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Diffstat (limited to 'extern/ceres/internal/ceres/coordinate_descent_minimizer.cc')
-rw-r--r--extern/ceres/internal/ceres/coordinate_descent_minimizer.cc137
1 files changed, 68 insertions, 69 deletions
diff --git a/extern/ceres/internal/ceres/coordinate_descent_minimizer.cc b/extern/ceres/internal/ceres/coordinate_descent_minimizer.cc
index c6b42cf1516..c5d56f30bc3 100644
--- a/extern/ceres/internal/ceres/coordinate_descent_minimizer.cc
+++ b/extern/ceres/internal/ceres/coordinate_descent_minimizer.cc
@@ -30,16 +30,16 @@
#include "ceres/coordinate_descent_minimizer.h"
-#ifdef CERES_USE_OPENMP
-#include <omp.h>
-#endif
-
+#include <algorithm>
#include <iterator>
+#include <memory>
#include <numeric>
#include <vector>
+
#include "ceres/evaluator.h"
#include "ceres/linear_solver.h"
#include "ceres/minimizer.h"
+#include "ceres/parallel_for.h"
#include "ceres/parameter_block.h"
#include "ceres/parameter_block_ordering.h"
#include "ceres/problem_impl.h"
@@ -59,6 +59,11 @@ using std::set;
using std::string;
using std::vector;
+CoordinateDescentMinimizer::CoordinateDescentMinimizer(ContextImpl* context)
+ : context_(context) {
+ CHECK(context_ != nullptr);
+}
+
CoordinateDescentMinimizer::~CoordinateDescentMinimizer() {
}
@@ -74,19 +79,16 @@ bool CoordinateDescentMinimizer::Init(
// Serialize the OrderedGroups into a vector of parameter block
// offsets for parallel access.
map<ParameterBlock*, int> parameter_block_index;
- map<int, set<double*> > group_to_elements = ordering.group_to_elements();
- for (map<int, set<double*> >::const_iterator it = group_to_elements.begin();
- it != group_to_elements.end();
- ++it) {
- for (set<double*>::const_iterator ptr_it = it->second.begin();
- ptr_it != it->second.end();
- ++ptr_it) {
- parameter_blocks_.push_back(parameter_map.find(*ptr_it)->second);
+ map<int, set<double*>> group_to_elements = ordering.group_to_elements();
+ for (const auto& g_t_e : group_to_elements) {
+ const auto& elements = g_t_e.second;
+ for (double* parameter_block: elements) {
+ parameter_blocks_.push_back(parameter_map.find(parameter_block)->second);
parameter_block_index[parameter_blocks_.back()] =
parameter_blocks_.size() - 1;
}
independent_set_offsets_.push_back(
- independent_set_offsets_.back() + it->second.size());
+ independent_set_offsets_.back() + elements.size());
}
// The ordering does not have to contain all parameter blocks, so
@@ -109,8 +111,7 @@ bool CoordinateDescentMinimizer::Init(
const int num_parameter_blocks = residual_block->NumParameterBlocks();
for (int j = 0; j < num_parameter_blocks; ++j) {
ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
- const map<ParameterBlock*, int>::const_iterator it =
- parameter_block_index.find(parameter_block);
+ const auto it = parameter_block_index.find(parameter_block);
if (it != parameter_block_index.end()) {
residual_blocks_[it->second].push_back(residual_block);
}
@@ -120,6 +121,7 @@ bool CoordinateDescentMinimizer::Init(
evaluator_options_.linear_solver_type = DENSE_QR;
evaluator_options_.num_eliminate_blocks = 0;
evaluator_options_.num_threads = 1;
+ evaluator_options_.context = context_;
return true;
}
@@ -135,11 +137,12 @@ void CoordinateDescentMinimizer::Minimize(
parameter_block->SetConstant();
}
- scoped_array<LinearSolver*> linear_solvers(
+ std::unique_ptr<LinearSolver*[]> linear_solvers(
new LinearSolver*[options.num_threads]);
LinearSolver::Options linear_solver_options;
linear_solver_options.type = DENSE_QR;
+ linear_solver_options.context = context_;
for (int i = 0; i < options.num_threads; ++i) {
linear_solvers[i] = LinearSolver::Create(linear_solver_options);
@@ -148,13 +151,11 @@ void CoordinateDescentMinimizer::Minimize(
for (int i = 0; i < independent_set_offsets_.size() - 1; ++i) {
const int num_problems =
independent_set_offsets_[i + 1] - independent_set_offsets_[i];
- // No point paying the price for an OpemMP call if the set is of
- // size zero.
+ // Avoid parallelization overhead call if the set is empty.
if (num_problems == 0) {
continue;
}
-#ifdef CERES_USE_OPENMP
const int num_inner_iteration_threads =
min(options.num_threads, num_problems);
evaluator_options_.num_threads =
@@ -162,47 +163,43 @@ void CoordinateDescentMinimizer::Minimize(
// The parameter blocks in each independent set can be optimized
// in parallel, since they do not co-occur in any residual block.
