diff options
Diffstat (limited to 'extern/ceres/internal/ceres/iterative_schur_complement_solver.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/iterative_schur_complement_solver.cc | 108 |
1 files changed, 51 insertions, 57 deletions
diff --git a/extern/ceres/internal/ceres/iterative_schur_complement_solver.cc b/extern/ceres/internal/ceres/iterative_schur_complement_solver.cc index 9d4e30d69d2..6076c38c71d 100644 --- a/extern/ceres/internal/ceres/iterative_schur_complement_solver.cc +++ b/extern/ceres/internal/ceres/iterative_schur_complement_solver.cc @@ -41,7 +41,6 @@ #include "ceres/detect_structure.h" #include "ceres/implicit_schur_complement.h" #include "ceres/internal/eigen.h" -#include "ceres/internal/scoped_ptr.h" #include "ceres/linear_solver.h" #include "ceres/preconditioner.h" #include "ceres/schur_jacobi_preconditioner.h" @@ -59,8 +58,7 @@ IterativeSchurComplementSolver::IterativeSchurComplementSolver( : options_(options) { } -IterativeSchurComplementSolver::~IterativeSchurComplementSolver() { -} +IterativeSchurComplementSolver::~IterativeSchurComplementSolver() {} LinearSolver::Summary IterativeSchurComplementSolver::SolveImpl( BlockSparseMatrix* A, @@ -69,7 +67,7 @@ LinearSolver::Summary IterativeSchurComplementSolver::SolveImpl( double* x) { EventLogger event_logger("IterativeSchurComplementSolver::Solve"); - CHECK_NOTNULL(A->block_structure()); + CHECK(A->block_structure() != nullptr); const int num_eliminate_blocks = options_.elimination_groups[0]; // Initialize a ImplicitSchurComplement object. if (schur_complement_ == NULL) { @@ -86,29 +84,61 @@ LinearSolver::Summary IterativeSchurComplementSolver::SolveImpl( A->block_structure()->cols.size() - num_eliminate_blocks; if (num_schur_complement_blocks == 0) { VLOG(2) << "No parameter blocks left in the schur complement."; - LinearSolver::Summary cg_summary; - cg_summary.num_iterations = 0; - cg_summary.termination_type = LINEAR_SOLVER_SUCCESS; + LinearSolver::Summary summary; + summary.num_iterations = 0; + summary.termination_type = LINEAR_SOLVER_SUCCESS; schur_complement_->BackSubstitute(NULL, x); - return cg_summary; + return summary; } // Initialize the solution to the Schur complement system to zero. reduced_linear_system_solution_.resize(schur_complement_->num_rows()); reduced_linear_system_solution_.setZero(); - // Instantiate a conjugate gradient solver that runs on the Schur - // complement matrix with the block diagonal of the matrix F'F as - // the preconditioner. LinearSolver::Options cg_options; cg_options.min_num_iterations = options_.min_num_iterations; cg_options.max_num_iterations = options_.max_num_iterations; ConjugateGradientsSolver cg_solver(cg_options); - LinearSolver::PerSolveOptions cg_per_solve_options; + LinearSolver::PerSolveOptions cg_per_solve_options; cg_per_solve_options.r_tolerance = per_solve_options.r_tolerance; cg_per_solve_options.q_tolerance = per_solve_options.q_tolerance; + CreatePreconditioner(A); + if (preconditioner_.get() != NULL) { + if (!preconditioner_->Update(*A, per_solve_options.D)) { + LinearSolver::Summary summary; + summary.num_iterations = 0; + summary.termination_type = LINEAR_SOLVER_FAILURE; + summary.message = "Preconditioner update failed."; + return summary; + } + + cg_per_solve_options.preconditioner = preconditioner_.get(); + } + + event_logger.AddEvent("Setup"); + LinearSolver::Summary summary = + cg_solver.Solve(schur_complement_.get(), + schur_complement_->rhs().data(), + cg_per_solve_options, + reduced_linear_system_solution_.data()); + if (summary.termination_type != LINEAR_SOLVER_FAILURE && + summary.termination_type != LINEAR_SOLVER_FATAL_ERROR) { + schur_complement_->BackSubstitute(reduced_linear_system_solution_.data(), + x); + } + event_logger.AddEvent("Solve"); + return summary; +} + +void IterativeSchurComplementSolver::CreatePreconditioner( + BlockSparseMatrix* A) { + if (options_.preconditioner_type == IDENTITY || + preconditioner_.get() != NULL) { + return; + } + Preconditioner::Options preconditioner_options; preconditioner_options.type = options_.preconditioner_type; preconditioner_options.visibility_clustering_type = @@ -120,63 +150,27 @@ LinearSolver::Summary IterativeSchurComplementSolver::SolveImpl( preconditioner_options.e_block_size = options_.e_block_size; preconditioner_options.f_block_size = options_.f_block_size; preconditioner_options.elimination_groups = options_.elimination_groups; + CHECK(options_.context != NULL); + preconditioner_options.context = options_.context; switch (options_.preconditioner_type) { - case IDENTITY: - break; case JACOBI: - preconditioner_.reset( - new SparseMatrixPreconditionerWrapper( - schur_complement_->block_diagonal_FtF_inverse())); + preconditioner_.reset(new SparseMatrixPreconditionerWrapper( + schur_complement_->block_diagonal_FtF_inverse())); break; case SCHUR_JACOBI: - if (preconditioner_.get() == NULL) { - preconditioner_.reset( - new SchurJacobiPreconditioner(*A->block_structure(), - preconditioner_options)); - } + preconditioner_.reset(new SchurJacobiPreconditioner( + *A->block_structure(), preconditioner_options)); break; case CLUSTER_JACOBI: case CLUSTER_TRIDIAGONAL: - if (preconditioner_.get() == NULL) { - preconditioner_.reset( - new VisibilityBasedPreconditioner(*A->block_structure(), - preconditioner_options)); - } + preconditioner_.reset(new VisibilityBasedPreconditioner( + *A->block_structure(), preconditioner_options)); break; default: LOG(FATAL) << "Unknown Preconditioner Type"; } - - bool preconditioner_update_was_successful = true; - if (preconditioner_.get() != NULL) { - preconditioner_update_was_successful = - preconditioner_->Update(*A, per_solve_options.D); - cg_per_solve_options.preconditioner = preconditioner_.get(); - } - event_logger.AddEvent("Setup"); - - LinearSolver::Summary cg_summary; - cg_summary.num_iterations = 0; - cg_summary.termination_type = LINEAR_SOLVER_FAILURE; - - // TODO(sameeragarwal): Refactor preconditioners to return a more - // sane message. - cg_summary.message = "Preconditioner update failed."; - if (preconditioner_update_was_successful) { - cg_summary = cg_solver.Solve(schur_complement_.get(), - schur_complement_->rhs().data(), - cg_per_solve_options, - reduced_linear_system_solution_.data()); - if (cg_summary.termination_type != LINEAR_SOLVER_FAILURE && - cg_summary.termination_type != LINEAR_SOLVER_FATAL_ERROR) { - schur_complement_->BackSubstitute( - reduced_linear_system_solution_.data(), x); - } - } - event_logger.AddEvent("Solve"); - return cg_summary; -} +}; } // namespace internal } // namespace ceres |