Vehicle-cpp/zjw/ceres-solver-master/internal/ceres/coordinate_descent_minimizer.h

// Ceres Solver - A fast non-linear least squares minimizer
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// http://ceres-solver.org/
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// Author: sameeragarwal@google.com (Sameer Agarwal)

#ifndef CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_
#define CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_

#include <memory>
#include <string>
#include <vector>

#include "ceres/context_impl.h"
#include "ceres/evaluator.h"
#include "ceres/minimizer.h"
#include "ceres/problem_impl.h"
#include "ceres/solver.h"

namespace ceres::internal {

class Program;
class LinearSolver;

// Given a Program, and a ParameterBlockOrdering which partitions
// (non-exhaustively) the Hessian matrix into independent sets,
// perform coordinate descent on the parameter blocks in the
// ordering. The independent set structure allows for all parameter
// blocks in the same independent set to be optimized in parallel, and
// the order of the independent set determines the order in which the
// parameter block groups are optimized.
//
// The minimizer assumes that none of the parameter blocks in the
// program are constant.
class CERES_NO_EXPORT CoordinateDescentMinimizer final : public Minimizer {
 public:
  explicit CoordinateDescentMinimizer(ContextImpl* context);

  bool Init(const Program& program,
            const ProblemImpl::ParameterMap& parameter_map,
            const ParameterBlockOrdering& ordering,
            std::string* error);

  // Minimizer interface.
  ~CoordinateDescentMinimizer() override;

  void Minimize(const Minimizer::Options& options,
                double* parameters,
                Solver::Summary* summary) final;

  // Verify that each group in the ordering forms an independent set.
  static bool IsOrderingValid(const Program& program,
                              const ParameterBlockOrdering& ordering,
                              std::string* message);

  // Find a recursive decomposition of the Hessian matrix as a set
  // of independent sets of decreasing size and invert it. This
  // seems to work better in practice, i.e., Cameras before
  // points.
  static std::shared_ptr<ParameterBlockOrdering> CreateOrdering(
      const Program& program);

 private:
  void Solve(Program* program,
             LinearSolver* linear_solver,
             double* parameters,
             Solver::Summary* summary);

  std::vector<ParameterBlock*> parameter_blocks_;
  std::vector<std::vector<ResidualBlock*>> residual_blocks_;
  // The optimization is performed in rounds. In each round all the
  // parameter blocks that form one independent set are optimized in
  // parallel. This array, marks the boundaries of the independent
  // sets in parameter_blocks_.
  std::vector<int> independent_set_offsets_;

  Evaluator::Options evaluator_options_;

  ContextImpl* context_;
};

}  // namespace ceres::internal

#endif  // CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_