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 40namespace ceres { 41namespace internal { 42 43class Program; 44 45// Reorder the parameter blocks in program using the ordering 46bool 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. 54bool 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. 74bool 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. 92bool 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