Add BlockRandomAccessDiagonalMatrix.
This class is used in the SchurJacobiPreconditioner for
storing the preconditioner matrix. Using it speeds up
the computation of the preconditioner by ~15% due to
the elimination of a hash table lookup.
Change-Id: Iba2b34aad0d9eb9bcb7f6e6fad16aa416aac0d2a
diff --git a/internal/ceres/schur_jacobi_preconditioner.cc b/internal/ceres/schur_jacobi_preconditioner.cc
index 338df71..5b87e9f 100644
--- a/internal/ceres/schur_jacobi_preconditioner.cc
+++ b/internal/ceres/schur_jacobi_preconditioner.cc
@@ -33,7 +33,7 @@
#include <utility>
#include <vector>
#include "Eigen/Dense"
-#include "ceres/block_random_access_sparse_matrix.h"
+#include "ceres/block_random_access_diagonal_matrix.h"
#include "ceres/block_sparse_matrix.h"
#include "ceres/collections_port.h"
#include "ceres/detect_structure.h"
@@ -57,16 +57,11 @@
<< "SCHUR_JACOBI preconditioner.";
block_size_.resize(num_blocks);
- set<pair<int, int> > block_pairs;
-
- int num_block_diagonal_entries = 0;
for (int i = 0; i < num_blocks; ++i) {
block_size_[i] = bs.cols[i + options_.elimination_groups[0]].size;
- block_pairs.insert(make_pair(i, i));
- num_block_diagonal_entries += block_size_[i] * block_size_[i];
}
- m_.reset(new BlockRandomAccessSparseMatrix(block_size_, block_pairs));
+ m_.reset(new BlockRandomAccessDiagonalMatrix(block_size_));
InitEliminator(bs);
}
@@ -118,7 +113,7 @@
CHECK_NOTNULL(y);
const double* lhs_values =
- down_cast<BlockRandomAccessSparseMatrix*>(m_.get())->matrix()->values();
+ down_cast<BlockRandomAccessDiagonalMatrix*>(m_.get())->matrix()->values();
// This loop can be easily multi-threaded with OpenMP if need be.
for (int i = 0; i < block_size_.size(); ++i) {
