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Add new Schur specialization for 2, 4, 6.

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The row, E, F block pattern 2, 4, 6 is a common one for
bundle adjustment with reprojection error (2 residuals),
homogeneous 3d points (4 params in the E-block), and camera
poses (3 rotation + 3 position = 6 params for the
F-block). This provides a major speedup for BA in the
TheiaSfM library and likely in other applications.

Change-Id: If5df8bfadc7f154856b74c3b38479c14856db47d
This commit is contained in:
Chris Sweeney
2017-08-08 14:55:44 -07:00
parent afe93546b6
commit 2d703b17b5
6 changed files with 135 additions and 0 deletions
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internal/ceres/generate_template_specializations.py
+1
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@@ -63,6 +63,7 @@ SPECIALIZATIONS = [(2, 2, 2),
(2, 3, "Eigen::Dynamic"),
(2, 4, 3),
(2, 4, 4),
(2, 4, 6),
(2, 4, 8),
(2, 4, 9),
(2, 4, "Eigen::Dynamic"),
internal/ceres/generated/partitioned_matrix_view_2_4_6.cc
+58
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@@ -0,0 +1,58 @@
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2017 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// 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)
//
// Template specialization of PartitionedMatrixView.
//
// ========================================
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
//=========================================
//
// This file is generated using generate_template_specializations.py.
// This include must come before any #ifndef check on Ceres compile options.
#include "ceres/internal/port.h"
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/partitioned_matrix_view_impl.h"
#include "ceres/internal/eigen.h"
namespace ceres {
namespace internal {
template class PartitionedMatrixView<2, 4, 6>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
internal/ceres/generated/schur_eliminator_2_4_6.cc
+58
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@@ -0,0 +1,58 @@
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2017 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// 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)
//
// Template specialization of SchurEliminator.
//
// ========================================
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
//=========================================
//
// This file is generated using generate_template_specializations.py.
// This include must come before any #ifndef check on Ceres compile options.
#include "ceres/internal/port.h"
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
namespace ceres {
namespace internal {
template class SchurEliminator<2, 4, 6>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
internal/ceres/partitioned_matrix_view.cc
+5
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@@ -103,6 +103,11 @@ PartitionedMatrixViewBase::Create(const LinearSolver::Options& options,
(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 == 6)) {
return new PartitionedMatrixView<2, 4, 6>(matrix, options.elimination_groups[0]);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4) &&
(options.f_block_size == 8)) {
internal/ceres/schur_eliminator.cc
+5
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@@ -102,6 +102,11 @@ SchurEliminatorBase::Create(const LinearSolver::Options& options) {
(options.f_block_size == 4)) {
return new SchurEliminator<2, 4, 4>(options);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4) &&
(options.f_block_size == 6)) {
return new SchurEliminator<2, 4, 6>(options);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4) &&
(options.f_block_size == 8)) {
internal/ceres/schur_templates.cc
+8
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@@ -142,6 +142,14 @@ void GetBestSchurTemplateSpecialization(int* row_block_size,
*f_block_size = 4;
return;
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4) &&
(options.f_block_size == 6)) {
*row_block_size = 2;
*e_block_size = 4;
*f_block_size = 6;
return;
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4) &&
(options.f_block_size == 8)) {