mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sameer Agarwal
29c21f5680
SparseCholesky is an interface to sparse cholesky factorization routines across sparse linear algebra libraries. Each sparse linear algebra library is responsible for implementing its own instance of this interface. As a result the various places - SparseNormalCholeskySolver, SparseSchurComplementSolver and VisibilityBasedPreconditioner are significantly simplified. Change-Id: I8b465705eae83bba9e1adfffcc741a05c70faf2e
79 lines
3.3 KiB
C++
79 lines
3.3 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: kushalav@google.com (Avanish Kushal)
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// sameeragarwal@google.com (Sameer Agarwal)
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//
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// Functions to manipulate visibility information from the block
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// structure of sparse matrices.
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#ifndef CERES_INTERNAL_VISIBILITY_H_
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#define CERES_INTERNAL_VISIBILITY_H_
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#include <set>
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#include <vector>
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#include "ceres/graph.h"
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namespace ceres {
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namespace internal {
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struct CompressedRowBlockStructure;
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// Given a compressed row block structure, computes the set of
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// e_blocks "visible" to each f_block. If an e_block co-occurs with an
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// f_block in a residual block, it is visible to the f_block. The
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// first num_eliminate_blocks columns blocks are e_blocks and the rest
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// f_blocks.
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//
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// In a structure from motion problem, e_blocks correspond to 3D
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// points and f_blocks correspond to cameras.
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void ComputeVisibility(const CompressedRowBlockStructure& block_structure,
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int num_eliminate_blocks,
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std::vector<std::set<int> >* visibility);
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// Given f_block visibility as computed by the ComputeVisibility
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// function above, construct and return a graph whose vertices are
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// f_blocks and an edge connects two vertices if they have atleast one
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// e_block in common. The weight of this edge is normalized dot
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// product between the visibility vectors of the two
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// vertices/f_blocks.
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//
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// This graph reflects the sparsity structure of reduced camera
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// matrix/Schur complement matrix obtained by eliminating the e_blocks
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// from the normal equations.
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//
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// Caller acquires ownership of the returned WeightedGraph pointer
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// (heap-allocated).
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WeightedGraph<int>* CreateSchurComplementGraph(
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const std::vector<std::set<int> >& visibility);
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_VISIBILITY_H_
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