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Change storage in BlockRandomAccessSparseMatrix

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- TripletSparseMatrix in BlockRandomAccessSparseMatrix is replaced with
   BlockSparseMatrix
 - BlockSparseMatrix::ToCompressedRowSparseMatrix is performed in a
   direct sort-less way

Change-Id: Ib951fda1b9394050e2c47a9721172c5e3c674801
This commit is contained in:
Dmitriy Korchemkin
2023-04-08 14:12:25 +03:00
parent d340f81bd0
commit 77ad8bb4e5
14 changed files with 361 additions and 207 deletions
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internal/ceres/block_random_access_sparse_matrix.h
+9 -13
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@@ -39,18 +39,18 @@
#include <vector>
#include "ceres/block_random_access_matrix.h"
#include "ceres/block_sparse_matrix.h"
#include "ceres/block_structure.h"
#include "ceres/context_impl.h"
#include "ceres/internal/disable_warnings.h"
#include "ceres/internal/export.h"
#include "ceres/small_blas.h"
#include "ceres/triplet_sparse_matrix.h"
#include "ceres/types.h"
namespace ceres::internal {
// A thread safe square block sparse implementation of
// BlockRandomAccessMatrix. Internally a TripletSparseMatrix is used
// BlockRandomAccessMatrix. Internally a BlockSparseMatrix is used
// for doing the actual storage. This class augments this matrix with
// an unordered_map that allows random read/write access.
class CERES_NO_EXPORT BlockRandomAccessSparseMatrix
@@ -81,19 +81,19 @@ class CERES_NO_EXPORT BlockRandomAccessSparseMatrix
// locked.
void SetZero() final;
// Assume that the matrix is symmetric and only one half of the
// matrix is stored.
// Assume that the matrix is symmetric and only one half of the matrix is
// stored.
//
// y += S * x
void SymmetricRightMultiplyAndAccumulate(const double* x, double* y) const;
// Since the matrix is square, num_rows() == num_cols().
int num_rows() const final { return tsm_->num_rows(); }
int num_cols() const final { return tsm_->num_cols(); }
int num_rows() const final { return bsm_->num_rows(); }
int num_cols() const final { return bsm_->num_cols(); }
// Access to the underlying matrix object.
const TripletSparseMatrix* matrix() const { return tsm_.get(); }
TripletSparseMatrix* mutable_matrix() { return tsm_.get(); }
const BlockSparseMatrix* matrix() const { return bsm_.get(); }
BlockSparseMatrix* mutable_matrix() { return bsm_.get(); }
private:
int64_t IntPairToInt64(int row, int col) const {
@@ -117,12 +117,8 @@ class CERES_NO_EXPORT BlockRandomAccessSparseMatrix
using LayoutType = std::unordered_map<int64_t, std::unique_ptr<CellInfo>>;
LayoutType layout_;
// In order traversal of contents of the matrix. This allows us to
// implement a matrix-vector product which is 20% faster than using the
// iterator in the Layout object instead.
std::vector<std::pair<std::pair<int, int>, double*>> cell_values_;
// The underlying matrix object which actually stores the cells.
std::unique_ptr<TripletSparseMatrix> tsm_;
std::unique_ptr<BlockSparseMatrix> bsm_;
friend class BlockRandomAccessSparseMatrixTest;
};