM_
|