saberbud/ceres-solver
1
0
Fork 0
mirror of https://github.com/ceres-solver/ceres-solver.git synced 2026-08-29 16:40:38 +08:00
Code Issues Packages Projects Releases Wiki Activity

SummarizeOrdering -> OrderingToGroupSizes

Browse Source 
Change-Id: I6f852811c6d3812865b1da5cb94272cdf3fa4a38
This commit is contained in:
Sameer Agarwal
2014-05-29 22:49:27 -07:00
parent 3a783ac408
commit a2df262441
3 changed files with 31 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files
internal/ceres/parameter_block_ordering.cc
+16
View File
@@ -144,5 +144,21 @@ CreateHessianGraph(const Program& program) {
return graph;
}
void OrderingToGroupSizes(const ParameterBlockOrdering* ordering,
vector<int>* group_sizes) {
CHECK_NOTNULL(group_sizes)->clear();
if (ordering == NULL) {
return;
}
const map<int, set<double*> >& group_to_elements =
ordering->group_to_elements();
for (map<int, set<double*> >::const_iterator it = group_to_elements.begin();
it != group_to_elements.end();
++it) {
group_sizes->push_back(it->second.size());
}
}
} // namespace internal
} // namespace ceres
internal/ceres/parameter_block_ordering.h
+5
View File
@@ -78,6 +78,11 @@ void ComputeRecursiveIndependentSetOrdering(const Program& program,
// parameter blocks, if they co-occur in a residual block.
Graph<ParameterBlock*>* CreateHessianGraph(const Program& program);
// Iterate over each of the groups in order of their priority and fill
// summary with their sizes.
void OrderingToGroupSizes(const ParameterBlockOrdering* ordering,
vector<int>* group_sizes);
} // namespace internal
} // namespace ceres
internal/ceres/solver_impl.cc
+10 -32
View File
@@ -63,24 +63,6 @@ namespace ceres {
namespace internal {
namespace {
// Iterate over each of the groups in order of their priority and fill
// summary with their sizes.
void SummarizeOrdering(ParameterBlockOrdering* ordering,
vector<int>* summary) {
CHECK_NOTNULL(summary)->clear();
if (ordering == NULL) {
return;
}
const map<int, set<double*> >& group_to_elements =
ordering->group_to_elements();
for (map<int, set<double*> >::const_iterator it = group_to_elements.begin();
it != group_to_elements.end();
++it) {
summary->push_back(it->second.size());
}
}
bool LineSearchOptionsAreValid(const Solver::Options& options,
string* message) {
// Validate values for configuration parameters supplied by user.
@@ -309,10 +291,10 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
summary->minimizer_type = TRUST_REGION;
SummarizeGivenProgram(*original_program, summary);
SummarizeOrdering(original_options.linear_solver_ordering.get(),
&(summary->linear_solver_ordering_given));
SummarizeOrdering(original_options.inner_iteration_ordering.get(),
&(summary->inner_iteration_ordering_given));
OrderingToGroupSizes(original_options.linear_solver_ordering.get(),
&(summary->linear_solver_ordering_given));
OrderingToGroupSizes(original_options.inner_iteration_ordering.get(),
&(summary->inner_iteration_ordering_given));
Solver::Options options(original_options);
@@ -408,8 +390,8 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
return;
}
SummarizeOrdering(options.linear_solver_ordering.get(),
&(summary->linear_solver_ordering_used));
OrderingToGroupSizes(options.linear_solver_ordering.get(),
&(summary->linear_solver_ordering_used));
SummarizeReducedProgram(*reduced_program, summary);
if (summary->num_parameter_blocks_reduced == 0) {
@@ -1066,13 +1048,8 @@ LinearSolver* SolverImpl::CreateLinearSolver(Solver::Options* options,
linear_solver_options.num_threads = options->num_linear_solver_threads;
options->num_linear_solver_threads = linear_solver_options.num_threads;
const map<int, set<double*> >& groups =
options->linear_solver_ordering->group_to_elements();
for (map<int, set<double*> >::const_iterator it = groups.begin();
it != groups.end();
++it) {
linear_solver_options.elimination_groups.push_back(it->second.size());
}
OrderingToGroupSizes(options->linear_solver_ordering.get(),
&linear_solver_options.elimination_groups);
// Schur type solvers, expect at least two elimination groups. If
// there is only one elimination group, then CreateReducedProgram
// guarantees that this group only contains e_blocks. Thus we add a
@@ -1258,7 +1235,8 @@ CoordinateDescentMinimizer* SolverImpl::CreateInnerIterationMinimizer(
summary->inner_iterations_used = true;
summary->inner_iteration_time_in_seconds = 0.0;
SummarizeOrdering(ordering_ptr, &(summary->inner_iteration_ordering_used));
OrderingToGroupSizes(ordering_ptr,
&(summary->inner_iteration_ordering_used));
return inner_iteration_minimizer.release();
}