Preconditioner refactoring.
1. Added a Preconditioner interface.
2. SCHUR_JACOBI is now its own class and is independent of
SuiteSparse.
Change-Id: Id912ab19cf3736e61d1b90ddaf5bfba33e877ec4
diff --git a/internal/ceres/iterative_schur_complement_solver.cc b/internal/ceres/iterative_schur_complement_solver.cc
index cb2d827..9a66c1e 100644
--- a/internal/ceres/iterative_schur_complement_solver.cc
+++ b/internal/ceres/iterative_schur_complement_solver.cc
@@ -42,6 +42,7 @@
#include "ceres/internal/eigen.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/linear_solver.h"
+#include "ceres/schur_jacobi_preconditioner.h"
#include "ceres/triplet_sparse_matrix.h"
#include "ceres/types.h"
#include "ceres/visibility_based_preconditioner.h"
@@ -93,10 +94,19 @@
cg_per_solve_options.r_tolerance = per_solve_options.r_tolerance;
cg_per_solve_options.q_tolerance = per_solve_options.q_tolerance;
- bool is_preconditioner_good = false;
+ Preconditioner::Options preconditioner_options;
+ preconditioner_options.type = options_.preconditioner_type;
+ preconditioner_options.sparse_linear_algebra_library =
+ options_.sparse_linear_algebra_library;
+ preconditioner_options.use_block_amd = options_.use_block_amd;
+ preconditioner_options.num_threads = options_.num_threads;
+ preconditioner_options.row_block_size = options_.row_block_size;
+ 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;
+
switch (options_.preconditioner_type) {
case IDENTITY:
- is_preconditioner_good = true;
break;
case JACOBI:
// We need to strip the constness of the block_diagonal_FtF_inverse
@@ -105,33 +115,41 @@
// that the only method ever called on the preconditioner is the
// RightMultiply which is a const method so we don't need to worry
// about the object getting modified.
- cg_per_solve_options.preconditioner =
- const_cast<BlockSparseMatrix*>(
- schur_complement_->block_diagonal_FtF_inverse());
- is_preconditioner_good = true;
+ 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 (visibility_based_preconditioner_.get() == NULL) {
- visibility_based_preconditioner_.reset(
- new VisibilityBasedPreconditioner(*A->block_structure(), options_));
+ if (preconditioner_.get() == NULL) {
+ preconditioner_.reset(
+ new VisibilityBasedPreconditioner(*A->block_structure(), preconditioner_options));
}
- is_preconditioner_good =
- visibility_based_preconditioner_->Update(*A, per_solve_options.D);
- cg_per_solve_options.preconditioner =
- visibility_based_preconditioner_.get();
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 = FAILURE;
- if (is_preconditioner_good) {
+ if (preconditioner_update_was_successful) {
cg_summary = cg_solver.Solve(schur_complement_.get(),
schur_complement_->rhs().data(),
cg_per_solve_options,
