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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
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// modification, are permitted provided that the following conditions are met:
//
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//
// Author: sameeragarwal@google.com (Sameer Agarwal)
//
// Detailed descriptions of these preconditions beyond what is
// documented here can be found in
//
// Bundle Adjustment in the Large
// S. Agarwal, N. Snavely, S. Seitz & R. Szeliski, ECCV 2010
// http://www.cs.washington.edu/homes/sagarwal/bal.pdf
#ifndef CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_
#define CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_
#include <memory>
#include <set>
#include <utility>
#include <vector>
#include "ceres/internal/disable_warnings.h"
#include "ceres/internal/export.h"
#include "ceres/preconditioner.h"
namespace ceres::internal {
class BlockRandomAccessDiagonalMatrix;
class BlockSparseMatrix;
struct CompressedRowBlockStructure;
class SchurEliminatorBase;
// This class implements the SCHUR_JACOBI preconditioner for Structure
// from Motion/Bundle Adjustment problems. Full mathematical details
// can be found in
//
// Bundle Adjustment in the Large
// S. Agarwal, N. Snavely, S. Seitz & R. Szeliski, ECCV 2010
// http://www.cs.washington.edu/homes/sagarwal/bal.pdf
//
// Example usage:
//
// Preconditioner::Options options;
// options.preconditioner_type = SCHUR_JACOBI;
// options.elimination_groups.push_back(num_points);
// options.elimination_groups.push_back(num_cameras);
// SchurJacobiPreconditioner preconditioner(
// *A.block_structure(), options);
// preconditioner.Update(A, nullptr);
// preconditioner.RightMultiplyAndAccumulate(x, y);
//
// TODO(https://github.com/ceres-solver/ceres-solver/issues/935):
// SchurJacobiPreconditioner::RightMultiply will benefit from multithreading
class CERES_NO_EXPORT SchurJacobiPreconditioner
: public BlockSparseMatrixPreconditioner {
public:
// Initialize the symbolic structure of the preconditioner. bs is
// the block structure of the linear system to be solved. It is used
// to determine the sparsity structure of the preconditioner matrix.
//
// It has the same structural requirement as other Schur complement
// based solvers. Please see schur_eliminator.h for more details.
SchurJacobiPreconditioner(const CompressedRowBlockStructure& bs,
Preconditioner::Options options);
SchurJacobiPreconditioner(const SchurJacobiPreconditioner&) = delete;
void operator=(const SchurJacobiPreconditioner&) = delete;
~SchurJacobiPreconditioner() override;
// Preconditioner interface.
void RightMultiplyAndAccumulate(const double* x, double* y) const final;
int num_rows() const final;
private:
void InitEliminator(const CompressedRowBlockStructure& bs);
bool UpdateImpl(const BlockSparseMatrix& A, const double* D) final;
Preconditioner::Options options_;
std::unique_ptr<SchurEliminatorBase> eliminator_;
// Preconditioner matrix.
std::unique_ptr<BlockRandomAccessDiagonalMatrix> m_;
};
} // namespace ceres::internal
#include "ceres/internal/reenable_warnings.h"
#endif // CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_