Add new Schur specialization for 2, 4, 6. The row, E, F block pattern 2, 4, 6 is a common one for bundle adjustment with reprojection error (2 residuals), homogeneous 3d points (4 params in the E-block), and camera poses (3 rotation + 3 position = 6 params for the F-block). This provides a major speedup for BA in the TheiaSfM library and likely in other applications. Change-Id: If5df8bfadc7f154856b74c3b38479c14856db47d
diff --git a/internal/ceres/generate_template_specializations.py b/internal/ceres/generate_template_specializations.py index a30c3f0..75c1464 100644 --- a/internal/ceres/generate_template_specializations.py +++ b/internal/ceres/generate_template_specializations.py
@@ -63,6 +63,7 @@ (2, 3, "Eigen::Dynamic"), (2, 4, 3), (2, 4, 4), + (2, 4, 6), (2, 4, 8), (2, 4, 9), (2, 4, "Eigen::Dynamic"),
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_4_6.cc b/internal/ceres/generated/partitioned_matrix_view_2_4_6.cc new file mode 100644 index 0000000..4a5590d --- /dev/null +++ b/internal/ceres/generated/partitioned_matrix_view_2_4_6.cc
@@ -0,0 +1,58 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2017 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: sameeragarwal@google.com (Sameer Agarwal) +// +// Template specialization of PartitionedMatrixView. +// +// ======================================== +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +//========================================= +// +// This file is generated using generate_template_specializations.py. + +// This include must come before any #ifndef check on Ceres compile options. +#include "ceres/internal/port.h" + +#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION + +#include "ceres/partitioned_matrix_view_impl.h" +#include "ceres/internal/eigen.h" + +namespace ceres { +namespace internal { + +template class PartitionedMatrixView<2, 4, 6>; + +} // namespace internal +} // namespace ceres + +#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_4_6.cc b/internal/ceres/generated/schur_eliminator_2_4_6.cc new file mode 100644 index 0000000..3777be2 --- /dev/null +++ b/internal/ceres/generated/schur_eliminator_2_4_6.cc
@@ -0,0 +1,58 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2017 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: sameeragarwal@google.com (Sameer Agarwal) +// +// Template specialization of SchurEliminator. +// +// ======================================== +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +//========================================= +// +// This file is generated using generate_template_specializations.py. + +// This include must come before any #ifndef check on Ceres compile options. +#include "ceres/internal/port.h" + +#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION + +#include "ceres/schur_eliminator_impl.h" +#include "ceres/internal/eigen.h" + +namespace ceres { +namespace internal { + +template class SchurEliminator<2, 4, 6>; + +} // namespace internal +} // namespace ceres + +#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/partitioned_matrix_view.cc b/internal/ceres/partitioned_matrix_view.cc index 23927a7..910f241 100644 --- a/internal/ceres/partitioned_matrix_view.cc +++ b/internal/ceres/partitioned_matrix_view.cc
@@ -105,6 +105,11 @@ } if ((options.row_block_size == 2) && (options.e_block_size == 4) && + (options.f_block_size == 6)) { + return new PartitionedMatrixView<2, 4, 6>(matrix, options.elimination_groups[0]); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 4) && (options.f_block_size == 8)) { return new PartitionedMatrixView<2, 4, 8>(matrix, options.elimination_groups[0]); }
diff --git a/internal/ceres/schur_eliminator.cc b/internal/ceres/schur_eliminator.cc index a1fc504..beefa14 100644 --- a/internal/ceres/schur_eliminator.cc +++ b/internal/ceres/schur_eliminator.cc
@@ -104,6 +104,11 @@ } if ((options.row_block_size == 2) && (options.e_block_size == 4) && + (options.f_block_size == 6)) { + return new SchurEliminator<2, 4, 6>(options); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 4) && (options.f_block_size == 8)) { return new SchurEliminator<2, 4, 8>(options); }
diff --git a/internal/ceres/schur_templates.cc b/internal/ceres/schur_templates.cc index 610b349..64bc9f3 100644 --- a/internal/ceres/schur_templates.cc +++ b/internal/ceres/schur_templates.cc
@@ -144,6 +144,14 @@ } if ((options.row_block_size == 2) && (options.e_block_size == 4) && + (options.f_block_size == 6)) { + *row_block_size = 2; + *e_block_size = 4; + *f_block_size = 6; + return; + } + if ((options.row_block_size == 2) && + (options.e_block_size == 4) && (options.f_block_size == 8)) { *row_block_size = 2; *e_block_size = 4;