| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173 | // Ceres Solver - A fast non-linear least squares minimizer// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.// http://code.google.com/p/ceres-solver///// Redistribution and use in source and binary forms, with or without// modification, are permitted provided that the following conditions are met://// * Redistributions of source code must retain the above copyright notice,//   this list of conditions and the following disclaimer.// * Redistributions in binary form must reproduce the above copyright notice,//   this list of conditions and the following disclaimer in the documentation//   and/or other materials provided with the distribution.// * Neither the name of Google Inc. nor the names of its contributors may be//   used to endorse or promote products derived from this software without//   specific prior written permission.//// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE// POSSIBILITY OF SUCH DAMAGE.//// Author: sameeragarwal@google.com (Sameer Agarwal)#include "ceres/parameter_block_ordering.h"#include "ceres/graph.h"#include "ceres/graph_algorithms.h"#include "ceres/internal/scoped_ptr.h"#include "ceres/map_util.h"#include "ceres/parameter_block.h"#include "ceres/program.h"#include "ceres/residual_block.h"#include "ceres/wall_time.h"#include "glog/logging.h"namespace ceres {namespace internal {using std::map;using std::set;using std::vector;int ComputeStableSchurOrdering(const Program& program,                         vector<ParameterBlock*>* ordering) {  CHECK_NOTNULL(ordering)->clear();  EventLogger event_logger("ComputeStableSchurOrdering");  scoped_ptr<Graph< ParameterBlock*> > graph(CreateHessianGraph(program));  event_logger.AddEvent("CreateHessianGraph");  const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();  const HashSet<ParameterBlock*>& vertices = graph->vertices();  for (int i = 0; i < parameter_blocks.size(); ++i) {    if (vertices.count(parameter_blocks[i]) > 0) {      ordering->push_back(parameter_blocks[i]);    }  }  event_logger.AddEvent("Preordering");  int independent_set_size = StableIndependentSetOrdering(*graph, ordering);  event_logger.AddEvent("StableIndependentSet");  // Add the excluded blocks to back of the ordering vector.  for (int i = 0; i < parameter_blocks.size(); ++i) {    ParameterBlock* parameter_block = parameter_blocks[i];    if (parameter_block->IsConstant()) {      ordering->push_back(parameter_block);    }  }  event_logger.AddEvent("ConstantParameterBlocks");  return independent_set_size;}int ComputeSchurOrdering(const Program& program,                         vector<ParameterBlock*>* ordering) {  CHECK_NOTNULL(ordering)->clear();  scoped_ptr<Graph< ParameterBlock*> > graph(CreateHessianGraph(program));  int independent_set_size = IndependentSetOrdering(*graph, ordering);  const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();  // Add the excluded blocks to back of the ordering vector.  for (int i = 0; i < parameter_blocks.size(); ++i) {    ParameterBlock* parameter_block = parameter_blocks[i];    if (parameter_block->IsConstant()) {      ordering->push_back(parameter_block);    }  }  return independent_set_size;}void ComputeRecursiveIndependentSetOrdering(const Program& program,                                            ParameterBlockOrdering* ordering) {  CHECK_NOTNULL(ordering)->Clear();  const vector<ParameterBlock*> parameter_blocks = program.parameter_blocks();  scoped_ptr<Graph< ParameterBlock*> > graph(CreateHessianGraph(program));  int num_covered = 0;  int round = 0;  while (num_covered < parameter_blocks.size()) {    vector<ParameterBlock*> independent_set_ordering;    const int independent_set_size =        IndependentSetOrdering(*graph, &independent_set_ordering);    for (int i = 0; i < independent_set_size; ++i) {      ParameterBlock* parameter_block = independent_set_ordering[i];      ordering->AddElementToGroup(parameter_block->mutable_user_state(), round);      graph->RemoveVertex(parameter_block);    }    num_covered += independent_set_size;    ++round;  }}Graph<ParameterBlock*>* CreateHessianGraph(const Program& program) {  Graph<ParameterBlock*>* graph = CHECK_NOTNULL(new Graph<ParameterBlock*>);  const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();  for (int i = 0; i < parameter_blocks.size(); ++i) {    ParameterBlock* parameter_block = parameter_blocks[i];    if (!parameter_block->IsConstant()) {      graph->AddVertex(parameter_block);    }  }  const vector<ResidualBlock*>& residual_blocks = program.residual_blocks();  for (int i = 0; i < residual_blocks.size(); ++i) {    const ResidualBlock* residual_block = residual_blocks[i];    const int num_parameter_blocks = residual_block->NumParameterBlocks();    ParameterBlock* const* parameter_blocks =        residual_block->parameter_blocks();    for (int j = 0; j < num_parameter_blocks; ++j) {      if (parameter_blocks[j]->IsConstant()) {        continue;      }      for (int k = j + 1; k < num_parameter_blocks; ++k) {        if (parameter_blocks[k]->IsConstant()) {          continue;        }        graph->AddEdge(parameter_blocks[j], parameter_blocks[k]);      }    }  }  return graph;}void OrderingToGroupSizes(const ParameterBlockOrdering* ordering,                          vector<int>* group_sizes) {  CHECK_NOTNULL(group_sizes)->clear();  if (ordering == NULL) {    return;  }  const map<int, set<double*> >& group_to_elements =      ordering->group_to_elements();  for (map<int, set<double*> >::const_iterator it = group_to_elements.begin();       it != group_to_elements.end();       ++it) {    group_sizes->push_back(it->second.size());  }}}  // namespace internal}  // namespace ceres
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