-#pragma omp parallel for num_threads(num_inner_iteration_threads)
-#endif
- for (int j = independent_set_offsets_[i];
- j < independent_set_offsets_[i + 1];
- ++j) {
-#ifdef CERES_USE_OPENMP
- int thread_id = omp_get_thread_num();
-#else
- int thread_id = 0;
-#endif
-
- ParameterBlock* parameter_block = parameter_blocks_[j];
- const int old_index = parameter_block->index();
- const int old_delta_offset = parameter_block->delta_offset();
- parameter_block->SetVarying();
- parameter_block->set_index(0);
- parameter_block->set_delta_offset(0);
-
- Program inner_program;
- inner_program.mutable_parameter_blocks()->push_back(parameter_block);
- *inner_program.mutable_residual_blocks() = residual_blocks_[j];
-
- // TODO(sameeragarwal): Better error handling. Right now we
- // assume that this is not going to lead to problems of any
- // sort. Basically we should be checking for numerical failure
- // of some sort.
- //
- // On the other hand, if the optimization is a failure, that in
- // some ways is fine, since it won't change the parameters and
- // we are fine.
- Solver::Summary inner_summary;
- Solve(&inner_program,
- linear_solvers[thread_id],
- parameters + parameter_block->state_offset(),
- &inner_summary);
-
- parameter_block->set_index(old_index);
- parameter_block->set_delta_offset(old_delta_offset);
- parameter_block->SetState(parameters + parameter_block->state_offset());
- parameter_block->SetConstant();
- }
+ ParallelFor(
+ context_,
+ independent_set_offsets_[i],
+ independent_set_offsets_[i + 1],
+ num_inner_iteration_threads,
+ [&](int thread_id, int j) {
+ ParameterBlock* parameter_block = parameter_blocks_[j];
+ const int old_index = parameter_block->index();
+ const int old_delta_offset = parameter_block->delta_offset();
+ parameter_block->SetVarying();
+ parameter_block->set_index(0);
+ parameter_block->set_delta_offset(0);
+
+ Program inner_program;
+ inner_program.mutable_parameter_blocks()->push_back(parameter_block);
+ *inner_program.mutable_residual_blocks() = residual_blocks_[j];
+
+ // TODO(sameeragarwal): Better error handling. Right now we
+ // assume that this is not going to lead to problems of any
+ // sort. Basically we should be checking for numerical failure
+ // of some sort.
+ //
+ // On the other hand, if the optimization is a failure, that in
+ // some ways is fine, since it won't change the parameters and
+ // we are fine.
+ Solver::Summary inner_summary;
+ Solve(&inner_program,
+ linear_solvers[thread_id],
+ parameters + parameter_block->state_offset(),
+ &inner_summary);
+
+ parameter_block->set_index(old_index);
+ parameter_block->set_delta_offset(old_delta_offset);
+ parameter_block->SetState(parameters +
+ parameter_block->state_offset());
+ parameter_block->SetConstant();
+ });
}
for (int i = 0; i < parameter_blocks_.size(); ++i) {
@@ -227,14 +224,17 @@ void CoordinateDescentMinimizer::Solve(Program* program,
Minimizer::Options minimizer_options;
minimizer_options.evaluator.reset(
- CHECK_NOTNULL(Evaluator::Create(evaluator_options_, program, &error)));
+ Evaluator::Create(evaluator_options_, program, &error));
+ CHECK(minimizer_options.evaluator != nullptr);
minimizer_options.jacobian.reset(
- CHECK_NOTNULL(minimizer_options.evaluator->CreateJacobian()));
+ minimizer_options.evaluator->CreateJacobian());
+ CHECK(minimizer_options.jacobian != nullptr);
TrustRegionStrategy::Options trs_options;
trs_options.linear_solver = linear_solver;
minimizer_options.trust_region_strategy.reset(
- CHECK_NOTNULL(TrustRegionStrategy::Create(trs_options)));
+ TrustRegionStrategy::Create(trs_options));
+ CHECK(minimizer_options.trust_region_strategy != nullptr);
minimizer_options.is_silent = true;
TrustRegionMinimizer minimizer;
@@ -245,17 +245,16 @@ bool CoordinateDescentMinimizer::IsOrderingValid(
const Program& program,
const ParameterBlockOrdering& ordering,
string* message) {
- const map<int, set<double*> >& group_to_elements =
+ const map<int, set<double*>>& group_to_elements =
ordering.group_to_elements();
// Verify that each group is an independent set
- map<int, set<double*> >::const_iterator it = group_to_elements.begin();
- for (; it != group_to_elements.end(); ++it) {
- if (!program.IsParameterBlockSetIndependent(it->second)) {
+ for (const auto& g_t_e : group_to_elements) {
+ if (!program.IsParameterBlockSetIndependent(g_t_e.second)) {
*message =
StringPrintf("The user-provided "
"parameter_blocks_for_inner_iterations does not "
- "form an independent set. Group Id: %d", it->first);
+ "form an independent set. Group Id: %d", g_t_e.first);
return false;
}
}
@@ -268,7 +267,7 @@ bool CoordinateDescentMinimizer::IsOrderingValid(
// points.
ParameterBlockOrdering* CoordinateDescentMinimizer::CreateOrdering(
const Program& program) {
- scoped_ptr<ParameterBlockOrdering> ordering(new ParameterBlockOrdering);
+ std::unique_ptr<ParameterBlockOrdering> ordering(new ParameterBlockOrdering);
ComputeRecursiveIndependentSetOrdering(program, ordering.get());
ordering->Reverse();
return ordering.release();
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-16 01:01:43 +0300