From 3b2f1f7d28db64da86d6c7a60bddaaaf71b3cdf8 Mon Sep 17 00:00:00 2001 From: Sameer Agarwal Date: Thu, 12 Apr 2018 11:20:48 -0700 Subject: [PATCH] Add fake FloatCXSparseCholesky and FloatSuiteSparseCholesky Change-Id: I8d61144d0678b8da92322a18517fa6924d950653 --- internal/ceres/CMakeLists.txt | 2 + internal/ceres/float_cxsparse.cc | 47 +++++++++++++++++++++++ internal/ceres/float_cxsparse.h | 58 +++++++++++++++++++++++++++++ internal/ceres/float_suitesparse.cc | 47 +++++++++++++++++++++++ internal/ceres/float_suitesparse.h | 58 +++++++++++++++++++++++++++++ internal/ceres/sparse_cholesky.cc | 14 ++++++- 6 files changed, 224 insertions(+), 2 deletions(-) create mode 100644 internal/ceres/float_cxsparse.cc create mode 100644 internal/ceres/float_cxsparse.h create mode 100644 internal/ceres/float_suitesparse.cc create mode 100644 internal/ceres/float_suitesparse.h diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt index 1dad39687..eb18eb053 100644 --- a/internal/ceres/CMakeLists.txt +++ b/internal/ceres/CMakeLists.txt @@ -67,6 +67,8 @@ set(CERES_INTERNAL_SRC evaluator.cc eigensparse.cc file.cc + float_suitesparse.cc + float_cxsparse.cc function_sample.cc gradient_checker.cc gradient_checking_cost_function.cc diff --git a/internal/ceres/float_cxsparse.cc b/internal/ceres/float_cxsparse.cc new file mode 100644 index 000000000..6c6883034 --- /dev/null +++ b/internal/ceres/float_cxsparse.cc @@ -0,0 +1,47 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2018 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) + +#include "ceres/float_cxsparse.h" + +#if !defined(CERES_NO_CXSPARSE) + +namespace ceres { +namespace internal { + +std::unique_ptr FloatCXSparseCholesky::Create( + OrderingType ordering_type) { + LOG(FATAL) << "FloatCXSparseCholesky is not available."; + return std::unique_ptr(); +} + +} // namespace internal +} // namespace ceres + +#endif // !defined(CERES_NO_CXSPARSE) diff --git a/internal/ceres/float_cxsparse.h b/internal/ceres/float_cxsparse.h new file mode 100644 index 000000000..57fc5e4c0 --- /dev/null +++ b/internal/ceres/float_cxsparse.h @@ -0,0 +1,58 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2018 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) + +#ifndef CERES_INTERNAL_FLOAT_CXSPARSE_H_ +#define CERES_INTERNAL_FLOAT_CXSPARSE_H_ + +// This include must come before any #ifndef check on Ceres compile options. +#include "ceres/internal/port.h" + +#if !defined(CERES_NO_CXSPARSE) + +#include +#include "ceres/sparse_cholesky.h" + +namespace ceres { +namespace internal { + +// Fake implementation of a single precision Sparse Cholesky using +// CXSparse. +class FloatCXSparseCholesky : public SparseCholesky { + public: + static std::unique_ptr Create( + OrderingType ordering_type); +}; + +} // namespace internal +} // namespace ceres + +#endif // !defined(CERES_NO_CXSPARSE) + +#endif // CERES_INTERNAL_FLOAT_CXSPARSE_H_ diff --git a/internal/ceres/float_suitesparse.cc b/internal/ceres/float_suitesparse.cc new file mode 100644 index 000000000..03604572b --- /dev/null +++ b/internal/ceres/float_suitesparse.cc @@ -0,0 +1,47 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2018 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) + +#include "ceres/float_suitesparse.h" + +#if !defined(CERES_NO_SUITESPARSE) + +namespace ceres { +namespace internal { + +std::unique_ptr FloatSuiteSparseCholesky::Create( + OrderingType ordering_type) { + LOG(FATAL) << "FloatSuiteSparseCholesky is not available."; + return std::unique_ptr(); +} + +} // namespace internal +} // namespace ceres + +#endif // !defined(CERES_NO_SUITESPARSE) diff --git a/internal/ceres/float_suitesparse.h b/internal/ceres/float_suitesparse.h new file mode 100644 index 000000000..ac4d40909 --- /dev/null +++ b/internal/ceres/float_suitesparse.h @@ -0,0 +1,58 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2018 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) + +#ifndef CERES_INTERNAL_FLOAT_SUITESPARSE_H_ +#define CERES_INTERNAL_FLOAT_SUITESPARSE_H_ + +// This include must come before any #ifndef check on Ceres compile options. +#include "ceres/internal/port.h" + +#include +#include "ceres/sparse_cholesky.h" + +#if !defined(CERES_NO_SUITESPARSE) + +namespace ceres { +namespace internal { + +// Fake implementation of a single precision Sparse Cholesky using +// SuiteSparse. +class FloatSuiteSparseCholesky : public SparseCholesky { + public: + static std::unique_ptr Create( + OrderingType ordering_type); +}; + +} // namespace internal +} // namespace ceres + +#endif // !defined(CERES_NO_SUITESPARSE) + +#endif // CERES_INTERNAL_FLOAT_SUITESPARSE_H_ diff --git a/internal/ceres/sparse_cholesky.cc b/internal/ceres/sparse_cholesky.cc index ef6d762e4..e18f380b8 100644 --- a/internal/ceres/sparse_cholesky.cc +++ b/internal/ceres/sparse_cholesky.cc @@ -32,6 +32,8 @@ #include "ceres/cxsparse.h" #include "ceres/eigensparse.h" +#include "ceres/float_cxsparse.h" +#include "ceres/float_suitesparse.h" #include "ceres/iterative_refiner.h" #include "ceres/suitesparse.h" @@ -46,7 +48,11 @@ std::unique_ptr SparseCholesky::Create( switch (options.sparse_linear_algebra_library_type) { case SUITE_SPARSE: #ifndef CERES_NO_SUITESPARSE - sparse_cholesky = SuiteSparseCholesky::Create(ordering_type); + if (options.use_mixed_precision_solves) { + sparse_cholesky = FloatSuiteSparseCholesky::Create(ordering_type); + } else { + sparse_cholesky = SuiteSparseCholesky::Create(ordering_type); + } break; #else LOG(FATAL) << "Ceres was compiled without support for SuiteSparse."; @@ -67,7 +73,11 @@ std::unique_ptr SparseCholesky::Create( case CX_SPARSE: #ifndef CERES_NO_CXSPARSE - sparse_cholesky = CXSparseCholesky::Create(ordering_type); + if (options.use_mixed_precision_solves) { + sparse_cholesky = FloatCXSparseCholesky::Create(ordering_type); + } else { + sparse_cholesky = CXSparseCholesky::Create(ordering_type); + } #else LOG(FATAL) << "Ceres was compiled without support for CXSparse."; #endif