Move from Ordering to ParameterBlockOrdering.
Change-Id: I9320afff13ee62be407c725f42f41a18f537bcc1
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
index e0e8afa..3d7d496 100644
--- a/internal/ceres/CMakeLists.txt
+++ b/internal/ceres/CMakeLists.txt
@@ -64,7 +64,6 @@
local_parameterization.cc
loss_function.cc
normal_prior.cc
- ordering.cc
partitioned_matrix_view.cc
polynomial_solver.cc
problem.cc
@@ -234,7 +233,6 @@
CERES_TEST(minimizer)
CERES_TEST(normal_prior)
CERES_TEST(numeric_diff_cost_function)
- CERES_TEST(ordering)
CERES_TEST(ordered_groups)
CERES_TEST(parameter_block)
CERES_TEST(partitioned_matrix_view)
diff --git a/internal/ceres/inner_iteration_minimizer.cc b/internal/ceres/inner_iteration_minimizer.cc
index 6a9b419..36748ef 100644
--- a/internal/ceres/inner_iteration_minimizer.cc
+++ b/internal/ceres/inner_iteration_minimizer.cc
@@ -35,7 +35,7 @@
#include "ceres/evaluator.h"
#include "ceres/linear_solver.h"
#include "ceres/minimizer.h"
-#include "ceres/ordering.h"
+#include "ceres/ordered_groups.h"
#include "ceres/parameter_block.h"
#include "ceres/problem_impl.h"
#include "ceres/program.h"
@@ -58,7 +58,7 @@
string* error) {
program_.reset(new Program(outer_program));
- Ordering ordering;
+ ParameterBlockOrdering ordering;
int num_inner_iteration_parameter_blocks = 0;
if (parameter_blocks_for_inner_iterations.size() == 0) {
@@ -79,9 +79,9 @@
for (int i = 0; i < parameter_block_ordering.size(); ++i) {
double* ptr = parameter_block_ordering[i]->mutable_user_state();
if (i < num_inner_iteration_parameter_blocks) {
- ordering.AddParameterBlockToGroup(ptr, 0);
+ ordering.AddElementToGroup(ptr, 0);
} else {
- ordering.AddParameterBlockToGroup(ptr, 1);
+ ordering.AddElementToGroup(ptr, 1);
}
}
} else {
@@ -95,18 +95,18 @@
for (int i = 0; i < parameter_blocks.size(); ++i) {
double* ptr = parameter_blocks[i]->mutable_user_state();
if (parameter_block_ptrs.count(ptr) != 0) {
- ordering.AddParameterBlockToGroup(ptr, 0);
+ ordering.AddElementToGroup(ptr, 0);
} else {
- ordering.AddParameterBlockToGroup(ptr, 1);
+ ordering.AddElementToGroup(ptr, 1);
}
}
num_inner_iteration_parameter_blocks = ordering.GroupSize(0);
if (num_inner_iteration_parameter_blocks > 0) {
- const map<int, set<double*> >& group_id_to_parameter_blocks =
- ordering.group_id_to_parameter_blocks();
+ const map<int, set<double*> >& group_to_elements =
+ ordering.group_to_elements();
if (!SolverImpl::IsParameterBlockSetIndependent(
- group_id_to_parameter_blocks.begin()->second,
+ group_to_elements.begin()->second,
program_->residual_blocks())) {
*error = "The user provided parameter_blocks_for_inner_iterations "
"does not form an independent set";
diff --git a/internal/ceres/ordering.cc b/internal/ceres/ordering.cc
deleted file mode 100644
index 4b3ec25..0000000
--- a/internal/ceres/ordering.cc
+++ /dev/null
@@ -1,95 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2012 Google Inc. All rights reserved.
