| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2015 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: |
| // |
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| // this list of conditions and the following disclaimer in the documentation |
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| // |
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| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| // |
| // Detailed descriptions of these preconditions beyond what is |
| // documented here can be found in |
| // |
| // Bundle Adjustment in the Large |
| // S. Agarwal, N. Snavely, S. Seitz & R. Szeliski, ECCV 2010 |
| // http://www.cs.washington.edu/homes/sagarwal/bal.pdf |
| |
| #ifndef CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_ |
| #define CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_ |
| |
| #include <memory> |
| #include <set> |
| #include <utility> |
| #include <vector> |
| |
| #include "ceres/internal/disable_warnings.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/preconditioner.h" |
| |
| namespace ceres::internal { |
| |
| class BlockRandomAccessDiagonalMatrix; |
| class BlockSparseMatrix; |
| struct CompressedRowBlockStructure; |
| class SchurEliminatorBase; |
| |
| // This class implements the SCHUR_JACOBI preconditioner for Structure |
| // from Motion/Bundle Adjustment problems. Full mathematical details |
| // can be found in |
| // |
| // Bundle Adjustment in the Large |
| // S. Agarwal, N. Snavely, S. Seitz & R. Szeliski, ECCV 2010 |
| // http://www.cs.washington.edu/homes/sagarwal/bal.pdf |
| // |
| // Example usage: |
| // |
| // Preconditioner::Options options; |
| // options.preconditioner_type = SCHUR_JACOBI; |
| // options.elimination_groups.push_back(num_points); |
| // options.elimination_groups.push_back(num_cameras); |
| // SchurJacobiPreconditioner preconditioner( |
| // *A.block_structure(), options); |
| // preconditioner.Update(A, nullptr); |
| // preconditioner.RightMultiplyAndAccumulate(x, y); |
| // |
| // TODO(https://github.com/ceres-solver/ceres-solver/issues/935): |
| // SchurJacobiPreconditioner::RightMultiply will benefit from multithreading |
| class CERES_NO_EXPORT SchurJacobiPreconditioner |
| : public BlockSparseMatrixPreconditioner { |
| public: |
| // Initialize the symbolic structure of the preconditioner. bs is |
| // the block structure of the linear system to be solved. It is used |
| // to determine the sparsity structure of the preconditioner matrix. |
| // |
| // It has the same structural requirement as other Schur complement |
| // based solvers. Please see schur_eliminator.h for more details. |
| SchurJacobiPreconditioner(const CompressedRowBlockStructure& bs, |
| Preconditioner::Options options); |
| SchurJacobiPreconditioner(const SchurJacobiPreconditioner&) = delete; |
| void operator=(const SchurJacobiPreconditioner&) = delete; |
| |
| ~SchurJacobiPreconditioner() override; |
| |
| // Preconditioner interface. |
| void RightMultiplyAndAccumulate(const double* x, double* y) const final; |
| int num_rows() const final; |
| |
| private: |
| void InitEliminator(const CompressedRowBlockStructure& bs); |
| bool UpdateImpl(const BlockSparseMatrix& A, const double* D) final; |
| |
| Preconditioner::Options options_; |
| std::unique_ptr<SchurEliminatorBase> eliminator_; |
| // Preconditioner matrix. |
| std::unique_ptr<BlockRandomAccessDiagonalMatrix> m_; |
| }; |
| |
| } // namespace ceres::internal |
| |
| #include "ceres/internal/reenable_warnings.h" |
| |
| #endif // CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_ |