Vehicle-cpp/zjw/ceres-solver-master/internal/ceres/schur_complement_solver.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_SCHUR_COMPLEMENT_SOLVER_H_
#define CERES_INTERNAL_SCHUR_COMPLEMENT_SOLVER_H_

#include <memory>
#include <set>
#include <utility>
#include <vector>

#include "ceres/block_random_access_diagonal_matrix.h"
#include "ceres/block_random_access_matrix.h"
#include "ceres/block_sparse_matrix.h"
#include "ceres/block_structure.h"
#include "ceres/dense_cholesky.h"
#include "ceres/internal/config.h"
#include "ceres/internal/export.h"
#include "ceres/linear_solver.h"
#include "ceres/schur_eliminator.h"
#include "ceres/types.h"

#ifdef CERES_USE_EIGEN_SPARSE
#include "Eigen/OrderingMethods"
#include "Eigen/SparseCholesky"
#endif

#include "ceres/internal/disable_warnings.h"

namespace ceres::internal {

class BlockSparseMatrix;
class SparseCholesky;

// Base class for Schur complement based linear least squares
// solvers. It assumes that the input linear system Ax = b can be
// partitioned into
//
//  E y + F z = b
//
// Where x = [y;z] is a partition of the variables.  The partitioning
// of the variables is such that, E'E is a block diagonal
// matrix. Further, the rows of A are ordered so that for every
// variable block in y, all the rows containing that variable block
// occur as a vertically contiguous block. i.e the matrix A looks like
//
//              E                 F
//  A = [ y1   0   0   0 |  z1    0    0   0    z5]
//      [ y1   0   0   0 |  z1   z2    0   0     0]
//      [  0  y2   0   0 |   0    0   z3   0     0]
//      [  0   0  y3   0 |  z1   z2   z3  z4    z5]
//      [  0   0  y3   0 |  z1    0    0   0    z5]
//      [  0   0   0  y4 |   0    0    0   0    z5]
//      [  0   0   0  y4 |   0   z2    0   0     0]
//      [  0   0   0  y4 |   0    0    0   0     0]
//      [  0   0   0   0 |  z1    0    0   0     0]
//      [  0   0   0   0 |   0    0   z3  z4    z5]
//
// This structure should be reflected in the corresponding
// CompressedRowBlockStructure object associated with A. The linear
// system Ax = b should either be well posed or the array D below
// should be non-null and the diagonal matrix corresponding to it
// should be non-singular.
//
// SchurComplementSolver has two sub-classes.
//
// DenseSchurComplementSolver: For problems where the Schur complement
// matrix is small and dense, or if CHOLMOD/SuiteSparse is not
// installed. For structure from motion problems, this is solver can
// be used for problems with upto a few hundred cameras.
//
// SparseSchurComplementSolver: For problems where the Schur
// complement matrix is large and sparse. It requires that Ceres be
// build with at least one sparse linear algebra library, as it
// computes a sparse Cholesky factorization of the Schur complement.
//
// This solver can be used for solving structure from motion problems
// with tens of thousands of cameras, though depending on the exact
// sparsity structure, it maybe better to use an iterative solver.
//
// The two solvers can be instantiated by calling
// LinearSolver::CreateLinearSolver with LinearSolver::Options::type
// set to DENSE_SCHUR and SPARSE_SCHUR
// respectively. LinearSolver::Options::elimination_groups[0] should
// be at least 1.
class CERES_NO_EXPORT SchurComplementSolver : public BlockSparseMatrixSolver {
 public:
  explicit SchurComplementSolver(const LinearSolver::Options& options);
  SchurComplementSolver(const SchurComplementSolver&) = delete;
  void operator=(const SchurComplementSolver&) = delete;

  LinearSolver::Summary SolveImpl(
      BlockSparseMatrix* A,
      const double* b,
      const LinearSolver::PerSolveOptions& per_solve_options,
      double* x) override;

 protected:
  const LinearSolver::Options& options() const { return options_; }

  void set_lhs(std::unique_ptr<BlockRandomAccessMatrix> lhs) {
    lhs_ = std::move(lhs);
  }
  const BlockRandomAccessMatrix* lhs() const { return lhs_.get(); }
  BlockRandomAccessMatrix* mutable_lhs() { return lhs_.get(); }
  void ResizeRhs(int n) { rhs_.resize(n); }
  const Vector& rhs() const { return rhs_; }

 private:
  virtual void InitStorage(const CompressedRowBlockStructure* bs) = 0;
  virtual LinearSolver::Summary SolveReducedLinearSystem(
      const LinearSolver::PerSolveOptions& per_solve_options,
      double* solution) = 0;

  LinearSolver::Options options_;

  std::unique_ptr<SchurEliminatorBase> eliminator_;
  std::unique_ptr<BlockRandomAccessMatrix> lhs_;
  Vector rhs_;
};

// Dense Cholesky factorization based solver.
class CERES_NO_EXPORT DenseSchurComplementSolver final
    : public SchurComplementSolver {
 public:
  explicit DenseSchurComplementSolver(const LinearSolver::Options& options);
  DenseSchurComplementSolver(const DenseSchurComplementSolver&) = delete;
  void operator=(const DenseSchurComplementSolver&) = delete;

  ~DenseSchurComplementSolver() override;

 private:
  void InitStorage(const CompressedRowBlockStructure* bs) final;
  LinearSolver::Summary SolveReducedLinearSystem(
      const LinearSolver::PerSolveOptions& per_solve_options,
      double* solution) final;

  std::unique_ptr<DenseCholesky> cholesky_;
};

// Sparse Cholesky factorization based solver.
class CERES_NO_EXPORT SparseSchurComplementSolver final
    : public SchurComplementSolver {
 public:
  explicit SparseSchurComplementSolver(const LinearSolver::Options& options);
  SparseSchurComplementSolver(const SparseSchurComplementSolver&) = delete;
  void operator=(const SparseSchurComplementSolver&) = delete;

  ~SparseSchurComplementSolver() override;

 private:
  void InitStorage(const CompressedRowBlockStructure* bs) final;
  LinearSolver::Summary SolveReducedLinearSystem(
      const LinearSolver::PerSolveOptions& per_solve_options,
      double* solution) final;
  LinearSolver::Summary SolveReducedLinearSystemUsingConjugateGradients(
      const LinearSolver::PerSolveOptions& per_solve_options, double* solution);

  std::vector<Block> blocks_;
  std::unique_ptr<SparseCholesky> sparse_cholesky_;
  std::unique_ptr<BlockRandomAccessDiagonalMatrix> preconditioner_;
  std::unique_ptr<CompressedRowSparseMatrix> crs_lhs_;
  Vector cg_solution_;
  Vector* scratch_[4] = {nullptr, nullptr, nullptr, nullptr};
};

}  // namespace ceres::internal

#include "ceres/internal/reenable_warnings.h"

#endif  // CERES_INTERNAL_SCHUR_COMPLEMENT_SOLVER_H_