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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2022 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
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// 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
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// POSSIBILITY OF SUCH DAMAGE.
//
// Author: joydeepb@cs.utexas.edu (Joydeep Biswas)
//
// A CUDA sparse matrix linear operator.
#ifndef CERES_INTERNAL_CUDA_SPARSE_MATRIX_H_
#define CERES_INTERNAL_CUDA_SPARSE_MATRIX_H_
// This include must come before any #ifndef check on Ceres compile options.
// clang-format off
#include "ceres/internal/config.h"
// clang-format on
#include <cstdint>
#include <memory>
#include <string>
#include "ceres/compressed_row_sparse_matrix.h"
#include "ceres/context_impl.h"
#include "ceres/internal/export.h"
#include "ceres/types.h"
#ifndef CERES_NO_CUDA
#include "ceres/cuda_buffer.h"
#include "ceres/cuda_vector.h"
#include "cusparse.h"
namespace ceres::internal {
// A sparse matrix hosted on the GPU in compressed row sparse format, with
// CUDA-accelerated operations.
class CERES_NO_EXPORT CudaSparseMatrix {
public:
// Create a GPU copy of the matrix provided. The caller must ensure that
// InitCuda() has already been successfully called on context before calling
// this constructor.
CudaSparseMatrix(ContextImpl* context,
const CompressedRowSparseMatrix& crs_matrix);
// Creates a "blank" matrix with an appropriate amount of memory allocated.
// The object itself is left in an inconsistent state.
CudaSparseMatrix(int num_rows,
int num_cols,
int num_nonzeros,
ContextImpl* context);
~CudaSparseMatrix();
// y = y + Ax;
void RightMultiplyAndAccumulate(const CudaVector& x, CudaVector* y);
// y = y + A'x;
void LeftMultiplyAndAccumulate(const CudaVector& x, CudaVector* y);
int num_rows() const { return num_rows_; }
int num_cols() const { return num_cols_; }
int num_nonzeros() const { return num_nonzeros_; }
int32_t* mutable_rows() { return rows_.data(); }
int32_t* mutable_cols() { return cols_.data(); }
double* mutable_values() { return values_.data(); }
// If subsequent uses of this matrix involve only numerical changes and no
// structural changes, then this method can be used to copy the updated
// non-zero values -- the row and column index arrays are kept the same. It
// is the caller's responsibility to ensure that the sparsity structure of the
// matrix is unchanged.
void CopyValuesFromCpu(const CompressedRowSparseMatrix& crs_matrix);
const cusparseSpMatDescr_t& descr() const { return descr_; }
private:
// Disable copy and assignment.
CudaSparseMatrix(const CudaSparseMatrix&) = delete;
CudaSparseMatrix& operator=(const CudaSparseMatrix&) = delete;
// y = y + op(M)x. op must be either CUSPARSE_OPERATION_NON_TRANSPOSE or
// CUSPARSE_OPERATION_TRANSPOSE.
void SpMv(cusparseOperation_t op, const CudaVector& x, CudaVector* y);
int num_rows_ = 0;
int num_cols_ = 0;
int num_nonzeros_ = 0;
ContextImpl* context_ = nullptr;
// CSR row indices.
CudaBuffer<int32_t> rows_;
// CSR column indices.
CudaBuffer<int32_t> cols_;
// CSR values.
CudaBuffer<double> values_;
// CuSparse object that describes this matrix.
cusparseSpMatDescr_t descr_ = nullptr;
CudaBuffer<uint8_t> spmv_buffer_;
};
} // namespace ceres::internal
#endif // CERES_NO_CUDA
#endif // CERES_INTERNAL_CUDA_SPARSE_MATRIX_H_