| // 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 |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| |
| #ifndef CERES_INTERNAL_REORDER_PROGRAM_H_ |
| #define CERES_INTERNAL_REORDER_PROGRAM_H_ |
| |
| #include <string> |
| #include "ceres/internal/port.h" |
| #include "ceres/parameter_block_ordering.h" |
| #include "ceres/problem_impl.h" |
| #include "ceres/types.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| class Program; |
| |
| // Reorder the parameter blocks in program using the ordering |
| bool ApplyOrdering(const ProblemImpl::ParameterMap& parameter_map, |
| const ParameterBlockOrdering& ordering, |
| Program* program, |
| std::string* error); |
| |
| // Reorder the residuals for program, if necessary, so that the residuals |
| // involving each E block occur together. This is a necessary condition for the |
| // Schur eliminator, which works on these "row blocks" in the jacobian. |
| bool LexicographicallyOrderResidualBlocks(int size_of_first_elimination_group, |
| Program* program, |
| std::string* error); |
| |
| // Schur type solvers require that all parameter blocks eliminated |
| // by the Schur eliminator occur before others and the residuals be |
| // sorted in lexicographic order of their parameter blocks. |
| // |
| // If the parameter_block_ordering only contains one elimination |
| // group then a maximal independent set is computed and used as the |
| // first elimination group, otherwise the user's ordering is used. |
| // |
| // If the linear solver type is SPARSE_SCHUR and support for |
| // constrained fill-reducing ordering is available in the sparse |
| // linear algebra library (SuiteSparse version >= 4.2.0) then |
| // columns of the schur complement matrix are ordered to reduce the |
| // fill-in the Cholesky factorization. |
| // |
| // Upon return, ordering contains the parameter block ordering that |
| // was used to order the program. |
| bool ReorderProgramForSchurTypeLinearSolver( |
| LinearSolverType linear_solver_type, |
| SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type, |
| const ProblemImpl::ParameterMap& parameter_map, |
| ParameterBlockOrdering* parameter_block_ordering, |
| Program* program, |
| std::string* error); |
| |
| // Sparse cholesky factorization routines when doing the sparse |
| // cholesky factorization of the Jacobian matrix, reorders its |
| // columns to reduce the fill-in. Compute this permutation and |
| // re-order the parameter blocks. |
| // |
| // When using SuiteSparse, if the parameter_block_ordering contains |
| // more than one elimination group and support for constrained |
| // fill-reducing ordering is available in the sparse linear algebra |
| // library (SuiteSparse version >= 4.2.0) then the fill reducing |
| // ordering will take it into account, otherwise it will be ignored. |
| bool ReorderProgramForSparseNormalCholesky( |
| SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type, |
| const ParameterBlockOrdering& parameter_block_ordering, |
| Program* program, |
| std::string* error); |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_INTERNAL_REORDER_PROGRAM_ |