diff options
Diffstat (limited to 'internal/ceres/iterative_schur_complement_solver.cc')
| -rw-r--r-- | internal/ceres/iterative_schur_complement_solver.cc | 38 |
1 files changed, 21 insertions, 17 deletions
diff --git a/internal/ceres/iterative_schur_complement_solver.cc b/internal/ceres/iterative_schur_complement_solver.cc index 1aac565..6de410b 100644 --- a/internal/ceres/iterative_schur_complement_solver.cc +++ b/internal/ceres/iterative_schur_complement_solver.cc @@ -38,6 +38,7 @@ #include "ceres/block_sparse_matrix.h" #include "ceres/block_structure.h" #include "ceres/conjugate_gradients_solver.h" +#include "ceres/detect_structure.h" #include "ceres/implicit_schur_complement.h" #include "ceres/internal/eigen.h" #include "ceres/internal/scoped_ptr.h" @@ -69,35 +70,36 @@ LinearSolver::Summary IterativeSchurComplementSolver::SolveImpl( EventLogger event_logger("IterativeSchurComplementSolver::Solve"); CHECK_NOTNULL(A->block_structure()); - + const int num_eliminate_blocks = options_.elimination_groups[0]; // Initialize a ImplicitSchurComplement object. if (schur_complement_ == NULL) { - schur_complement_.reset( - new ImplicitSchurComplement(options_.elimination_groups[0], - options_.preconditioner_type == JACOBI)); + DetectStructure(*(A->block_structure()), + num_eliminate_blocks, + &options_.row_block_size, + &options_.e_block_size, + &options_.f_block_size); + schur_complement_.reset(new ImplicitSchurComplement(options_)); } schur_complement_->Init(*A, per_solve_options.D, b); const int num_schur_complement_blocks = - A->block_structure()->cols.size() - options_.elimination_groups[0]; + A->block_structure()->cols.size() - num_eliminate_blocks; if (num_schur_complement_blocks == 0) { VLOG(2) << "No parameter blocks left in the schur complement."; LinearSolver::Summary cg_summary; cg_summary.num_iterations = 0; - cg_summary.termination_type = TOLERANCE; + cg_summary.termination_type = LINEAR_SOLVER_SUCCESS; schur_complement_->BackSubstitute(NULL, x); return cg_summary; } // Initialize the solution to the Schur complement system to zero. - // - // TODO(sameeragarwal): There maybe a better initialization than an - // all zeros solution. Explore other cheap starting points. reduced_linear_system_solution_.resize(schur_complement_->num_rows()); reduced_linear_system_solution_.setZero(); - // Instantiate a conjugate gradient solver that runs on the Schur complement - // matrix with the block diagonal of the matrix F'F as the preconditioner. + // Instantiate a conjugate gradient solver that runs on the Schur + // complement matrix with the block diagonal of the matrix F'F as + // the preconditioner. LinearSolver::Options cg_options; cg_options.max_num_iterations = options_.max_num_iterations; ConjugateGradientsSolver cg_solver(cg_options); @@ -108,6 +110,8 @@ LinearSolver::Summary IterativeSchurComplementSolver::SolveImpl( Preconditioner::Options preconditioner_options; preconditioner_options.type = options_.preconditioner_type; + preconditioner_options.visibility_clustering_type = + options_.visibility_clustering_type; preconditioner_options.sparse_linear_algebra_library_type = options_.sparse_linear_algebra_library_type; preconditioner_options.num_threads = options_.num_threads; @@ -149,26 +153,26 @@ LinearSolver::Summary IterativeSchurComplementSolver::SolveImpl( preconditioner_->Update(*A, per_solve_options.D); cg_per_solve_options.preconditioner = preconditioner_.get(); } - event_logger.AddEvent("Setup"); LinearSolver::Summary cg_summary; cg_summary.num_iterations = 0; - cg_summary.termination_type = FAILURE; + cg_summary.termination_type = LINEAR_SOLVER_FAILURE; + // TODO(sameeragarwal): Refactor preconditioners to return a more + // sane message. + cg_summary.message = "Preconditioner update failed."; if (preconditioner_update_was_successful) { cg_summary = cg_solver.Solve(schur_complement_.get(), schur_complement_->rhs().data(), cg_per_solve_options, reduced_linear_system_solution_.data()); - if (cg_summary.termination_type != FAILURE) { + if (cg_summary.termination_type != LINEAR_SOLVER_FAILURE && + cg_summary.termination_type != LINEAR_SOLVER_FATAL_ERROR) { schur_complement_->BackSubstitute( reduced_linear_system_solution_.data(), x); } } - - VLOG(2) << "CG Iterations : " << cg_summary.num_iterations; - event_logger.AddEvent("Solve"); return cg_summary; } |