commit 344c09f5bc72d08ac5226611954445887a2a6392
author Sameer Agarwal <sameeragarwal@google.com> Sat Apr 20 16:07:56 2013 -0700
committer Sameer Agarwal <sameeragarwal@google.com> Fri Apr 26 19:47:45 2013 -0700
tree f7ed94ea5c638f141a1c759a4bb285f2476887ae
parent c3c3dd872bd98c3df258d46dd76f93be8f81b73c

Block ordering for SPARSE_SCHUR + CX_SPARSE.

Uptil now only SuiteSparse when used with SPARSE_SCHUR would use
the block structure of the reduced camera matrix to find a fill-reducing
ordering.

This leads to substantial speedup for some bundle adjustment
problems.

Credit for this technique goes to the authors of g2o. I learned
about it from reading their source code.

Change-Id: I5403efefd4d9552c9c6fc6e02a65498bdf171584

internal/ceres/cxsparse.h

diff --git a/internal/ceres/cxsparse.h b/internal/ceres/cxsparse.h
index dd5eadc..d34b635 100644
--- a/internal/ceres/cxsparse.h
+++ b/internal/ceres/cxsparse.h
@@ -33,7 +33,9 @@
 
 #ifndef CERES_NO_CXSPARSE
 
+#include <vector>
 #include "cs.h"
+#include "ceres/internal/port.h"
 
 namespace ceres {
 namespace internal {
@@ -72,6 +74,10 @@
   // The returned matrix should be deallocated with Free when not used anymore.
   cs_dis* AnalyzeCholesky(cs_di* A);
 
+  cs_dis* BlockAnalyzeCholesky(cs_di* A,
+                               const vector<int>& row_blocks,
+                               const vector<int>& col_blocks);
+
   void Free(cs_di* sparse_matrix);
   void Free(cs_dis* symbolic_factorization);