commit 3d6eceb45cf27024865908f0c10a5c2b0f8719cf
author Sameer Agarwal <sameeragarwal@google.com> Tue Apr 02 21:45:48 2013 -0700
committer Sameer Agarwal <sameeragarwal@google.com> Wed Apr 03 16:07:26 2013 -0700
tree 25f2cc12f8c601e2f674a227f34f5b45432ed62b
parent 296fa9b1279ee1900c8ae32d70e97cd10fc0b46b

Replace more instances of Eigen GEMV with Ceres BLAS.

With this ITERATIVE_SCHUR with JACOBI preconditioner went down from
280 seconds to 150 seconds on problem-744-543562-pre.txt.

Change-Id: I4f319c1108421e8d59f58654a4c0576ad65df609

internal/ceres/block_sparse_matrix.cc

diff --git a/internal/ceres/block_sparse_matrix.cc b/internal/ceres/block_sparse_matrix.cc
index dbe5ec9..ab6fcef 100644
--- a/internal/ceres/block_sparse_matrix.cc
+++ b/internal/ceres/block_sparse_matrix.cc
@@ -33,6 +33,7 @@
 #include <cstddef>
 #include <algorithm>
 #include <vector>
+#include "ceres/blas.h"
 #include "ceres/block_structure.h"
 #include "ceres/internal/eigen.h"
 #include "ceres/matrix_proto.h"
@@ -117,16 +118,15 @@
   for (int i = 0; i < block_structure_->rows.size(); ++i) {
     int row_block_pos = block_structure_->rows[i].block.position;
     int row_block_size = block_structure_->rows[i].block.size;
-    VectorRef yref(y + row_block_pos, row_block_size);
     const vector<Cell>& cells = block_structure_->rows[i].cells;
     for (int j = 0; j < cells.size(); ++j) {
       int col_block_id = cells[j].block_id;
       int col_block_size = block_structure_->cols[col_block_id].size;
       int col_block_pos = block_structure_->cols[col_block_id].position;
-      ConstVectorRef xref(x + col_block_pos, col_block_size);
-      MatrixRef m(values_.get() + cells[j].position,
-                  row_block_size, col_block_size);
-      yref += m.lazyProduct(xref);
+      MatrixVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+          values_.get() + cells[j].position, row_block_size, col_block_size,
+          x + col_block_pos,
+          y + row_block_pos);
     }
   }
 }
@@ -138,16 +138,16 @@
   for (int i = 0; i < block_structure_->rows.size(); ++i) {
     int row_block_pos = block_structure_->rows[i].block.position;
     int row_block_size = block_structure_->rows[i].block.size;
-    const ConstVectorRef xref(x + row_block_pos, row_block_size);
     const vector<Cell>& cells = block_structure_->rows[i].cells;
     for (int j = 0; j < cells.size(); ++j) {
       int col_block_id = cells[j].block_id;
       int col_block_size = block_structure_->cols[col_block_id].size;
       int col_block_pos = block_structure_->cols[col_block_id].position;
-      VectorRef yref(y + col_block_pos, col_block_size);
-      MatrixRef m(values_.get() + cells[j].position,
-                  row_block_size, col_block_size);
-      yref += m.transpose().lazyProduct(xref);
+      MatrixTransposeVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+          values_.get() + cells[j].position, row_block_size, col_block_size,
+          x + row_block_pos,
+          y + col_block_pos);
+
     }
   }
 }