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

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2023 Google Inc. All rights reserved.
// http://ceres-solver.org/
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// Author: sameeragarwal@google.com (Sameer Agarwal)

#ifndef CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_
#define CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_

#include <memory>
#include <vector>

#include "ceres/graph.h"
#include "ceres/internal/disable_warnings.h"
#include "ceres/internal/export.h"
#include "ceres/ordered_groups.h"
#include "ceres/types.h"

namespace ceres::internal {

class Program;
class ParameterBlock;

// Uses an approximate independent set ordering to order the parameter
// blocks of a problem so that it is suitable for use with Schur-
// complement-based solvers. The output variable ordering contains an
// ordering of the parameter blocks and the return value is size of
// the independent set or the number of e_blocks (see
// schur_complement_solver.h for an explanation). Constant parameters
// are added to the end.
//
// The ordering vector has the structure
//
// ordering = [independent set,
//             complement of the independent set,
//             fixed blocks]
CERES_NO_EXPORT int ComputeSchurOrdering(
    const Program& program, std::vector<ParameterBlock*>* ordering);

// Same as above, except that ties while computing the independent set
// ordering are resolved in favour of the order in which the parameter
// blocks occur in the program.
CERES_NO_EXPORT int ComputeStableSchurOrdering(
    const Program& program, std::vector<ParameterBlock*>* ordering);

// Use an approximate independent set ordering to decompose the
// parameter blocks of a problem in a sequence of independent
// sets. The ordering covers all the non-constant parameter blocks in
// the program.
CERES_NO_EXPORT void ComputeRecursiveIndependentSetOrdering(
    const Program& program, ParameterBlockOrdering* ordering);

// Builds a graph on the parameter blocks of a Problem, whose
// structure reflects the sparsity structure of the Hessian. Each
// vertex corresponds to a parameter block in the Problem except for
// parameter blocks that are marked constant. An edge connects two
// parameter blocks, if they co-occur in a residual block.
CERES_NO_EXPORT std::unique_ptr<Graph<ParameterBlock*>> CreateHessianGraph(
    const Program& program);

// Iterate over each of the groups in order of their priority and fill
// summary with their sizes.
CERES_NO_EXPORT void OrderingToGroupSizes(
    const ParameterBlockOrdering* ordering, std::vector<int>* group_sizes);

}  // namespace ceres::internal

#include "ceres/internal/reenable_warnings.h"

#endif  // CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_