Minor refactoring/cleanup in IterativeSchurComplementSolver
The code for creating and updating preconditioners has been pulled
out in into its own function for better readability.
Change-Id: I5335de3b158a8485cf6d052ee37d0d8fd57145e9
diff --git a/internal/ceres/block_jacobi_preconditioner.h b/internal/ceres/block_jacobi_preconditioner.h
index 1400729..0541db5 100644
--- a/internal/ceres/block_jacobi_preconditioner.h
+++ b/internal/ceres/block_jacobi_preconditioner.h
@@ -31,7 +31,6 @@
#ifndef CERES_INTERNAL_BLOCK_JACOBI_PRECONDITIONER_H_
#define CERES_INTERNAL_BLOCK_JACOBI_PRECONDITIONER_H_
-#include <vector>
#include "ceres/block_random_access_diagonal_matrix.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/preconditioner.h"
@@ -62,8 +61,8 @@
virtual void RightMultiply(const double* x, double* y) const;
virtual int num_rows() const { return m_->num_rows(); }
virtual int num_cols() const { return m_->num_rows(); }
-
const BlockRandomAccessDiagonalMatrix& matrix() const { return *m_; }
+
private:
virtual bool UpdateImpl(const BlockSparseMatrix& A, const double* D);
diff --git a/internal/ceres/iterative_schur_complement_solver.cc b/internal/ceres/iterative_schur_complement_solver.cc
index 9d4e30d..bf2a3fb 100644
--- a/internal/ceres/iterative_schur_complement_solver.cc
+++ b/internal/ceres/iterative_schur_complement_solver.cc
@@ -56,11 +56,9 @@
IterativeSchurComplementSolver::IterativeSchurComplementSolver(
const LinearSolver::Options& options)
- : options_(options) {
-}
+ : options_(options) {}
-IterativeSchurComplementSolver::~IterativeSchurComplementSolver() {
-}
+IterativeSchurComplementSolver::~IterativeSchurComplementSolver() {}
LinearSolver::Summary IterativeSchurComplementSolver::SolveImpl(
BlockSparseMatrix* A,
@@ -86,29 +84,59 @@
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;
+ if (!CreateAndOrUpdatePreconditioner(A, per_solve_options.D)) {
+ LinearSolver::Summary summary;
+ summary.num_iterations = 0;
+ summary.termination_type = LINEAR_SOLVER_FAILURE;
+ summary.message = "Preconditioner creation or update failed.";
+ return summary;
+ }
+
+ if (preconditioner_.get() != NULL) {
+ 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;
+}
+
+bool IterativeSchurComplementSolver::CreateAndOrUpdatePreconditioner(
+ BlockSparseMatrix* A, double* D) {
+ if (options_.preconditioner_type == IDENTITY) {
+ return true;
+ }
+
Preconditioner::Options preconditioner_options;
preconditioner_options.type = options_.preconditioner_type;
preconditioner_options.visibility_clustering_type =
@@ -121,61 +149,27 @@
preconditioner_options.f_block_size = options_.f_block_size;
preconditioner_options.elimination_groups = options_.elimination_groups;
- switch (options_.preconditioner_type) {
- case IDENTITY:
- break;
- case JACOBI:
- 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));
- }
- break;
- case CLUSTER_JACOBI:
- case CLUSTER_TRIDIAGONAL:
- if (preconditioner_.get() == NULL) {
- 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);
+ if (preconditioner_.get() == NULL) {
+ switch (options_.preconditioner_type) {
+ case JACOBI:
+ preconditioner_.reset(new SparseMatrixPreconditionerWrapper(
+ schur_complement_->block_diagonal_FtF_inverse()));
+ break;
+ case SCHUR_JACOBI:
+ preconditioner_.reset(new SchurJacobiPreconditioner(
+ *A->block_structure(), preconditioner_options));
+ break;
+ case CLUSTER_JACOBI:
+ case CLUSTER_TRIDIAGONAL:
+ preconditioner_.reset(new VisibilityBasedPreconditioner(
+ *A->block_structure(), preconditioner_options));
+ break;
+ default:
+ LOG(FATAL) << "Unknown Preconditioner Type";
}
}
- event_logger.AddEvent("Solve");
- return cg_summary;
+
+ return preconditioner_->Update(*A, D);
}
} // namespace internal
diff --git a/internal/ceres/iterative_schur_complement_solver.h b/internal/ceres/iterative_schur_complement_solver.h
index e90d310..ed99f2d 100644
--- a/internal/ceres/iterative_schur_complement_solver.h
+++ b/internal/ceres/iterative_schur_complement_solver.h
@@ -79,6 +79,8 @@
const LinearSolver::PerSolveOptions& options,
double* x);
+ bool CreateAndOrUpdatePreconditioner(BlockSparseMatrix* A, double* D);
+
LinearSolver::Options options_;
scoped_ptr<internal::ImplicitSchurComplement> schur_complement_;
scoped_ptr<Preconditioner> preconditioner_;
