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