diff options
Diffstat (limited to 'extern/ceres/internal/ceres/partitioned_matrix_view_impl.h')
| -rw-r--r-- | extern/ceres/internal/ceres/partitioned_matrix_view_impl.h | 87 |
1 files changed, 48 insertions, 39 deletions
diff --git a/extern/ceres/internal/ceres/partitioned_matrix_view_impl.h b/extern/ceres/internal/ceres/partitioned_matrix_view_impl.h index f3f548c7a80..0b6a57fb9f2 100644 --- a/extern/ceres/internal/ceres/partitioned_matrix_view_impl.h +++ b/extern/ceres/internal/ceres/partitioned_matrix_view_impl.h @@ -28,14 +28,14 @@ // // Author: sameeragarwal@google.com (Sameer Agarwal) -#include "ceres/partitioned_matrix_view.h" - #include <algorithm> #include <cstring> #include <vector> + #include "ceres/block_sparse_matrix.h" #include "ceres/block_structure.h" #include "ceres/internal/eigen.h" +#include "ceres/partitioned_matrix_view.h" #include "ceres/small_blas.h" #include "glog/logging.h" @@ -44,11 +44,8 @@ namespace internal { template <int kRowBlockSize, int kEBlockSize, int kFBlockSize> PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: -PartitionedMatrixView( - const BlockSparseMatrix& matrix, - int num_col_blocks_e) - : matrix_(matrix), - num_col_blocks_e_(num_col_blocks_e) { + PartitionedMatrixView(const BlockSparseMatrix& matrix, int num_col_blocks_e) + : matrix_(matrix), num_col_blocks_e_(num_col_blocks_e) { const CompressedRowBlockStructure* bs = matrix_.block_structure(); CHECK(bs != nullptr); @@ -85,8 +82,7 @@ PartitionedMatrixView( template <int kRowBlockSize, int kEBlockSize, int kFBlockSize> PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: -~PartitionedMatrixView() { -} + ~PartitionedMatrixView() {} // The next four methods don't seem to be particularly cache // friendly. This is an artifact of how the BlockStructure of the @@ -94,9 +90,8 @@ PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: // multithreading as well as improved data layout. template <int kRowBlockSize, int kEBlockSize, int kFBlockSize> -void -PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: -RightMultiplyE(const double* x, double* y) const { +void PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: + RightMultiplyE(const double* x, double* y) const { const CompressedRowBlockStructure* bs = matrix_.block_structure(); // Iterate over the first num_row_blocks_e_ row blocks, and multiply @@ -109,17 +104,18 @@ RightMultiplyE(const double* x, double* y) const { const int col_block_id = cell.block_id; const int col_block_pos = bs->cols[col_block_id].position; const int col_block_size = bs->cols[col_block_id].size; + // clang-format off MatrixVectorMultiply<kRowBlockSize, kEBlockSize, 1>( values + cell.position, row_block_size, col_block_size, x + col_block_pos, y + row_block_pos); + // clang-format on } } template <int kRowBlockSize, int kEBlockSize, int kFBlockSize> -void -PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: -RightMultiplyF(const double* x, double* y) const { +void PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: + RightMultiplyF(const double* x, double* y) const { const CompressedRowBlockStructure* bs = matrix_.block_structure(); // Iterate over row blocks, and if the row block is in E, then @@ -136,10 +132,12 @@ RightMultiplyF(const double* x, double* y) const { const int col_block_id = cells[c].block_id; const int col_block_pos = bs->cols[col_block_id].position; const int col_block_size = bs->cols[col_block_id].size; + // clang-format off MatrixVectorMultiply<kRowBlockSize, kFBlockSize, 1>( values + cells[c].position, row_block_size, col_block_size, x + col_block_pos - num_cols_e_, y + row_block_pos); + // clang-format on } } @@ -151,18 +149,19 @@ RightMultiplyF(const double* x, double* y) const { const int col_block_id = cells[c].block_id; const int col_block_pos = bs->cols[col_block_id].position; const int col_block_size = bs->cols[col_block_id].size; + // clang-format off MatrixVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>( values + cells[c].position, row_block_size, col_block_size, x + col_block_pos - num_cols_e_, y + row_block_pos); + // clang-format on } } } template <int kRowBlockSize, int kEBlockSize, int kFBlockSize> -void -PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: -LeftMultiplyE(const double* x, double* y) const { +void PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: + LeftMultiplyE(const double* x, double* y) const { const CompressedRowBlockStructure* bs = matrix_.block_structure(); // Iterate over the first num_row_blocks_e_ row blocks, and multiply @@ -175,17 +174,18 @@ LeftMultiplyE(const double* x, double* y) const { const int col_block_id = cell.block_id; const int col_block_pos = bs->cols[col_block_id].position; const int col_block_size = bs->cols[col_block_id].size; + // clang-format off MatrixTransposeVectorMultiply<kRowBlockSize, kEBlockSize, 1>( values + cell.position, row_block_size, col_block_size, x + row_block_pos, y + col_block_pos); + // clang-format on } } template <int kRowBlockSize, int kEBlockSize, int kFBlockSize> -void -PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: -LeftMultiplyF(const double* x, double* y) const { +void PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: + LeftMultiplyF(const double* x, double* y) const { const CompressedRowBlockStructure* bs = matrix_.block_structure(); // Iterate over row blocks, and if the row block is in E, then @@ -202,10 +202,12 @@ LeftMultiplyF(const double* x, double* y) const { const int col_block_id = cells[c].block_id; const int col_block_pos = bs->cols[col_block_id].position; const int col_block_size = bs->cols[col_block_id].size; + // clang-format off MatrixTransposeVectorMultiply<kRowBlockSize, kFBlockSize, 1>( values + cells[c].position, row_block_size, col_block_size, x + row_block_pos, y + col_block_pos - num_cols_e_); + // clang-format on } } @@ -217,10 +219,12 @@ LeftMultiplyF(const double* x, double* y) const { const int col_block_id = cells[c].block_id; const int col_block_pos = bs->cols[col_block_id].position; const int col_block_size = bs->cols[col_block_id].size; + // clang-format off MatrixTransposeVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>( values + cells[c].position, row_block_size, col_block_size, x + row_block_pos, y + col_block_pos - num_cols_e_); + // clang-format on } } } @@ -233,7 +237,8 @@ LeftMultiplyF(const double* x, double* y) const { template <int kRowBlockSize, int kEBlockSize, int kFBlockSize> BlockSparseMatrix* PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: -CreateBlockDiagonalMatrixLayout(int start_col_block, int end_col_block) const { + CreateBlockDiagonalMatrixLayout(int start_col_block, + int end_col_block) const { const CompressedRowBlockStructure* bs = matrix_.block_structure(); CompressedRowBlockStructure* block_diagonal_structure = new CompressedRowBlockStructure; @@ -269,9 +274,10 @@ CreateBlockDiagonalMatrixLayout(int start_col_block, int end_col_block) const { } template <int kRowBlockSize, int kEBlockSize, int kFBlockSize> -BlockSparseMatrix* -PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: -CreateBlockDiagonalEtE() const { +BlockSparseMatrix* PartitionedMatrixView<kRowBlockSize, + kEBlockSize, + kFBlockSize>::CreateBlockDiagonalEtE() + const { BlockSparseMatrix* block_diagonal = CreateBlockDiagonalMatrixLayout(0, num_col_blocks_e_); UpdateBlockDiagonalEtE(block_diagonal); @@ -279,12 +285,12 @@ CreateBlockDiagonalEtE() const { } template <int kRowBlockSize, int kEBlockSize, int kFBlockSize> -BlockSparseMatrix* -PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: -CreateBlockDiagonalFtF() const { - BlockSparseMatrix* block_diagonal = - CreateBlockDiagonalMatrixLayout( - num_col_blocks_e_, num_col_blocks_e_ + num_col_blocks_f_); +BlockSparseMatrix* PartitionedMatrixView<kRowBlockSize, + kEBlockSize, + kFBlockSize>::CreateBlockDiagonalFtF() + const { + BlockSparseMatrix* block_diagonal = CreateBlockDiagonalMatrixLayout( + num_col_blocks_e_, num_col_blocks_e_ + num_col_blocks_f_); UpdateBlockDiagonalFtF(block_diagonal); return block_diagonal; } @@ -295,17 +301,15 @@ CreateBlockDiagonalFtF() const { // block_diagonal = block_diagonal(E'E) // template <int kRowBlockSize, int kEBlockSize, int kFBlockSize> -void -PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: -UpdateBlockDiagonalEtE( - BlockSparseMatrix* block_diagonal) const { +void PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: + UpdateBlockDiagonalEtE(BlockSparseMatrix* block_diagonal) const { const CompressedRowBlockStructure* bs = matrix_.block_structure(); const CompressedRowBlockStructure* block_diagonal_structure = block_diagonal->block_structure(); block_diagonal->SetZero(); const double* values = matrix_.values(); - for (int r = 0; r < num_row_blocks_e_ ; ++r) { + for (int r = 0; r < num_row_blocks_e_; ++r) { const Cell& cell = bs->rows[r].cells[0]; const int row_block_size = bs->rows[r].block.size; const int block_id = cell.block_id; @@ -313,12 +317,14 @@ UpdateBlockDiagonalEtE( const int cell_position = block_diagonal_structure->rows[block_id].cells[0].position; + // clang-format off MatrixTransposeMatrixMultiply <kRowBlockSize, kEBlockSize, kRowBlockSize, kEBlockSize, 1>( values + cell.position, row_block_size, col_block_size, values + cell.position, row_block_size, col_block_size, block_diagonal->mutable_values() + cell_position, 0, 0, col_block_size, col_block_size); + // clang-format on } } @@ -328,9 +334,8 @@ UpdateBlockDiagonalEtE( // block_diagonal = block_diagonal(F'F) // template <int kRowBlockSize, int kEBlockSize, int kFBlockSize> -void -PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: -UpdateBlockDiagonalFtF(BlockSparseMatrix* block_diagonal) const { +void PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: + UpdateBlockDiagonalFtF(BlockSparseMatrix* block_diagonal) const { const CompressedRowBlockStructure* bs = matrix_.block_structure(); const CompressedRowBlockStructure* block_diagonal_structure = block_diagonal->block_structure(); @@ -347,12 +352,14 @@ UpdateBlockDiagonalFtF(BlockSparseMatrix* block_diagonal) const { const int cell_position = block_diagonal_structure->rows[diagonal_block_id].cells[0].position; + // clang-format off MatrixTransposeMatrixMultiply <kRowBlockSize, kFBlockSize, kRowBlockSize, kFBlockSize, 1>( values + cells[c].position, row_block_size, col_block_size, values + cells[c].position, row_block_size, col_block_size, block_diagonal->mutable_values() + cell_position, 0, 0, col_block_size, col_block_size); + // clang-format on } } @@ -366,12 +373,14 @@ UpdateBlockDiagonalFtF(BlockSparseMatrix* block_diagonal) const { const int cell_position = block_diagonal_structure->rows[diagonal_block_id].cells[0].position; + // clang-format off MatrixTransposeMatrixMultiply <Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, 1>( values + cells[c].position, row_block_size, col_block_size, values + cells[c].position, row_block_size, col_block_size, block_diagonal->mutable_values() + cell_position, 0, 0, col_block_size, col_block_size); + // clang-format on } } } |