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Diffstat (limited to 'internal/ceres/schur_ordering.h')
-rw-r--r-- | internal/ceres/schur_ordering.h | 74 |
1 files changed, 74 insertions, 0 deletions
diff --git a/internal/ceres/schur_ordering.h b/internal/ceres/schur_ordering.h new file mode 100644 index 0000000..1f9a4ff --- /dev/null +++ b/internal/ceres/schur_ordering.h @@ -0,0 +1,74 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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) +// +// Compute a parameter block ordering for use with the Schur +// complement based algorithms. + +#ifndef CERES_INTERNAL_SCHUR_ORDERING_H_ +#define CERES_INTERNAL_SCHUR_ORDERING_H_ + +#include <vector> +#include "ceres/graph.h" +#include "ceres/types.h" + +namespace ceres { +namespace 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] +int ComputeSchurOrdering(const Program& program, + vector<ParameterBlock* >* 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. +Graph<ParameterBlock*>* CreateHessianGraph(const Program& program); + +} // namespace internal +} // namespace ceres + +#endif // CERES_INTERNAL_SCHUR_ORDERING_H_ |