diff options
Diffstat (limited to 'extern/ceres/internal/ceres/visibility_based_preconditioner.h')
| -rw-r--r-- | extern/ceres/internal/ceres/visibility_based_preconditioner.h | 82 |
1 files changed, 25 insertions, 57 deletions
diff --git a/extern/ceres/internal/ceres/visibility_based_preconditioner.h b/extern/ceres/internal/ceres/visibility_based_preconditioner.h index a627c13523c..aa582d5e7ef 100644 --- a/extern/ceres/internal/ceres/visibility_based_preconditioner.h +++ b/extern/ceres/internal/ceres/visibility_based_preconditioner.h @@ -1,5 +1,5 @@ // Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2015 Google Inc. All rights reserved. +// Copyright 2017 Google Inc. All rights reserved. // http://ceres-solver.org/ // // Redistribution and use in source and binary forms, with or without @@ -48,16 +48,18 @@ #ifndef CERES_INTERNAL_VISIBILITY_BASED_PRECONDITIONER_H_ #define CERES_INTERNAL_VISIBILITY_BASED_PRECONDITIONER_H_ +#include <memory> #include <set> -#include <vector> +#include <unordered_map> +#include <unordered_set> #include <utility> -#include "ceres/collections_port.h" +#include <vector> + #include "ceres/graph.h" -#include "ceres/internal/macros.h" -#include "ceres/internal/scoped_ptr.h" #include "ceres/linear_solver.h" +#include "ceres/pair_hash.h" #include "ceres/preconditioner.h" -#include "ceres/suitesparse.h" +#include "ceres/sparse_cholesky.h" namespace ceres { namespace internal { @@ -122,8 +124,6 @@ class SchurEliminatorBase; // *A.block_structure(), options); // preconditioner.Update(A, NULL); // preconditioner.RightMultiply(x, y); -// -#ifndef CERES_NO_SUITESPARSE class VisibilityBasedPreconditioner : public BlockSparseMatrixPreconditioner { public: // Initialize the symbolic structure of the preconditioner. bs is @@ -134,16 +134,19 @@ class VisibilityBasedPreconditioner : public BlockSparseMatrixPreconditioner { // based solvers. Please see schur_eliminator.h for more details. VisibilityBasedPreconditioner(const CompressedRowBlockStructure& bs, const Preconditioner::Options& options); + VisibilityBasedPreconditioner(const VisibilityBasedPreconditioner&) = delete; + void operator=(const VisibilityBasedPreconditioner&) = delete; + virtual ~VisibilityBasedPreconditioner(); // Preconditioner interface - virtual void RightMultiply(const double* x, double* y) const; - virtual int num_rows() const; + void RightMultiply(const double* x, double* y) const final; + int num_rows() const final; friend class VisibilityBasedPreconditionerTest; private: - virtual bool UpdateImpl(const BlockSparseMatrix& A, const double* D); + bool UpdateImpl(const BlockSparseMatrix& A, const double* D) final; void ComputeClusterJacobiSparsity(const CompressedRowBlockStructure& bs); void ComputeClusterTridiagonalSparsity(const CompressedRowBlockStructure& bs); void InitStorage(const CompressedRowBlockStructure& bs); @@ -151,16 +154,16 @@ class VisibilityBasedPreconditioner : public BlockSparseMatrixPreconditioner { LinearSolverTerminationType Factorize(); void ScaleOffDiagonalCells(); - void ClusterCameras(const std::vector<std::set<int> >& visibility); - void FlattenMembershipMap(const HashMap<int, int>& membership_map, + void ClusterCameras(const std::vector<std::set<int>>& visibility); + void FlattenMembershipMap(const std::unordered_map<int, int>& membership_map, std::vector<int>* membership_vector) const; void ComputeClusterVisibility( - const std::vector<std::set<int> >& visibility, - std::vector<std::set<int> >* cluster_visibility) const; + const std::vector<std::set<int>>& visibility, + std::vector<std::set<int>>* cluster_visibility) const; WeightedGraph<int>* CreateClusterGraph( - const std::vector<std::set<int> >& visibility) const; + const std::vector<std::set<int>>& visibility) const; void ForestToClusterPairs(const WeightedGraph<int>& forest, - HashSet<std::pair<int, int> >* cluster_pairs) const; + std::unordered_set<std::pair<int, int>, pair_hash>* cluster_pairs) const; void ComputeBlockPairsInPreconditioner(const CompressedRowBlockStructure& bs); bool IsBlockPairInPreconditioner(int block1, int block2) const; bool IsBlockPairOffDiagonal(int block1, int block2) const; @@ -180,52 +183,17 @@ class VisibilityBasedPreconditioner : public BlockSparseMatrixPreconditioner { // Non-zero camera pairs from the schur complement matrix that are // present in the preconditioner, sorted by row (first element of // each pair), then column (second). - std::set<std::pair<int, int> > block_pairs_; + std::set<std::pair<int, int>> block_pairs_; // Set of cluster pairs (including self pairs (i,i)) in the // preconditioner. - HashSet<std::pair<int, int> > cluster_pairs_; - scoped_ptr<SchurEliminatorBase> eliminator_; + std::unordered_set<std::pair<int, int>, pair_hash> cluster_pairs_; + std::unique_ptr<SchurEliminatorBase> eliminator_; // Preconditioner matrix. - scoped_ptr<BlockRandomAccessSparseMatrix> m_; - - // RightMultiply is a const method for LinearOperators. It is - // implemented using CHOLMOD's sparse triangular matrix solve - // function. This however requires non-const access to the - // SuiteSparse context object, even though it does not result in any - // of the state of the preconditioner being modified. - SuiteSparse ss_; - - // Symbolic and numeric factorization of the preconditioner. - cholmod_factor* factor_; - - // Temporary vector used by RightMultiply. - cholmod_dense* tmp_rhs_; - CERES_DISALLOW_COPY_AND_ASSIGN(VisibilityBasedPreconditioner); -}; -#else // SuiteSparse -// If SuiteSparse is not compiled in, the preconditioner is not -// available. -class VisibilityBasedPreconditioner : public BlockSparseMatrixPreconditioner { - public: - VisibilityBasedPreconditioner(const CompressedRowBlockStructure& bs, - const Preconditioner::Options& options) { - LOG(FATAL) << "Visibility based preconditioning is not available. Please " - "build Ceres with SuiteSparse."; - } - virtual ~VisibilityBasedPreconditioner() {} - virtual void RightMultiply(const double* x, double* y) const {} - virtual void LeftMultiply(const double* x, double* y) const {} - virtual int num_rows() const { return -1; } - virtual int num_cols() const { return -1; } - - private: - bool UpdateImpl(const BlockSparseMatrix& A, const double* D) { - return false; - } + std::unique_ptr<BlockRandomAccessSparseMatrix> m_; + std::unique_ptr<SparseCholesky> sparse_cholesky_; }; -#endif // CERES_NO_SUITESPARSE } // namespace internal } // namespace ceres |