1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
31 #ifndef CERES_INTERNAL_REORDER_PROGRAM_H_
32 #define CERES_INTERNAL_REORDER_PROGRAM_H_
35 #include "ceres/internal/port.h"
36 #include "ceres/parameter_block_ordering.h"
37 #include "ceres/problem_impl.h"
38 #include "ceres/types.h"
45 // Reorder the parameter blocks in program using the ordering
46 bool ApplyOrdering(const ProblemImpl::ParameterMap& parameter_map,
47 const ParameterBlockOrdering& ordering,
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 size_of_first_elimination_group,
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.
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.
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.
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,
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.
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,
98 } // namespace internal
101 #endif // CERES_INTERNAL_REORDER_PROGRAM_