| // 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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| // this list of conditions and the following disclaimer in the documentation | |
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| // specific prior written permission. | |
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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" | |
| #include "ceres/internal/disable_warnings.h" | |
| #include "ceres/internal/export.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 CERES_NO_EXPORT 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 | |
| #include "ceres/internal/reenable_warnings.h" | |
| #endif // CERES_INTERNAL_DETECT_STRUCTURE_H_ |