mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
6a74af202d
The CellInfo struct contains a mutex, which interacts poorly with some standard library containers which may move things around. As a result we were using std::unique_ptr<CellInfo> in these containers, but this change gets rid of that level of indirection as std::unordered_map can construct CellInfo in place and we can replace the use of std::vector with an array we know will not be resized. This improves the performance of the schur eliminator a bit but also the performance of the block diagonal preconditioners. Change-Id: If3ccd1273a754d9c5112e6e611ce31066b6b27b5
131 lines
4.8 KiB
C++
131 lines
4.8 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2023 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
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#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
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#include <cstdint>
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#include <memory>
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#include <set>
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#include <unordered_map>
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#include <utility>
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#include <vector>
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#include "ceres/block_random_access_matrix.h"
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#include "ceres/block_sparse_matrix.h"
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#include "ceres/block_structure.h"
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#include "ceres/context_impl.h"
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#include "ceres/internal/disable_warnings.h"
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#include "ceres/internal/export.h"
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#include "ceres/small_blas.h"
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#include "ceres/types.h"
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namespace ceres::internal {
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// A thread safe square block sparse implementation of
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// BlockRandomAccessMatrix. Internally a BlockSparseMatrix is used
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// for doing the actual storage. This class augments this matrix with
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// an unordered_map that allows random read/write access.
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class CERES_NO_EXPORT BlockRandomAccessSparseMatrix
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: public BlockRandomAccessMatrix {
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public:
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// blocks is an array of block sizes. block_pairs is a set of
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// <row_block_id, col_block_id> pairs to identify the non-zero cells
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// of this matrix.
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BlockRandomAccessSparseMatrix(
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const std::vector<Block>& blocks,
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const std::set<std::pair<int, int>>& block_pairs,
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ContextImpl* context,
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int num_threads);
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// The destructor is not thread safe. It assumes that no one is
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// modifying any cells when the matrix is being destroyed.
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~BlockRandomAccessSparseMatrix() override = default;
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// BlockRandomAccessMatrix Interface.
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CellInfo* GetCell(int row_block_id,
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int col_block_id,
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int* row,
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int* col,
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int* row_stride,
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int* col_stride) final;
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// This is not a thread safe method, it assumes that no cell is
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// locked.
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void SetZero() final;
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// Assume that the matrix is symmetric and only one half of the matrix is
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// stored.
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//
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// y += S * x
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void SymmetricRightMultiplyAndAccumulate(const double* x, double* y) const;
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// Since the matrix is square, num_rows() == num_cols().
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int num_rows() const final { return bsm_->num_rows(); }
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int num_cols() const final { return bsm_->num_cols(); }
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// Access to the underlying matrix object.
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const BlockSparseMatrix* matrix() const { return bsm_.get(); }
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BlockSparseMatrix* mutable_matrix() { return bsm_.get(); }
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private:
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int64_t IntPairToInt64(int row, int col) const {
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return row * kRowShift + col;
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}
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void Int64ToIntPair(int64_t index, int* row, int* col) const {
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*row = index / kRowShift;
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*col = index % kRowShift;
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}
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constexpr static int64_t kRowShift{1ll << 32};
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// row/column block sizes.
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const std::vector<Block> blocks_;
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ContextImpl* context_ = nullptr;
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const int num_threads_ = 1;
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// A mapping from <row_block_id, col_block_id> to the position in
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// the values array of bsm_ where the block is stored.
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using LayoutType = std::unordered_map<std::int64_t, CellInfo>;
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LayoutType layout_;
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// The underlying matrix object which actually stores the cells.
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std::unique_ptr<BlockSparseMatrix> bsm_;
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friend class BlockRandomAccessSparseMatrixTest;
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};
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} // namespace ceres::internal
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#include "ceres/internal/reenable_warnings.h"
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#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
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