mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
19ab2c1793
1. Add threading to all three subclasses of BlockRandomAccessMatrix. i.e. BlockRandomAccessDenseMatrix, BlockRandomAccessSparseMatrix and BlockRandomAccessDenseMatrix. For BlockRandomAccessDenseMatrix and BlockRandomAccessSparseMatrix this just means SetZero is parallelized. Which by itself is no big deal, but by doing so, the constructor for all three subclasses become uniform. BlockRandomAccessSparseMatrix::SymmetricRightMultiplyAndAccumulate maybe threaded in the future if needed. BlockRandomAccessDiagonalMatrix is the biggest beneficiary. SetZero Invert and RightMultiplyAndAccumulate are all threaded now. 2. Change the storage in BlockRandomAccessDiagonalMatrix from TripletSparseMatrix to CompressedRowSparseMatrix. This has no performance implications since we do not really use the capabilities of the underlying matrix indexing representation. This is a forward looking change when we decide to transfer this matrix to the GPU, a CompressedRowSparseMatrix will save on a data conversion. 3. Use std::unique_ptr as needed and eliminate the need for custom destructors. 4. Modify CompressedRowSparseMatrix::CreateBlockDiagonalMatrix to take a nullptr as the data vector. Fixes https://github.com/ceres-solver/ceres-solver/issues/936 Fixes https://github.com/ceres-solver/ceres-solver/issues/935 Change-Id: Ia6487f2d924fbe669835bdcc38abf2b451bda4ee
96 lines
3.7 KiB
C++
96 lines
3.7 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2015 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_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
|
|
#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
|
|
|
|
#include <memory>
|
|
#include <utility>
|
|
#include <vector>
|
|
|
|
#include "ceres/block_random_access_matrix.h"
|
|
#include "ceres/block_structure.h"
|
|
#include "ceres/compressed_row_sparse_matrix.h"
|
|
#include "ceres/context_impl.h"
|
|
#include "ceres/internal/disable_warnings.h"
|
|
#include "ceres/internal/export.h"
|
|
#include "ceres/types.h"
|
|
|
|
namespace ceres::internal {
|
|
|
|
// A BlockRandomAccessMatrix which only stores the block diagonal.
|
|
// BlockRandomAccessSparseMatrix can also be used to do this, but this class is
|
|
// more efficient in time and in space.
|
|
class CERES_NO_EXPORT BlockRandomAccessDiagonalMatrix
|
|
: public BlockRandomAccessMatrix {
|
|
public:
|
|
// blocks is an array of block sizes.
|
|
BlockRandomAccessDiagonalMatrix(const std::vector<Block>& blocks,
|
|
ContextImpl* context,
|
|
int num_threads);
|
|
~BlockRandomAccessDiagonalMatrix() override = default;
|
|
|
|
// BlockRandomAccessMatrix Interface.
|
|
CellInfo* GetCell(int row_block_id,
|
|
int col_block_id,
|
|
int* row,
|
|
int* col,
|
|
int* row_stride,
|
|
int* col_stride) final;
|
|
|
|
// m = 0
|
|
void SetZero() final;
|
|
|
|
// m = m^{-1}
|
|
void Invert();
|
|
|
|
// y += m * x
|
|
void RightMultiplyAndAccumulate(const double* x, double* y) const;
|
|
|
|
// Since the matrix is square, num_rows() == num_cols().
|
|
int num_rows() const final { return m_->num_rows(); }
|
|
int num_cols() const final { return m_->num_cols(); }
|
|
|
|
const CompressedRowSparseMatrix* matrix() const { return m_.get(); }
|
|
CompressedRowSparseMatrix* mutable_matrix() { return m_.get(); }
|
|
|
|
private:
|
|
ContextImpl* context_ = nullptr;
|
|
const int num_threads_ = 1;
|
|
std::unique_ptr<CompressedRowSparseMatrix> m_;
|
|
std::vector<std::unique_ptr<CellInfo>> layout_;
|
|
};
|
|
|
|
} // namespace ceres::internal
|
|
|
|
#include "ceres/internal/reenable_warnings.h"
|
|
|
|
#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
|