-// http://code.google.com/p/ceres-solver/
-//
-// 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)
-
-#include <map>
-#include <set>
-#include "ceres/internal/port.h"
-#include "ceres/ordering.h"
-#include "glog/logging.h"
-
-namespace ceres {
-
-void Ordering::AddParameterBlockToGroup(double* parameter_block, int group_id) {
- const map<double*, int>::const_iterator it =
- parameter_block_to_group_id_.find(parameter_block);
-
- if (it != parameter_block_to_group_id_.end()) {
- group_id_to_parameter_blocks_[it->second].erase(parameter_block);
- if (group_id_to_parameter_blocks_[it->second].size() == 0) {
- group_id_to_parameter_blocks_.erase(it->second);
- }
- }
-
- parameter_block_to_group_id_[parameter_block] = group_id;
- group_id_to_parameter_blocks_[group_id].insert(parameter_block);
-}
-
-void Ordering::RemoveParameterBlock(double* parameter_block) {
- const int current_group_id = GroupIdForParameterBlock(parameter_block);
- group_id_to_parameter_blocks_[current_group_id].erase(parameter_block);
- if (group_id_to_parameter_blocks_[current_group_id].size() == 0) {
- group_id_to_parameter_blocks_.erase(current_group_id);
- }
-
- parameter_block_to_group_id_.erase(parameter_block);
-}
-
-int Ordering::GroupIdForParameterBlock(double* parameter_block) const {
- const map<double*, int>::const_iterator it =
- parameter_block_to_group_id_.find(parameter_block);
- CHECK(it != parameter_block_to_group_id_.end())
- << "Tried finding the group id of a parameter block unknown to "
- << "the ordering: " << parameter_block;
- return it->second;
-}
-
-bool Ordering::ContainsParameterBlock(double* parameter_block) const {
- const map<double*, int>::const_iterator it =
- parameter_block_to_group_id_.find(parameter_block);
- return (it != parameter_block_to_group_id_.end());
-}
-
-int Ordering::NumParameterBlocks() const {
- return parameter_block_to_group_id_.size();
-}
-
-int Ordering::NumGroups() const { return group_id_to_parameter_blocks_.size(); }
-
-int Ordering::GroupSize(int group_id) const {
- map<int, set<double*> >::const_iterator it =
- group_id_to_parameter_blocks_.find(group_id);
- return (it == group_id_to_parameter_blocks_.end()) ? 0 : it->second.size();
-}
-
-const map<int, set<double*> >& Ordering::group_id_to_parameter_blocks() const {
- return group_id_to_parameter_blocks_;
-}
-
-} // namespace ceres
diff --git a/internal/ceres/ordering_test.cc b/internal/ceres/ordering_test.cc
deleted file mode 100644
index 9bd43b3..0000000
--- a/internal/ceres/ordering_test.cc
+++ /dev/null
@@ -1,140 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2012 Google Inc. All rights reserved.
-// http://code.google.com/p/ceres-solver/
-//
-// 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)
-
-#include "ceres/ordering.h"
-
-#include <cstddef>
-#include <vector>
-#include "gtest/gtest.h"
-#include "ceres/collections_port.h"
-
-namespace ceres {
-namespace internal {
-
-TEST(Ordering, EmptyOrderingBehavesCorrectly) {
- Ordering ordering;
- EXPECT_EQ(ordering.NumGroups(), 0);
- EXPECT_EQ(ordering.NumParameterBlocks(), 0);
- EXPECT_EQ(ordering.GroupSize(1), 0);
- double x;
- EXPECT_DEATH_IF_SUPPORTED(ordering.GroupIdForParameterBlock(&x),
- "Tried finding");
- EXPECT_DEATH_IF_SUPPORTED(ordering.RemoveParameterBlock(&x),
- "Tried finding");
-}
-
-TEST(Ordering, EverythingInOneGroup) {
- Ordering ordering;
- double x[3];
- ordering.AddParameterBlockToGroup(x, 1);
- ordering.AddParameterBlockToGroup(x + 1, 1);
- ordering.AddParameterBlockToGroup(x + 2, 1);
- ordering.AddParameterBlockToGroup(x, 1);
-
- EXPECT_EQ(ordering.NumGroups(), 1);
- EXPECT_EQ(ordering.NumParameterBlocks(), 3);
- EXPECT_EQ(ordering.GroupSize(1), 3);
- EXPECT_EQ(ordering.GroupSize(0), 0);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x), 1);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x + 1), 1);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x + 2), 1);
