68 lines
3.1 KiB
C
68 lines
3.1 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_DETECT_STRUCTURE_H_
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#define CERES_INTERNAL_DETECT_STRUCTURE_H_
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#include "ceres/block_structure.h"
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namespace ceres {
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namespace internal {
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// Detect static blocks in the problem sparsity. For rows containing
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// e_blocks, we are interested in detecting if the size of the row
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// blocks, e_blocks and the f_blocks remain constant. If they do, then
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// we can use template specialization to improve the performance of
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// the block level linear algebra operations used by the
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// SchurEliminator.
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//
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// If a block size is not constant, we return Eigen::Dynamic as the
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// value. This just means that the eliminator uses dynamically sized
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// linear algebra operations rather than static operations whose size
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// is known as compile time.
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//
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// For more details about e_blocks and f_blocks, see
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// schur_eliminator.h. This information is used to initialized an
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// appropriate template specialization of SchurEliminator.
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//
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// Note: The structure of rows without any e-blocks has no effect on
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// the values returned by this function. It is entirely possible that
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// the f_block_size and row_blocks_size is not constant in such rows.
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void DetectStructure(const CompressedRowBlockStructure& bs,
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const int num_eliminate_blocks,
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int* row_block_size,
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int* e_block_size,
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int* f_block_size);
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_DETECT_STRUCTURE_H_
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