Austin Schuh | 70cc955 | 2019-01-21 19:46:48 -0800 | [diff] [blame] | 1 | // Ceres Solver - A fast non-linear least squares minimizer |
Austin Schuh | 3de38b0 | 2024-06-25 18:25:10 -0700 | [diff] [blame^] | 2 | // Copyright 2023 Google Inc. All rights reserved. |
Austin Schuh | 70cc955 | 2019-01-21 19:46:48 -0800 | [diff] [blame] | 3 | // 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 | // |
| 8 | // * Redistributions of source code must retain the above copyright notice, |
| 9 | // this list of conditions and the following disclaimer. |
| 10 | // * Redistributions in binary form must reproduce the above copyright notice, |
| 11 | // this list of conditions and the following disclaimer in the documentation |
| 12 | // and/or other materials provided with the distribution. |
| 13 | // * Neither the name of Google Inc. nor the names of its contributors may be |
| 14 | // used to endorse or promote products derived from this software without |
| 15 | // specific prior written permission. |
| 16 | // |
| 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 18 | // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 19 | // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 20 | // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 21 | // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 22 | // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 23 | // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 24 | // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 25 | // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 26 | // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 27 | // POSSIBILITY OF SUCH DAMAGE. |
| 28 | // |
| 29 | // Author: sameeragarwal@google.com (Sameer Agarwal) |
| 30 | |
| 31 | #include "ceres/preconditioner.h" |
Austin Schuh | 1d1e6ea | 2020-12-23 21:56:30 -0800 | [diff] [blame] | 32 | |
Austin Schuh | 70cc955 | 2019-01-21 19:46:48 -0800 | [diff] [blame] | 33 | #include "glog/logging.h" |
| 34 | |
Austin Schuh | 3de38b0 | 2024-06-25 18:25:10 -0700 | [diff] [blame^] | 35 | namespace ceres::internal { |
Austin Schuh | 70cc955 | 2019-01-21 19:46:48 -0800 | [diff] [blame] | 36 | |
Austin Schuh | 3de38b0 | 2024-06-25 18:25:10 -0700 | [diff] [blame^] | 37 | Preconditioner::~Preconditioner() = default; |
Austin Schuh | 70cc955 | 2019-01-21 19:46:48 -0800 | [diff] [blame] | 38 | |
| 39 | PreconditionerType 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 | |
| 49 | SparseMatrixPreconditionerWrapper::SparseMatrixPreconditionerWrapper( |
Austin Schuh | 3de38b0 | 2024-06-25 18:25:10 -0700 | [diff] [blame^] | 50 | const SparseMatrix* matrix, const Preconditioner::Options& options) |
| 51 | : matrix_(matrix), options_(options) { |
Austin Schuh | 70cc955 | 2019-01-21 19:46:48 -0800 | [diff] [blame] | 52 | CHECK(matrix != nullptr); |
| 53 | } |
| 54 | |
Austin Schuh | 3de38b0 | 2024-06-25 18:25:10 -0700 | [diff] [blame^] | 55 | SparseMatrixPreconditionerWrapper::~SparseMatrixPreconditionerWrapper() = |
| 56 | default; |
Austin Schuh | 70cc955 | 2019-01-21 19:46:48 -0800 | [diff] [blame] | 57 | |
Austin Schuh | 3de38b0 | 2024-06-25 18:25:10 -0700 | [diff] [blame^] | 58 | bool SparseMatrixPreconditionerWrapper::UpdateImpl(const SparseMatrix& /*A*/, |
| 59 | const double* /*D*/) { |
Austin Schuh | 70cc955 | 2019-01-21 19:46:48 -0800 | [diff] [blame] | 60 | return true; |
| 61 | } |
| 62 | |
Austin Schuh | 3de38b0 | 2024-06-25 18:25:10 -0700 | [diff] [blame^] | 63 | void SparseMatrixPreconditionerWrapper::RightMultiplyAndAccumulate( |
| 64 | const double* x, double* y) const { |
| 65 | matrix_->RightMultiplyAndAccumulate( |
| 66 | x, y, options_.context, options_.num_threads); |
Austin Schuh | 70cc955 | 2019-01-21 19:46:48 -0800 | [diff] [blame] | 67 | } |
| 68 | |
Austin Schuh | 1d1e6ea | 2020-12-23 21:56:30 -0800 | [diff] [blame] | 69 | int SparseMatrixPreconditionerWrapper::num_rows() const { |
Austin Schuh | 70cc955 | 2019-01-21 19:46:48 -0800 | [diff] [blame] | 70 | return matrix_->num_rows(); |
| 71 | } |
| 72 | |
Austin Schuh | 3de38b0 | 2024-06-25 18:25:10 -0700 | [diff] [blame^] | 73 | } // namespace ceres::internal |