-
- ordering.RemoveParameterBlock(x);
- EXPECT_EQ(ordering.NumGroups(), 1);
- EXPECT_EQ(ordering.NumParameterBlocks(), 2);
- EXPECT_EQ(ordering.GroupSize(1), 2);
- EXPECT_EQ(ordering.GroupSize(0), 0);
-
- EXPECT_DEATH_IF_SUPPORTED(ordering.GroupIdForParameterBlock(x),
- "Tried finding");
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x + 1), 1);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x + 2), 1);
-}
-
-TEST(Ordering, StartInOneGroupAndThenSplit) {
- Ordering ordering;
- double x[3];
- ordering.AddParameterBlockToGroup(x, 1);
- ordering.AddParameterBlockToGroup(x + 1, 1);
- ordering.AddParameterBlockToGroup(x + 2, 1);
- ordering.AddParameterBlockToGroup(x, 1);
-
- EXPECT_EQ(ordering.NumGroups(), 1);
- EXPECT_EQ(ordering.NumParameterBlocks(), 3);
- EXPECT_EQ(ordering.GroupSize(1), 3);
- EXPECT_EQ(ordering.GroupSize(0), 0);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x), 1);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x + 1), 1);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x + 2), 1);
-
- ordering.AddParameterBlockToGroup(x, 5);
- EXPECT_EQ(ordering.NumGroups(), 2);
- EXPECT_EQ(ordering.NumParameterBlocks(), 3);
- EXPECT_EQ(ordering.GroupSize(1), 2);
- EXPECT_EQ(ordering.GroupSize(5), 1);
- EXPECT_EQ(ordering.GroupSize(0), 0);
-
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x), 5);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x + 1), 1);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x + 2), 1);
-}
-
-TEST(Ordering, AddAndRemoveEveryThingFromOneGroup) {
- Ordering ordering;
- double x[3];
- ordering.AddParameterBlockToGroup(x, 1);
- ordering.AddParameterBlockToGroup(x + 1, 1);
- ordering.AddParameterBlockToGroup(x + 2, 1);
- ordering.AddParameterBlockToGroup(x, 1);
-
- EXPECT_EQ(ordering.NumGroups(), 1);
- EXPECT_EQ(ordering.NumParameterBlocks(), 3);
- EXPECT_EQ(ordering.GroupSize(1), 3);
- EXPECT_EQ(ordering.GroupSize(0), 0);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x), 1);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x + 1), 1);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x + 2), 1);
-
- ordering.AddParameterBlockToGroup(x, 5);
- ordering.AddParameterBlockToGroup(x + 1, 5);
- ordering.AddParameterBlockToGroup(x + 2, 5);
- EXPECT_EQ(ordering.NumGroups(), 1);
- EXPECT_EQ(ordering.NumParameterBlocks(), 3);
- EXPECT_EQ(ordering.GroupSize(1), 0);
- EXPECT_EQ(ordering.GroupSize(5), 3);
- EXPECT_EQ(ordering.GroupSize(0), 0);
-
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x), 5);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x + 1), 5);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(x + 2), 5);
-}
-
-} // namespace internal
-} // namespace ceres
diff --git a/internal/ceres/solver_impl.cc b/internal/ceres/solver_impl.cc
index 4f914fa..c052aeb 100644
--- a/internal/ceres/solver_impl.cc
+++ b/internal/ceres/solver_impl.cc
@@ -41,7 +41,7 @@
#include "ceres/linear_solver.h"
#include "ceres/map_util.h"
#include "ceres/minimizer.h"
-#include "ceres/ordering.h"
+#include "ceres/ordered_groups.h"
#include "ceres/parameter_block.h"
#include "ceres/problem.h"
#include "ceres/problem_impl.h"
@@ -260,15 +260,15 @@
LOG(WARNING) << summary->error;
return;
}
- options.ordering = new Ordering(*original_options.ordering);
+ options.ordering = new ParameterBlockOrdering(*original_options.ordering);
} else {
- options.ordering = new Ordering;
+ options.ordering = new ParameterBlockOrdering;
const ProblemImpl::ParameterMap& parameter_map =
problem_impl->parameter_map();
for (ProblemImpl::ParameterMap::const_iterator it = parameter_map.begin();
it != parameter_map.end();
++it) {
- options.ordering->AddParameterBlockToGroup(it->first, 0);
+ options.ordering->AddElementToGroup(it->first, 0);
}
}
@@ -334,7 +334,7 @@
// Only Schur types require the lexicographic reordering.
