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Diffstat (limited to 'extern/ceres/internal/ceres/reorder_program.h')
-rw-r--r-- | extern/ceres/internal/ceres/reorder_program.h | 101 |
1 files changed, 101 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/reorder_program.h b/extern/ceres/internal/ceres/reorder_program.h new file mode 100644 index 00000000000..36e5d1637a9 --- /dev/null +++ b/extern/ceres/internal/ceres/reorder_program.h @@ -0,0 +1,101 @@ +// 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_ |