mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
5a30cae583
1. Add a version history 2. Update copyright years across the code base 3. Run format_all.sh 4. Update version strings from 2.1.0 to 2.2.0 in the docs and elsewhere. Change-Id: I46d8d479d54bd6002d532785e67342106e73c9ac
95 lines
4.1 KiB
C++
95 lines
4.1 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2023 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
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: sameeragarwal@google.com (Sameer Agarwal)
|
|
|
|
#ifndef CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_
|
|
#define CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_
|
|
|
|
#include <memory>
|
|
#include <vector>
|
|
|
|
#include "ceres/graph.h"
|
|
#include "ceres/internal/disable_warnings.h"
|
|
#include "ceres/internal/export.h"
|
|
#include "ceres/ordered_groups.h"
|
|
#include "ceres/types.h"
|
|
|
|
namespace ceres::internal {
|
|
|
|
class Program;
|
|
class ParameterBlock;
|
|
|
|
// Uses an approximate independent set ordering to order the parameter
|
|
// blocks of a problem so that it is suitable for use with Schur-
|
|
// complement-based solvers. The output variable ordering contains an
|
|
// ordering of the parameter blocks and the return value is size of
|
|
// the independent set or the number of e_blocks (see
|
|
// schur_complement_solver.h for an explanation). Constant parameters
|
|
// are added to the end.
|
|
//
|
|
// The ordering vector has the structure
|
|
//
|
|
// ordering = [independent set,
|
|
// complement of the independent set,
|
|
// fixed blocks]
|
|
CERES_NO_EXPORT int ComputeSchurOrdering(
|
|
const Program& program, std::vector<ParameterBlock*>* ordering);
|
|
|
|
// Same as above, except that ties while computing the independent set
|
|
// ordering are resolved in favour of the order in which the parameter
|
|
// blocks occur in the program.
|
|
CERES_NO_EXPORT int ComputeStableSchurOrdering(
|
|
const Program& program, std::vector<ParameterBlock*>* ordering);
|
|
|
|
// Use an approximate independent set ordering to decompose the
|
|
// parameter blocks of a problem in a sequence of independent
|
|
// sets. The ordering covers all the non-constant parameter blocks in
|
|
// the program.
|
|
CERES_NO_EXPORT void ComputeRecursiveIndependentSetOrdering(
|
|
const Program& program, ParameterBlockOrdering* ordering);
|
|
|
|
// Builds a graph on the parameter blocks of a Problem, whose
|
|
// structure reflects the sparsity structure of the Hessian. Each
|
|
// vertex corresponds to a parameter block in the Problem except for
|
|
// parameter blocks that are marked constant. An edge connects two
|
|
// parameter blocks, if they co-occur in a residual block.
|
|
CERES_NO_EXPORT std::unique_ptr<Graph<ParameterBlock*>> CreateHessianGraph(
|
|
const Program& program);
|
|
|
|
// Iterate over each of the groups in order of their priority and fill
|
|
// summary with their sizes.
|
|
CERES_NO_EXPORT void OrderingToGroupSizes(
|
|
const ParameterBlockOrdering* ordering, std::vector<int>* group_sizes);
|
|
|
|
} // namespace ceres::internal
|
|
|
|
#include "ceres/internal/reenable_warnings.h"
|
|
|
|
#endif // CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_
|