if (IsSchurType(options.linear_solver_type)) {
const int num_eliminate_blocks =
- options.ordering->group_id_to_parameter_blocks().begin()->second.size();
+ options.ordering->group_to_elements().begin()->second.size();
if (!LexicographicallyOrderResidualBlocks(num_eliminate_blocks,
reduced_program.get(),
&summary->error)) {
@@ -415,7 +415,7 @@
bool SolverImpl::IsOrderingValid(const Solver::Options& options,
const ProblemImpl* problem_impl,
string* error) {
- if (options.ordering->NumParameterBlocks() !=
+ if (options.ordering->NumElements() !=
problem_impl->NumParameterBlocks()) {
*error = "Number of parameter blocks in user supplied ordering "
"does not match the number of parameter blocks in the problem";
@@ -428,8 +428,7 @@
for (vector<ParameterBlock*>::const_iterator it = parameter_blocks.begin();
it != parameter_blocks.end();
++it) {
- if (!options.ordering->ContainsParameterBlock(
- const_cast<double*>((*it)->user_state()))) {
+ if (!options.ordering->IsMember(const_cast<double*>((*it)->user_state()))) {
*error = "Problem contains a parameter block that is not in "
"the user specified ordering.";
return false;
@@ -439,7 +438,7 @@
if (IsSchurType(options.linear_solver_type) &&
options.ordering->NumGroups() > 1) {
const set<double*>& e_blocks =
- options.ordering->group_id_to_parameter_blocks().begin()->second;
+ options.ordering->group_to_elements().begin()->second;
if (!IsParameterBlockSetIndependent(e_blocks, residual_blocks)) {
*error = "The user requested the use of a Schur type solver. "
"But the first elimination group in the ordering is not an "
@@ -478,7 +477,7 @@
// Strips varying parameters and residuals, maintaining order, and updating
// num_eliminate_blocks.
bool SolverImpl::RemoveFixedBlocksFromProgram(Program* program,
- Ordering* ordering,
+ ParameterBlockOrdering* ordering,
double* fixed_cost,
string* error) {
vector<ParameterBlock*>* parameter_blocks =
@@ -547,7 +546,7 @@
if (parameter_block->index() == 1) {
(*parameter_blocks)[j++] = parameter_block;
} else {
- ordering->RemoveParameterBlock(parameter_block->mutable_user_state());
+ ordering->Remove(parameter_block->mutable_user_state());
}
}
parameter_blocks->resize(j);
@@ -568,10 +567,10 @@
CHECK_NOTNULL(options->ordering);
Program* original_program = problem_impl->mutable_program();
scoped_ptr<Program> transformed_program(new Program(*original_program));
- Ordering* ordering = options->ordering;
+ ParameterBlockOrdering* ordering = options->ordering;
const int min_group_id =
- ordering->group_id_to_parameter_blocks().begin()->first;
+ ordering->group_to_elements().begin()->first;
const int original_num_groups = ordering->NumGroups();
if (!RemoveFixedBlocksFromProgram(transformed_program.get(),
@@ -603,7 +602,7 @@
<< "to the developers.";
for (int i = 0; i < schur_ordering.size(); ++i) {
- ordering->AddParameterBlockToGroup(schur_ordering[i]->mutable_user_state(),
+ ordering->AddElementToGroup(schur_ordering[i]->mutable_user_state(),
(i < num_eliminate_blocks) ? 0 : 1);
}
}
@@ -764,7 +763,7 @@
linear_solver_options.use_block_amd = options->use_block_amd;
const map<int, set<double*> >& groups =
- options->ordering->group_id_to_parameter_blocks();
