mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
0a53aa9054
1. Add abseil-cpp as a submodule. We are tracking the latest LTS release, which is lts_2024_01_16. 2. Replace glog/gflags with absl::log and absl::flags. 3. Remove miniglog 4. Also take a whack at making the bazel build work with abseil-cpp and gtest. There are a number of TODOs in this CL that still need to be resolved. Change-Id: I39355ed7d61375be4ebcbc8596d9cc70acc1c678
119 lines
4.6 KiB
C++
119 lines
4.6 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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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#include "ceres/block_random_access_diagonal_matrix.h"
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#include <algorithm>
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#include <memory>
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#include <set>
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#include <utility>
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#include <vector>
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#include "Eigen/Dense"
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#include "absl/log/check.h"
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#include "ceres/compressed_row_sparse_matrix.h"
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#include "ceres/internal/export.h"
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#include "ceres/parallel_for.h"
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#include "ceres/parallel_vector_ops.h"
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#include "ceres/stl_util.h"
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#include "ceres/types.h"
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namespace ceres::internal {
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BlockRandomAccessDiagonalMatrix::BlockRandomAccessDiagonalMatrix(
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const std::vector<Block>& blocks, ContextImpl* context, int num_threads)
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: context_(context), num_threads_(num_threads) {
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m_ = CompressedRowSparseMatrix::CreateBlockDiagonalMatrix(nullptr, blocks);
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double* values = m_->mutable_values();
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layout_ = std::make_unique<CellInfo[]>(blocks.size());
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for (int i = 0; i < blocks.size(); ++i) {
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layout_[i].values = values;
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values += blocks[i].size * blocks[i].size;
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}
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}
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CellInfo* BlockRandomAccessDiagonalMatrix::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) {
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if (row_block_id != col_block_id) {
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return nullptr;
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}
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auto& blocks = m_->row_blocks();
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const int stride = blocks[row_block_id].size;
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// Each cell is stored contiguously as its own little dense matrix.
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*row = 0;
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*col = 0;
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*row_stride = stride;
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*col_stride = stride;
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return &layout_[row_block_id];
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}
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// Assume that the user does not hold any locks on any cell blocks
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// when they are calling SetZero.
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void BlockRandomAccessDiagonalMatrix::SetZero() {
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ParallelSetZero(
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context_, num_threads_, m_->mutable_values(), m_->num_nonzeros());
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}
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void BlockRandomAccessDiagonalMatrix::Invert() {
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auto& blocks = m_->row_blocks();
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const int num_blocks = blocks.size();
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ParallelFor(context_, 0, num_blocks, num_threads_, [this, blocks](int i) {
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auto& cell_info = layout_[i];
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auto& block = blocks[i];
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MatrixRef b(cell_info.values, block.size, block.size);
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b = b.selfadjointView<Eigen::Upper>().llt().solve(
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Matrix::Identity(block.size, block.size));
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});
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}
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void BlockRandomAccessDiagonalMatrix::RightMultiplyAndAccumulate(
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const double* x, double* y) const {
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CHECK(x != nullptr);
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CHECK(y != nullptr);
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auto& blocks = m_->row_blocks();
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const int num_blocks = blocks.size();
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ParallelFor(
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context_, 0, num_blocks, num_threads_, [this, blocks, x, y](int i) {
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auto& cell_info = layout_[i];
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auto& block = blocks[i];
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ConstMatrixRef b(cell_info.values, block.size, block.size);
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VectorRef(y + block.position, block.size).noalias() +=
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b * ConstVectorRef(x + block.position, block.size);
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});
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}
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} // namespace ceres::internal
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