| // 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 |
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| // |
| // 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_ |