+ options->ordering->group_to_elements();
for (map<int, set<double*> >::const_iterator it = groups.begin();
it != groups.end();
++it) {
@@ -783,15 +782,15 @@
}
bool SolverImpl::ApplyUserOrdering(const ProblemImpl::ParameterMap& parameter_map,
- const Ordering* ordering,
+ const ParameterBlockOrdering* ordering,
Program* program,
string* error) {
- if (ordering->NumParameterBlocks() != program->NumParameterBlocks()) {
+ if (ordering->NumElements() != program->NumParameterBlocks()) {
*error = StringPrintf("User specified ordering does not have the same "
"number of parameters as the problem. The problem"
"has %d blocks while the ordering has %d blocks.",
program->NumParameterBlocks(),
- ordering->NumParameterBlocks());
+ ordering->NumElements());
return false;
}
@@ -800,7 +799,7 @@
parameter_blocks->clear();
const map<int, set<double*> >& groups =
- ordering->group_id_to_parameter_blocks();
+ ordering->group_to_elements();
for (map<int, set<double*> >::const_iterator group_it = groups.begin();
group_it != groups.end();
@@ -934,7 +933,7 @@
evaluator_options.num_eliminate_blocks =
(options.ordering->NumGroups() > 0 &&
IsSchurType(options.linear_solver_type))
- ? options.ordering->group_id_to_parameter_blocks().begin()->second.size()
+ ? options.ordering->group_to_elements().begin()->second.size()
: 0;
evaluator_options.num_threads = options.num_threads;
return Evaluator::Create(evaluator_options, program, error);
diff --git a/internal/ceres/solver_impl.h b/internal/ceres/solver_impl.h
index eb81696..140de95 100644
--- a/internal/ceres/solver_impl.h
+++ b/internal/ceres/solver_impl.h
@@ -34,12 +34,11 @@
#include <string>
#include <vector>
#include "ceres/internal/port.h"
+#include "ceres/ordered_groups.h"
#include "ceres/solver.h"
#include "ceres/problem_impl.h"
namespace ceres {
-class Ordering;
-
namespace internal {
class Evaluator;
@@ -79,7 +78,7 @@
// return value of true indicates success and false indicates an
// error was encountered whose cause is logged to LOG(ERROR).
static bool ApplyUserOrdering(const ProblemImpl::ParameterMap& parameter_map,
- const Ordering* ordering,
+ const ParameterBlockOrdering* ordering,
Program* program,
string* error);
@@ -116,7 +115,7 @@
// NULL, the residual blocks that are removed are evaluated and the
// sum of their cost is returned in fixed_cost.
static bool RemoveFixedBlocksFromProgram(Program* program,
- Ordering* ordering,
+ ParameterBlockOrdering* ordering,
double* fixed_cost,
string* error);
diff --git a/internal/ceres/solver_impl_test.cc b/internal/ceres/solver_impl_test.cc
index 3148024..5f4a82c 100644
--- a/internal/ceres/solver_impl_test.cc
+++ b/internal/ceres/solver_impl_test.cc
@@ -31,7 +31,7 @@
#include "gtest/gtest.h"
#include "ceres/autodiff_cost_function.h"
#include "ceres/linear_solver.h"
-#include "ceres/ordering.h"
+#include "ceres/ordered_groups.h"
#include "ceres/parameter_block.h"
#include "ceres/problem_impl.h"
#include "ceres/program.h"
@@ -88,10 +88,10 @@
string error;
{
- Ordering ordering;
- ordering.AddParameterBlockToGroup(&x, 0);
- ordering.AddParameterBlockToGroup(&y, 0);
- ordering.AddParameterBlockToGroup(&z, 0);
+ ParameterBlockOrdering ordering;
