Merge branch 'asset-uuid--archived' into asset-engine--archivedasset-engine--archived

1 files changed, 16 insertions, 1 deletions

diff --git a/extern/ceres/internal/ceres/reorder_program.h b/extern/ceres/internal/ceres/reorder_program.h
index 36e5d1637a9..88cbee3af21 100644
--- a/extern/ceres/internal/ceres/reorder_program.h
+++ b/extern/ceres/internal/ceres/reorder_program.h
@@ -89,12 +89,27 @@ bool ReorderProgramForSchurTypeLinearSolver(
 // 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(
+bool ReorderProgramForSparseCholesky(
     SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
     const ParameterBlockOrdering& parameter_block_ordering,
+    int start_row_block,
     Program* program,
     std::string* error);
 
+// Reorder the residual blocks in the program so that all the residual
+// blocks in bottom_residual_blocks are at the bottom. The return
+// value is the number of residual blocks in the program in "top" part
+// of the Program, i.e., the ones not included in
+// bottom_residual_blocks.
+//
+// This number can be different from program->NumResidualBlocks() -
+// bottom_residual_blocks.size() because we allow
+// bottom_residual_blocks to contain residual blocks not present in
+// the Program.
+int ReorderResidualBlocksByPartition(
+    const std::unordered_set<ResidualBlockId>& bottom_residual_blocks,
+    Program* program);
+
 }  // namespace internal
 }  // namespace ceres