10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 20ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 30ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// http://code.google.com/p/ceres-solver/ 40ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 50ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Redistribution and use in source and binary forms, with or without 60ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// modification, are permitted provided that the following conditions are met: 70ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 80ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions of source code must retain the above copyright notice, 90ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer. 100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions in binary form must reproduce the above copyright notice, 110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer in the documentation 120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// and/or other materials provided with the distribution. 130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Neither the name of Google Inc. nor the names of its contributors may be 140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// used to endorse or promote products derived from this software without 150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// specific prior written permission. 160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// POSSIBILITY OF SUCH DAMAGE. 280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Author: sameeragarwal@google.com (Sameer Agarwal) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/parameter_block_ordering.h" 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/graph.h" 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/graph_algorithms.h" 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/scoped_ptr.h" 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/map_util.h" 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/parameter_block.h" 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/program.h" 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/residual_block.h" 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "glog/logging.h" 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 451d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberlingint ComputeStableSchurOrdering(const Program& program, 461d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling vector<ParameterBlock*>* ordering) { 471d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling CHECK_NOTNULL(ordering)->clear(); 481d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 491d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling scoped_ptr<Graph< ParameterBlock*> > graph(CreateHessianGraph(program)); 501d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks(); 511d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling const HashSet<ParameterBlock*>& vertices = graph->vertices(); 521d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling for (int i = 0; i < parameter_blocks.size(); ++i) { 531d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling if (vertices.count(parameter_blocks[i]) > 0) { 541d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling ordering->push_back(parameter_blocks[i]); 551d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling } 561d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling } 571d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 581d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling int independent_set_size = StableIndependentSetOrdering(*graph, ordering); 591d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 601d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // Add the excluded blocks to back of the ordering vector. 611d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling for (int i = 0; i < parameter_blocks.size(); ++i) { 621d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling ParameterBlock* parameter_block = parameter_blocks[i]; 631d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling if (parameter_block->IsConstant()) { 641d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling ordering->push_back(parameter_block); 651d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling } 661d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling } 671d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 681d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling return independent_set_size; 691d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling} 701d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongint ComputeSchurOrdering(const Program& program, 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<ParameterBlock*>* ordering) { 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong CHECK_NOTNULL(ordering)->clear(); 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong scoped_ptr<Graph< ParameterBlock*> > graph(CreateHessianGraph(program)); 760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int independent_set_size = IndependentSetOrdering(*graph, ordering); 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks(); 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Add the excluded blocks to back of the ordering vector. 800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < parameter_blocks.size(); ++i) { 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ParameterBlock* parameter_block = parameter_blocks[i]; 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (parameter_block->IsConstant()) { 830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ordering->push_back(parameter_block); 840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return independent_set_size; 880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongvoid ComputeRecursiveIndependentSetOrdering(const Program& program, 910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ParameterBlockOrdering* ordering) { 920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong CHECK_NOTNULL(ordering)->Clear(); 930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const vector<ParameterBlock*> parameter_blocks = program.parameter_blocks(); 940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong scoped_ptr<Graph< ParameterBlock*> > graph(CreateHessianGraph(program)); 950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_covered = 0; 970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int round = 0; 980ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong while (num_covered < parameter_blocks.size()) { 990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<ParameterBlock*> independent_set_ordering; 1000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int independent_set_size = 1010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong IndependentSetOrdering(*graph, &independent_set_ordering); 1020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < independent_set_size; ++i) { 1030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ParameterBlock* parameter_block = independent_set_ordering[i]; 1040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ordering->AddElementToGroup(parameter_block->mutable_user_state(), round); 1050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph->RemoveVertex(parameter_block); 1060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1070ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong num_covered += independent_set_size; 1080ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ++round; 1090ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongGraph<ParameterBlock*>* 1130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongCreateHessianGraph(const Program& program) { 1140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Graph<ParameterBlock*>* graph = CHECK_NOTNULL(new Graph<ParameterBlock*>); 1150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks(); 1160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < parameter_blocks.size(); ++i) { 1170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ParameterBlock* parameter_block = parameter_blocks[i]; 1180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (!parameter_block->IsConstant()) { 1190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph->AddVertex(parameter_block); 1200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const vector<ResidualBlock*>& residual_blocks = program.residual_blocks(); 1240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < residual_blocks.size(); ++i) { 1250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const ResidualBlock* residual_block = residual_blocks[i]; 1260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int num_parameter_blocks = residual_block->NumParameterBlocks(); 1270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ParameterBlock* const* parameter_blocks = 1280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong residual_block->parameter_blocks(); 1290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int j = 0; j < num_parameter_blocks; ++j) { 1300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (parameter_blocks[j]->IsConstant()) { 1310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong continue; 1320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int k = j + 1; k < num_parameter_blocks; ++k) { 1350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (parameter_blocks[k]->IsConstant()) { 1360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong continue; 1370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph->AddEdge(parameter_blocks[j], parameter_blocks[k]); 1400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return graph; 1450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 14779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandezvoid OrderingToGroupSizes(const ParameterBlockOrdering* ordering, 14879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez vector<int>* group_sizes) { 14979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez CHECK_NOTNULL(group_sizes)->clear(); 15079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez if (ordering == NULL) { 15179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez return; 15279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez } 15379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 15479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez const map<int, set<double*> >& group_to_elements = 15579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez ordering->group_to_elements(); 15679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez for (map<int, set<double*> >::const_iterator it = group_to_elements.begin(); 15779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez it != group_to_elements.end(); 15879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez ++it) { 15979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez group_sizes->push_back(it->second.size()); 16079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez } 16179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} 16279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 1630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 1640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 165