+ ordering.AddElementToGroup(&x, 0);
+ ordering.AddElementToGroup(&y, 0);
+ ordering.AddElementToGroup(&z, 0);
Program program(*problem.mutable_program());
EXPECT_TRUE(SolverImpl::RemoveFixedBlocksFromProgram(&program,
@@ -100,7 +100,7 @@
&error));
EXPECT_EQ(program.NumParameterBlocks(), 3);
EXPECT_EQ(program.NumResidualBlocks(), 3);
- EXPECT_EQ(ordering.NumParameterBlocks(), 3);
+ EXPECT_EQ(ordering.NumElements(), 3);
}
}
@@ -112,8 +112,8 @@
problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
problem.SetParameterBlockConstant(&x);
- Ordering ordering;
- ordering.AddParameterBlockToGroup(&x, 0);
+ ParameterBlockOrdering ordering;
+ ordering.AddElementToGroup(&x, 0);
Program program(problem.program());
string error;
@@ -123,7 +123,7 @@
&error));
EXPECT_EQ(program.NumParameterBlocks(), 0);
EXPECT_EQ(program.NumResidualBlocks(), 0);
- EXPECT_EQ(ordering.NumParameterBlocks(), 0);
+ EXPECT_EQ(ordering.NumElements(), 0);
}
TEST(SolverImpl, RemoveFixedBlocksNoResidualBlocks) {
@@ -136,10 +136,10 @@
problem.AddParameterBlock(&y, 1);
problem.AddParameterBlock(&z, 1);
- Ordering ordering;
- ordering.AddParameterBlockToGroup(&x, 0);
- ordering.AddParameterBlockToGroup(&y, 0);
- ordering.AddParameterBlockToGroup(&z, 0);
+ ParameterBlockOrdering ordering;
+ ordering.AddElementToGroup(&x, 0);
+ ordering.AddElementToGroup(&y, 0);
+ ordering.AddElementToGroup(&z, 0);
Program program(problem.program());
@@ -150,7 +150,7 @@
&error));
EXPECT_EQ(program.NumParameterBlocks(), 0);
EXPECT_EQ(program.NumResidualBlocks(), 0);
- EXPECT_EQ(ordering.NumParameterBlocks(), 0);
+ EXPECT_EQ(ordering.NumElements(), 0);
}
TEST(SolverImpl, RemoveFixedBlocksOneParameterBlockConstant) {
@@ -163,10 +163,10 @@
problem.AddParameterBlock(&y, 1);
problem.AddParameterBlock(&z, 1);
- Ordering ordering;
- ordering.AddParameterBlockToGroup(&x, 0);
- ordering.AddParameterBlockToGroup(&y, 0);
- ordering.AddParameterBlockToGroup(&z, 0);
+ ParameterBlockOrdering ordering;
+ ordering.AddElementToGroup(&x, 0);
+ ordering.AddElementToGroup(&y, 0);
+ ordering.AddElementToGroup(&z, 0);
problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
@@ -181,7 +181,7 @@
&error));
EXPECT_EQ(program.NumParameterBlocks(), 1);
EXPECT_EQ(program.NumResidualBlocks(), 1);
- EXPECT_EQ(ordering.NumParameterBlocks(), 1);
+ EXPECT_EQ(ordering.NumElements(), 1);
}
TEST(SolverImpl, RemoveFixedBlocksNumEliminateBlocks) {
@@ -198,10 +198,10 @@
problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
problem.SetParameterBlockConstant(&x);
- Ordering ordering;
- ordering.AddParameterBlockToGroup(&x, 0);
- ordering.AddParameterBlockToGroup(&y, 0);
- ordering.AddParameterBlockToGroup(&z, 1);
+ ParameterBlockOrdering ordering;
+ ordering.AddElementToGroup(&x, 0);
+ ordering.AddElementToGroup(&y, 0);
+ ordering.AddElementToGroup(&z, 1);
Program program(problem.program());
string error;
@@ -211,9 +211,9 @@
&error));
EXPECT_EQ(program.NumParameterBlocks(), 2);
EXPECT_EQ(program.NumResidualBlocks(), 2);
- EXPECT_EQ(ordering.NumParameterBlocks(), 2);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(&y), 0);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(&z), 1);
