mirror of
https://github.com/ceres-solver/ceres-solver.git
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Dmitriy Korchemkin
88 lines
3.6 KiB
C++
88 lines
3.6 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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// Authors: vitus@google.com (Michael Vitus),
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// dmitriy.korchemkin@gmail.com (Dmitriy Korchemkin)
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#ifndef CERES_INTERNAL_PARALLEL_VECTOR_OPS_H_
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#define CERES_INTERNAL_PARALLEL_VECTOR_OPS_H_
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#include <mutex>
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#include <vector>
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#include "ceres/context_impl.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/internal/export.h"
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#include "ceres/parallel_for.h"
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namespace ceres::internal {
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// Evaluate vector expression in parallel
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// Assuming LhsExpression and RhsExpression are some sort of
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// column-vector expression, assignment lhs = rhs
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// is eavluated over a set of contiguous blocks in parallel.
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// This is expected to work well in the case of vector-based
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// expressions (since they typically do not result into
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// temporaries).
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// This method expects lhs to be size-compatible with rhs
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template <typename LhsExpression, typename RhsExpression>
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void ParallelAssign(ContextImpl* context,
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int num_threads,
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LhsExpression& lhs,
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const RhsExpression& rhs) {
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static_assert(LhsExpression::ColsAtCompileTime == 1);
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static_assert(RhsExpression::ColsAtCompileTime == 1);
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CHECK_EQ(lhs.rows(), rhs.rows());
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const int num_rows = lhs.rows();
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ParallelFor(context,
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0,
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num_rows,
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num_threads,
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[&lhs, &rhs](const std::tuple<int, int>& range) {
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auto [start, end] = range;
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lhs.segment(start, end - start) =
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rhs.segment(start, end - start);
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});
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}
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// Set vector to zero using num_threads
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template <typename VectorType>
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void ParallelSetZero(ContextImpl* context,
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int num_threads,
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VectorType& vector) {
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ParallelSetZero(context, num_threads, vector.data(), vector.rows());
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}
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void ParallelSetZero(ContextImpl* context,
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int num_threads,
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double* values,
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int num_values);
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} // namespace ceres::internal
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#endif // CERES_INTERNAL_PARALLEL_FOR_H_
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