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Diffstat (limited to 'extern/ceres/internal/ceres/detect_structure.h')
| -rw-r--r-- | extern/ceres/internal/ceres/detect_structure.h | 67 |
1 files changed, 67 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/detect_structure.h b/extern/ceres/internal/ceres/detect_structure.h new file mode 100644 index 00000000000..602581c846e --- /dev/null +++ b/extern/ceres/internal/ceres/detect_structure.h @@ -0,0 +1,67 @@ +// 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_DETECT_STRUCTURE_H_ +#define CERES_INTERNAL_DETECT_STRUCTURE_H_ + +#include "ceres/block_structure.h" + +namespace ceres { +namespace internal { + +// Detect static blocks in the problem sparsity. For rows containing +// e_blocks, we are interested in detecting if the size of the row +// blocks, e_blocks and the f_blocks remain constant. If they do, then +// we can use template specialization to improve the performance of +// the block level linear algebra operations used by the +// SchurEliminator. +// +// If a block size is not constant, we return Eigen::Dynamic as the +// value. This just means that the eliminator uses dynamically sized +// linear algebra operations rather than static operations whose size +// is known as compile time. +// +// For more details about e_blocks and f_blocks, see +// schur_eliminator.h. This information is used to initialized an +// appropriate template specialization of SchurEliminator. +// +// Note: The structure of rows without any e-blocks has no effect on +// the values returned by this function. It is entirely possible that +// the f_block_size and row_blocks_size is not constant in such rows. +void DetectStructure(const CompressedRowBlockStructure& bs, + const int num_eliminate_blocks, + int* row_block_size, + int* e_block_size, + int* f_block_size); + +} // namespace internal +} // namespace ceres + +#endif // CERES_INTERNAL_DETECT_STRUCTURE_H_ |