+ EXPECT_EQ(ordering.NumElements(), 2);
+ EXPECT_EQ(ordering.GroupId(&y), 0);
+ EXPECT_EQ(ordering.GroupId(&z), 1);
}
TEST(SolverImpl, RemoveFixedBlocksFixedCost) {
@@ -230,10 +230,10 @@
problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
problem.SetParameterBlockConstant(&x);
- Ordering ordering;
- ordering.AddParameterBlockToGroup(&x, 0);
- ordering.AddParameterBlockToGroup(&y, 0);
- ordering.AddParameterBlockToGroup(&z, 1);
+ ParameterBlockOrdering ordering;
+ ordering.AddElementToGroup(&x, 0);
+ ordering.AddElementToGroup(&y, 0);
+ ordering.AddElementToGroup(&z, 1);
double fixed_cost = 0.0;
Program program(problem.program());
@@ -250,9 +250,9 @@
&error));
EXPECT_EQ(program.NumParameterBlocks(), 2);
EXPECT_EQ(program.NumResidualBlocks(), 2);
- EXPECT_EQ(ordering.NumParameterBlocks(), 2);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(&y), 0);
- EXPECT_EQ(ordering.GroupIdForParameterBlock(&z), 1);
+ EXPECT_EQ(ordering.NumElements(), 2);
+ EXPECT_EQ(ordering.GroupId(&y), 0);
+ EXPECT_EQ(ordering.GroupId(&z), 1);
EXPECT_DOUBLE_EQ(fixed_cost, expected_fixed_cost);
}
@@ -273,10 +273,10 @@
problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
problem.AddResidualBlock(new UnaryCostFunction(), NULL, &y);
- Ordering* ordering = new Ordering;
- ordering->AddParameterBlockToGroup(&x, 0);
- ordering->AddParameterBlockToGroup(&y, 0);
- ordering->AddParameterBlockToGroup(&z, 1);
+ ParameterBlockOrdering* ordering = new ParameterBlockOrdering;
+ ordering->AddElementToGroup(&x, 0);
+ ordering->AddElementToGroup(&y, 0);
+ ordering->AddElementToGroup(&z, 1);
Solver::Options options;
options.linear_solver_type = DENSE_SCHUR;
@@ -335,10 +335,10 @@
problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &z); // 6 x
problem.AddResidualBlock(new UnaryCostFunction(), NULL, &y); // 7
- Ordering* ordering = new Ordering;
- ordering->AddParameterBlockToGroup(&x, 0);
- ordering->AddParameterBlockToGroup(&z, 0);
- ordering->AddParameterBlockToGroup(&y, 1);
+ ParameterBlockOrdering* ordering = new ParameterBlockOrdering;
+ ordering->AddElementToGroup(&x, 0);
+ ordering->AddElementToGroup(&z, 0);
+ ordering->AddElementToGroup(&y, 1);
Solver::Options options;
options.linear_solver_type = DENSE_SCHUR;
@@ -396,9 +396,9 @@
problem.AddParameterBlock(&y, 1);
problem.AddParameterBlock(&z, 1);
- Ordering ordering;
- ordering.AddParameterBlockToGroup(&x, 0);
- ordering.AddParameterBlockToGroup(&y, 1);
+ ParameterBlockOrdering ordering;
+ ordering.AddElementToGroup(&x, 0);
+ ordering.AddElementToGroup(&y, 1);
Program program(problem.program());
string error;
@@ -418,10 +418,10 @@
problem.AddParameterBlock(&y, 1);
problem.AddParameterBlock(&z, 1);
- Ordering ordering;
- ordering.AddParameterBlockToGroup(&x, 0);
- ordering.AddParameterBlockToGroup(&y, 2);
- ordering.AddParameterBlockToGroup(&z, 1);
+ ParameterBlockOrdering ordering;
+ ordering.AddElementToGroup(&x, 0);
+ ordering.AddElementToGroup(&y, 2);
+ ordering.AddElementToGroup(&z, 1);
Program* program = problem.mutable_program();
string error;
@@ -452,7 +452,7 @@
options.linear_solver_type = DENSE_QR;
options.linear_solver_max_num_iterations = -1;
// CreateLinearSolver assumes a non-empty ordering.
