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Start of the new ordering API.

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Change-Id: I37b0f39011f590d54962ad3e1da1f42712008f82
This commit is contained in:
Sameer Agarwal
2012-09-10 17:41:38 -07:00
parent 76533b3c46
commit 91c9bfee33
9 changed files with 429 additions and 8 deletions
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examples/bundle_adjuster.cc
+9 -8
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@@ -126,7 +126,6 @@ void SetLinearSolver(Solver::Options* options) {
void SetOrdering(BALProblem* bal_problem, Solver::Options* options) {
options->use_block_amd = FLAGS_use_block_amd;
CHECK(StringToOrderingType(FLAGS_ordering, &options->ordering_type));
// Bundle adjustment problems have a sparsity structure that makes
// them amenable to more specialized and much more efficient
@@ -142,11 +141,11 @@ void SetOrdering(BALProblem* bal_problem, Solver::Options* options) {
// the right ParameterBlock ordering, or by manually specifying a
// suitable ordering vector and defining
// Options::num_eliminate_blocks.
if (options->ordering_type == ceres::SCHUR) {
options->use_new_ordering_api = true;
if (FLAGS_ordering == "schur") {
return;
}
options->ordering_type = ceres::USER;
const int num_points = bal_problem->num_points();
const int point_block_size = bal_problem->point_block_size();
double* points = bal_problem->mutable_points();
@@ -154,24 +153,26 @@ void SetOrdering(BALProblem* bal_problem, Solver::Options* options) {
const int camera_block_size = bal_problem->camera_block_size();
double* cameras = bal_problem->mutable_cameras();
ceres::Ordering* ordering = new ceres::Ordering;
// The points come before the cameras.
for (int i = 0; i < num_points; ++i) {
options->ordering.push_back(points + point_block_size * i);
ordering->AddParameterBlockToGroup(points + point_block_size * i, 0);
}
for (int i = 0; i < num_cameras; ++i) {
// When using axis-angle, there is a single parameter block for
// the entire camera.
options->ordering.push_back(cameras + camera_block_size * i);
ordering->AddParameterBlockToGroup(cameras + camera_block_size * i, 1);
// If quaternions are used, there are two blocks, so add the
// second block to the ordering.
if (FLAGS_use_quaternions) {
options->ordering.push_back(cameras + camera_block_size * i + 4);
ordering->AddParameterBlockToGroup(
cameras + camera_block_size * i + 4, 1);
}
}
options->num_eliminate_blocks = num_points;
options->ordering_new_api = ordering;
}
void SetMinimizerOptions(Solver::Options* options) {