1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2014 Google Inc. All rights reserved. 3 // http://code.google.com/p/ceres-solver/ 4 // 5 // Redistribution and use in source and binary forms, with or without 6 // modification, are permitted provided that the following conditions are met: 7 // 8 // * Redistributions of source code must retain the above copyright notice, 9 // this list of conditions and the following disclaimer. 10 // * Redistributions in binary form must reproduce the above copyright notice, 11 // this list of conditions and the following disclaimer in the documentation 12 // and/or other materials provided with the distribution. 13 // * Neither the name of Google Inc. nor the names of its contributors may be 14 // used to endorse or promote products derived from this software without 15 // specific prior written permission. 16 // 17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 // POSSIBILITY OF SUCH DAMAGE. 28 // 29 // Author: sameeragarwal@google.com (Sameer Agarwal) 30 31 #ifndef CERES_INTERNAL_REORDER_PROGRAM_H_ 32 #define CERES_INTERNAL_REORDER_PROGRAM_H_ 33 34 #include <string> 35 #include "ceres/internal/port.h" 36 #include "ceres/parameter_block_ordering.h" 37 #include "ceres/problem_impl.h" 38 #include "ceres/types.h" 39 40 namespace ceres { 41 namespace internal { 42 43 class Program; 44 45 // Reorder the parameter blocks in program using the ordering 46 bool ApplyOrdering(const ProblemImpl::ParameterMap& parameter_map, 47 const ParameterBlockOrdering& ordering, 48 Program* program, 49 string* error); 50 51 // Reorder the residuals for program, if necessary, so that the residuals 52 // involving each E block occur together. This is a necessary condition for the 53 // Schur eliminator, which works on these "row blocks" in the jacobian. 54 bool LexicographicallyOrderResidualBlocks(int num_eliminate_blocks, 55 Program* program, 56 string* error); 57 58 // Schur type solvers require that all parameter blocks eliminated 59 // by the Schur eliminator occur before others and the residuals be 60 // sorted in lexicographic order of their parameter blocks. 61 // 62 // If the parameter_block_ordering only contains one elimination 63 // group then a maximal independent set is computed and used as the 64 // first elimination group, otherwise the user's ordering is used. 65 // 66 // If the linear solver type is SPARSE_SCHUR and support for 67 // constrained fill-reducing ordering is available in the sparse 68 // linear algebra library (SuiteSparse version >= 4.2.0) then 69 // columns of the schur complement matrix are ordered to reduce the 70 // fill-in the Cholesky factorization. 71 // 72 // Upon return, ordering contains the parameter block ordering that 73 // was used to order the program. 74 bool ReorderProgramForSchurTypeLinearSolver( 75 LinearSolverType linear_solver_type, 76 SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type, 77 const ProblemImpl::ParameterMap& parameter_map, 78 ParameterBlockOrdering* parameter_block_ordering, 79 Program* program, 80 string* error); 81 82 // Sparse cholesky factorization routines when doing the sparse 83 // cholesky factorization of the Jacobian matrix, reorders its 84 // columns to reduce the fill-in. Compute this permutation and 85 // re-order the parameter blocks. 86 // 87 // When using SuiteSparse, if the parameter_block_ordering contains 88 // more than one elimination group and support for constrained 89 // fill-reducing ordering is available in the sparse linear algebra 90 // library (SuiteSparse version >= 4.2.0) then the fill reducing 91 // ordering will take it into account, otherwise it will be ignored. 92 bool ReorderProgramForSparseNormalCholesky( 93 SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type, 94 const ParameterBlockOrdering& parameter_block_ordering, 95 Program* program, 96 string* error); 97 98 } // namespace internal 99 } // namespace ceres 100 101 #endif // CERES_INTERNAL_REORDER_PROGRAM_ 102