From 2d703b17b5d2c0815f2cd686e4001b561332c265 Mon Sep 17 00:00:00 2001 From: Chris Sweeney Date: Tue, 8 Aug 2017 14:55:44 -0700 Subject: [PATCH] Add new Schur specialization for 2, 4, 6. 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 --- .../generate_template_specializations.py | 1 + .../partitioned_matrix_view_2_4_6.cc | 58 +++++++++++++++++++ .../ceres/generated/schur_eliminator_2_4_6.cc | 58 +++++++++++++++++++ internal/ceres/partitioned_matrix_view.cc | 5 ++ internal/ceres/schur_eliminator.cc | 5 ++ internal/ceres/schur_templates.cc | 8 +++ 6 files changed, 135 insertions(+) create mode 100644 internal/ceres/generated/partitioned_matrix_view_2_4_6.cc create mode 100644 internal/ceres/generated/schur_eliminator_2_4_6.cc diff --git a/internal/ceres/generate_template_specializations.py b/internal/ceres/generate_template_specializations.py index a30c3f004..75c1464f7 100644 --- a/internal/ceres/generate_template_specializations.py +++ b/internal/ceres/generate_template_specializations.py @@ -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"), diff --git a/internal/ceres/generated/partitioned_matrix_view_2_4_6.cc b/internal/ceres/generated/partitioned_matrix_view_2_4_6.cc new file mode 100644 index 000000000..4a5590d97 --- /dev/null +++ b/internal/ceres/generated/partitioned_matrix_view_2_4_6.cc @@ -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 diff --git a/internal/ceres/generated/schur_eliminator_2_4_6.cc b/internal/ceres/generated/schur_eliminator_2_4_6.cc new file mode 100644 index 000000000..3777be227 --- /dev/null +++ b/internal/ceres/generated/schur_eliminator_2_4_6.cc @@ -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 diff --git a/internal/ceres/partitioned_matrix_view.cc b/internal/ceres/partitioned_matrix_view.cc index 23927a701..910f2416a 100644 --- a/internal/ceres/partitioned_matrix_view.cc +++ b/internal/ceres/partitioned_matrix_view.cc @@ -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)) { diff --git a/internal/ceres/schur_eliminator.cc b/internal/ceres/schur_eliminator.cc index a1fc5049a..beefa1424 100644 --- a/internal/ceres/schur_eliminator.cc +++ b/internal/ceres/schur_eliminator.cc @@ -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)) { diff --git a/internal/ceres/schur_templates.cc b/internal/ceres/schur_templates.cc index 610b3496c..64bc9f30e 100644 --- a/internal/ceres/schur_templates.cc +++ b/internal/ceres/schur_templates.cc @@ -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)) {