commit ba8d967f8c13a52dd552c7b69ba0eb171f04fbc5
author Sameer Agarwal <sameeragarwal@google.com> Tue Oct 02 00:48:57 2012 -0700
committer Sameer Agarwal <sameeragarwal@google.com> Fri Oct 05 08:35:53 2012 -0700
tree 191dea33f1f5fa1c3c63c7bc94d6a029ce6a3cc6
parent 2c94eed50fe4606ff115674a9616e379343a2f26

Generalization of the inner iterations algorithm.

Add automatic recursive independent set decomposition.
Clean up the naming and the API for inner iterations.

Change-Id: I3d7d6babb9756842d7367e14b7279d2df98fb724

examples/bundle_adjuster.cc

diff --git a/examples/bundle_adjuster.cc b/examples/bundle_adjuster.cc
index 16a9c1e..b24962a 100644
--- a/examples/bundle_adjuster.cc
+++ b/examples/bundle_adjuster.cc
@@ -74,8 +74,8 @@
 DEFINE_bool(inner_iterations, false, "Use inner iterations to non-linearly "
             "refine each successful trust region step.");
 
-DEFINE_string(blocks_for_inner_iterations, "cameras", "Options are: "
-            "automatic, cameras, points");
+DEFINE_string(blocks_for_inner_iterations, "automatic", "Options are: "
+            "automatic, cameras, points, cameras,points, points,cameras");
 
 DEFINE_string(linear_solver, "sparse_schur", "Options are: "
               "sparse_schur, dense_schur, iterative_schur, sparse_normal_cholesky, "
@@ -145,13 +145,33 @@
   if (options->use_inner_iterations) {
     if (FLAGS_blocks_for_inner_iterations == "cameras") {
       LOG(INFO) << "Camera blocks for inner iterations";
+      options->inner_iteration_ordering = new ParameterBlockOrdering;
       for (int i = 0; i < num_cameras; ++i) {
-        options->parameter_blocks_for_inner_iterations.push_back(cameras + camera_block_size * i);
+        options->inner_iteration_ordering->AddElementToGroup(cameras + camera_block_size * i, 0);
       }
     } else if (FLAGS_blocks_for_inner_iterations == "points") {
       LOG(INFO) << "Point blocks for inner iterations";
+      options->inner_iteration_ordering = new ParameterBlockOrdering;
       for (int i = 0; i < num_points; ++i) {
-        options->parameter_blocks_for_inner_iterations.push_back(points + point_block_size * i);
+        options->inner_iteration_ordering->AddElementToGroup(points + point_block_size * i, 0);
+      }
+    } else if (FLAGS_blocks_for_inner_iterations == "cameras,points") {
+      LOG(INFO) << "Camera followed by point blocks for inner iterations";
+      options->inner_iteration_ordering = new ParameterBlockOrdering;
+      for (int i = 0; i < num_cameras; ++i) {
+        options->inner_iteration_ordering->AddElementToGroup(cameras + camera_block_size * i, 0);
+      }
+      for (int i = 0; i < num_points; ++i) {
+        options->inner_iteration_ordering->AddElementToGroup(points + point_block_size * i, 1);
+      }
+    } else if (FLAGS_blocks_for_inner_iterations == "points,cameras") {
+      LOG(INFO) << "Point followed by camera blocks for inner iterations";
+      options->inner_iteration_ordering = new ParameterBlockOrdering;
+      for (int i = 0; i < num_cameras; ++i) {
+        options->inner_iteration_ordering->AddElementToGroup(cameras + camera_block_size * i, 1);
+      }
+      for (int i = 0; i < num_points; ++i) {
+        options->inner_iteration_ordering->AddElementToGroup(points + point_block_size * i, 0);
       }
     } else if (FLAGS_blocks_for_inner_iterations == "automatic") {
       LOG(INFO) << "Choosing automatic blocks for inner iterations";