- options.ordering = new Ordering;
+ options.ordering = new ParameterBlockOrdering;
string error;
EXPECT_EQ(SolverImpl::CreateLinearSolver(&options, &error),
static_cast<LinearSolver*>(NULL));
@@ -463,7 +463,7 @@
options.linear_solver_type = DENSE_QR;
options.linear_solver_min_num_iterations = -1;
// CreateLinearSolver assumes a non-empty ordering.
- options.ordering = new Ordering;
+ options.ordering = new ParameterBlockOrdering;
string error;
EXPECT_EQ(SolverImpl::CreateLinearSolver(&options, &error),
static_cast<LinearSolver*>(NULL));
@@ -474,7 +474,7 @@
options.linear_solver_type = DENSE_QR;
options.linear_solver_min_num_iterations = 10;
options.linear_solver_max_num_iterations = 5;
- options.ordering = new Ordering;
+ options.ordering = new ParameterBlockOrdering;
string error;
EXPECT_EQ(SolverImpl::CreateLinearSolver(&options, &error),
static_cast<LinearSolver*>(NULL));
@@ -486,11 +486,11 @@
options.num_linear_solver_threads = 2;
// The Schur type solvers can only be created with the Ordering
// contains at least one elimination group.
- options.ordering = new Ordering;
+ options.ordering = new ParameterBlockOrdering;
double x;
double y;
- options.ordering->AddParameterBlockToGroup(&x, 0);
- options.ordering->AddParameterBlockToGroup(&y, 0);
+ options.ordering->AddElementToGroup(&x, 0);
+ options.ordering->AddElementToGroup(&y, 0);
string error;
scoped_ptr<LinearSolver> solver(
@@ -504,7 +504,7 @@
Solver::Options options;
options.trust_region_strategy_type = DOGLEG;
// CreateLinearSolver assumes a non-empty ordering.
- options.ordering = new Ordering;
+ options.ordering = new ParameterBlockOrdering;
string error;
options.linear_solver_type = ITERATIVE_SCHUR;
EXPECT_EQ(SolverImpl::CreateLinearSolver(&options, &error),
@@ -520,7 +520,7 @@
scoped_ptr<LinearSolver> solver;
options.linear_solver_type = DENSE_QR;
// CreateLinearSolver assumes a non-empty ordering.
- options.ordering = new Ordering;
+ options.ordering = new ParameterBlockOrdering;
string error;
solver.reset(SolverImpl::CreateLinearSolver(&options, &error));
EXPECT_EQ(options.linear_solver_type, DENSE_QR);
@@ -549,8 +549,8 @@
double x;
double y;
- options.ordering->AddParameterBlockToGroup(&x, 0);
- options.ordering->AddParameterBlockToGroup(&y, 0);
+ options.ordering->AddElementToGroup(&x, 0);
+ options.ordering->AddElementToGroup(&y, 0);
options.linear_solver_type = DENSE_SCHUR;
solver.reset(SolverImpl::CreateLinearSolver(&options, &error));
diff --git a/internal/ceres/system_test.cc b/internal/ceres/system_test.cc
index 4d78de7..8f1722a 100644
--- a/internal/ceres/system_test.cc
+++ b/internal/ceres/system_test.cc
@@ -44,7 +44,7 @@
#include <string>
#include "ceres/autodiff_cost_function.h"
-#include "ceres/ordering.h"
+#include "ceres/ordered_groups.h"
#include "ceres/problem.h"
#include "ceres/rotation.h"
#include "ceres/solver.h"
@@ -387,15 +387,15 @@
problem_.AddResidualBlock(cost_function, NULL, camera, point);
}
- options_.ordering = new Ordering;
+ options_.ordering = new ParameterBlockOrdering;
// The points come before the cameras.
for (int i = 0; i < num_points_; ++i) {
- options_.ordering->AddParameterBlockToGroup(points + 3 * i, 0);
+ options_.ordering->AddElementToGroup(points + 3 * i, 0);
}
for (int i = 0; i < num_cameras_; ++i) {
- options_.ordering->AddParameterBlockToGroup(cameras + 9 * i, 1);
+ options_.ordering->AddElementToGroup(cameras + 9 * i, 1);
}
options_.max_num_iterations = 25;
