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Austin Schuh70cc9552019-01-21 19:46:48 -08001// Ceres Solver - A fast non-linear least squares minimizer
Austin Schuh3de38b02024-06-25 18:25:10 -07002// Copyright 2023 Google Inc. All rights reserved.
Austin Schuh70cc9552019-01-21 19:46:48 -08003// http://ceres-solver.org/
4//
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are met:
7//
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14// used to endorse or promote products derived from this software without
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16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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29// Author: sameeragarwal@google.com (Sameer Agarwal)
30
31#include "ceres/preconditioner.h"
Austin Schuh1d1e6ea2020-12-23 21:56:30 -080032
Austin Schuh70cc9552019-01-21 19:46:48 -080033#include "glog/logging.h"
34
Austin Schuh3de38b02024-06-25 18:25:10 -070035namespace ceres::internal {
Austin Schuh70cc9552019-01-21 19:46:48 -080036
Austin Schuh3de38b02024-06-25 18:25:10 -070037Preconditioner::~Preconditioner() = default;
Austin Schuh70cc9552019-01-21 19:46:48 -080038
39PreconditionerType Preconditioner::PreconditionerForZeroEBlocks(
40 PreconditionerType preconditioner_type) {
41 if (preconditioner_type == SCHUR_JACOBI ||
42 preconditioner_type == CLUSTER_JACOBI ||
43 preconditioner_type == CLUSTER_TRIDIAGONAL) {
44 return JACOBI;
45 }
46 return preconditioner_type;
47}
48
49SparseMatrixPreconditionerWrapper::SparseMatrixPreconditionerWrapper(
Austin Schuh3de38b02024-06-25 18:25:10 -070050 const SparseMatrix* matrix, const Preconditioner::Options& options)
51 : matrix_(matrix), options_(options) {
Austin Schuh70cc9552019-01-21 19:46:48 -080052 CHECK(matrix != nullptr);
53}
54
Austin Schuh3de38b02024-06-25 18:25:10 -070055SparseMatrixPreconditionerWrapper::~SparseMatrixPreconditionerWrapper() =
56 default;
Austin Schuh70cc9552019-01-21 19:46:48 -080057
Austin Schuh3de38b02024-06-25 18:25:10 -070058bool SparseMatrixPreconditionerWrapper::UpdateImpl(const SparseMatrix& /*A*/,
59 const double* /*D*/) {
Austin Schuh70cc9552019-01-21 19:46:48 -080060 return true;
61}
62
Austin Schuh3de38b02024-06-25 18:25:10 -070063void SparseMatrixPreconditionerWrapper::RightMultiplyAndAccumulate(
64 const double* x, double* y) const {
65 matrix_->RightMultiplyAndAccumulate(
66 x, y, options_.context, options_.num_threads);
Austin Schuh70cc9552019-01-21 19:46:48 -080067}
68
Austin Schuh1d1e6ea2020-12-23 21:56:30 -080069int SparseMatrixPreconditionerWrapper::num_rows() const {
Austin Schuh70cc9552019-01-21 19:46:48 -080070 return matrix_->num_rows();
71}
72
Austin Schuh3de38b02024-06-25 18:25:10 -070073} // namespace ceres::internal