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Improvements to Schur template specializations

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1. Refactor the python code that generates the template specializations
   to remove code duplication.
2. Improved the logic for template specialization selection where
   Eigen::Dynamic now serves as a wildcard.
3. Added schur_templates.h/cc which allows querying the set of available
   template specializations without instantiating a linear solver.
4. Added Solver::Summary::schur_structre_given and
   Solver::Summary::schur_structure_used and expose them in
   Solver::Summary::FullReport for better performance debugging.
5. Updated the templates with newer dates and some minor comments cleanup
   which lead to the the template specializations to be re-generated.

Change-Id: Iaf3c6f714353597899916c300465da01f151c3de
This commit is contained in:
Sameer Agarwal
2014-08-18 15:46:02 -07:00
parent 5dd76f9f00
commit 1cfec3c666
51 changed files with 856 additions and 526 deletions
Download Patch File Download Diff File Expand all files Collapse all files
internal/ceres/partitioned_matrix_view.cc
+91 -123
View File
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// Copyright 2017 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
@@ -37,8 +37,7 @@
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
//=========================================
//
// This file is generated using generate_partitioned_matrix_view_specializations.py.
// Editing it manually is not recommended.
// This file is generated using generate_template_specializations.py.
#include "ceres/linear_solver.h"
#include "ceres/partitioned_matrix_view.h"
@@ -51,126 +50,95 @@ PartitionedMatrixViewBase*
PartitionedMatrixViewBase::Create(const LinearSolver::Options& options,
const BlockSparseMatrix& matrix) {
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
if ((options.row_block_size == 2) &&
(options.e_block_size == 2) &&
(options.f_block_size == 2)) {
return new PartitionedMatrixView<2, 2, 2>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 2) &&
(options.f_block_size == 3)) {
return new PartitionedMatrixView<2, 2, 3>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 2) &&
(options.f_block_size == 4)) {
return new PartitionedMatrixView<2, 2, 4>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 2) &&
(options.f_block_size == Eigen::Dynamic)) {
return new PartitionedMatrixView<2, 2, Eigen::Dynamic>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 3) &&
(options.f_block_size == 3)) {
return new PartitionedMatrixView<2, 3, 3>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 3) &&
(options.f_block_size == 4)) {
return new PartitionedMatrixView<2, 3, 4>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 3) &&
(options.f_block_size == 6)) {
return new PartitionedMatrixView<2, 3, 6>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 3) &&
(options.f_block_size == 9)) {
return new PartitionedMatrixView<2, 3, 9>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 3) &&
(options.f_block_size == Eigen::Dynamic)) {
return new PartitionedMatrixView<2, 3, Eigen::Dynamic>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4) &&
(options.f_block_size == 3)) {
return new PartitionedMatrixView<2, 4, 3>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4) &&
(options.f_block_size == 4)) {
return new PartitionedMatrixView<2, 4, 4>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4) &&
(options.f_block_size == 8)) {
return new PartitionedMatrixView<2, 4, 8>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4) &&
(options.f_block_size == 9)) {
return new PartitionedMatrixView<2, 4, 9>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4) &&
(options.f_block_size == Eigen::Dynamic)) {
return new PartitionedMatrixView<2, 4, Eigen::Dynamic>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == Eigen::Dynamic) &&
(options.f_block_size == Eigen::Dynamic)) {
return new PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 4) &&
(options.e_block_size == 4) &&
(options.f_block_size == 2)) {
return new PartitionedMatrixView<4, 4, 2>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 4) &&
(options.e_block_size == 4) &&
(options.f_block_size == 3)) {
return new PartitionedMatrixView<4, 4, 3>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 4) &&
(options.e_block_size == 4) &&
(options.f_block_size == 4)) {
return new PartitionedMatrixView<4, 4, 4>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 4) &&
(options.e_block_size == 4) &&
(options.f_block_size == Eigen::Dynamic)) {
return new PartitionedMatrixView<4, 4, Eigen::Dynamic>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == Eigen::Dynamic) &&
(options.e_block_size == Eigen::Dynamic) &&
(options.f_block_size == Eigen::Dynamic)) {
return new PartitionedMatrixView<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(
matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 2) &&
(options.f_block_size == 2)) {
return new PartitionedMatrixView<2, 2, 2>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 2) &&
(options.f_block_size == 3)) {
return new PartitionedMatrixView<2, 2, 3>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 2) &&
(options.f_block_size == 4)) {
return new PartitionedMatrixView<2, 2, 4>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 2)) {
return new PartitionedMatrixView<2, 2, Eigen::Dynamic>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 3) &&
(options.f_block_size == 3)) {
return new PartitionedMatrixView<2, 3, 3>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 3) &&
(options.f_block_size == 4)) {
return new PartitionedMatrixView<2, 3, 4>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 3) &&
(options.f_block_size == 6)) {
return new PartitionedMatrixView<2, 3, 6>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 3) &&
(options.f_block_size == 9)) {
return new PartitionedMatrixView<2, 3, 9>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 3)) {
return new PartitionedMatrixView<2, 3, Eigen::Dynamic>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4) &&
(options.f_block_size == 3)) {
return new PartitionedMatrixView<2, 4, 3>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4) &&
(options.f_block_size == 4)) {
return new PartitionedMatrixView<2, 4, 4>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4) &&
(options.f_block_size == 8)) {
return new PartitionedMatrixView<2, 4, 8>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4) &&
(options.f_block_size == 9)) {
return new PartitionedMatrixView<2, 4, 9>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4)) {
return new PartitionedMatrixView<2, 4, Eigen::Dynamic>(matrix, options.elimination_groups[0]);
}
if (options.row_block_size == 2){
return new PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 4) &&
(options.e_block_size == 4) &&
(options.f_block_size == 2)) {
return new PartitionedMatrixView<4, 4, 2>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 4) &&
(options.e_block_size == 4) &&
(options.f_block_size == 3)) {
return new PartitionedMatrixView<4, 4, 3>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 4) &&
(options.e_block_size == 4) &&
(options.f_block_size == 4)) {
return new PartitionedMatrixView<4, 4, 4>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 4) &&
(options.e_block_size == 4)) {
return new PartitionedMatrixView<4, 4, Eigen::Dynamic>(matrix, options.elimination_groups[0]);
}
#endif
VLOG(1) << "Template specializations not found for <"