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Add fake FloatCXSparseCholesky and FloatSuiteSparseCholesky

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Change-Id: I8d61144d0678b8da92322a18517fa6924d950653
This commit is contained in:
Sameer Agarwal
2018-04-12 11:20:48 -07:00
parent 93ba16fefc
commit 3b2f1f7d28
6 changed files with 224 additions and 2 deletions
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internal/ceres/CMakeLists.txt
+2
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@@ -67,6 +67,8 @@ set(CERES_INTERNAL_SRC
evaluator.cc
eigensparse.cc
file.cc
float_suitesparse.cc
float_cxsparse.cc
function_sample.cc
gradient_checker.cc
gradient_checking_cost_function.cc
internal/ceres/float_cxsparse.cc
+47
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@@ -0,0 +1,47 @@
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2018 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
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// 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
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#include "ceres/float_cxsparse.h"
#if !defined(CERES_NO_CXSPARSE)
namespace ceres {
namespace internal {
std::unique_ptr<SparseCholesky> FloatCXSparseCholesky::Create(
OrderingType ordering_type) {
LOG(FATAL) << "FloatCXSparseCholesky is not available.";
return std::unique_ptr<SparseCholesky>();
}
} // namespace internal
} // namespace ceres
#endif // !defined(CERES_NO_CXSPARSE)
internal/ceres/float_cxsparse.h
+58
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@@ -0,0 +1,58 @@
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2018 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
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// 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
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#ifndef CERES_INTERNAL_FLOAT_CXSPARSE_H_
#define CERES_INTERNAL_FLOAT_CXSPARSE_H_
// This include must come before any #ifndef check on Ceres compile options.
#include "ceres/internal/port.h"
#if !defined(CERES_NO_CXSPARSE)
#include <memory>
#include "ceres/sparse_cholesky.h"
namespace ceres {
namespace internal {
// Fake implementation of a single precision Sparse Cholesky using
// CXSparse.
class FloatCXSparseCholesky : public SparseCholesky {
public:
static std::unique_ptr<SparseCholesky> Create(
OrderingType ordering_type);
};
} // namespace internal
} // namespace ceres
#endif // !defined(CERES_NO_CXSPARSE)
#endif // CERES_INTERNAL_FLOAT_CXSPARSE_H_
internal/ceres/float_suitesparse.cc
+47
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@@ -0,0 +1,47 @@
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2018 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
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// 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
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#include "ceres/float_suitesparse.h"
#if !defined(CERES_NO_SUITESPARSE)
namespace ceres {
namespace internal {
std::unique_ptr<SparseCholesky> FloatSuiteSparseCholesky::Create(
OrderingType ordering_type) {
LOG(FATAL) << "FloatSuiteSparseCholesky is not available.";
return std::unique_ptr<SparseCholesky>();
}
} // namespace internal
} // namespace ceres
#endif // !defined(CERES_NO_SUITESPARSE)
internal/ceres/float_suitesparse.h
+58
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@@ -0,0 +1,58 @@
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2018 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
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// 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
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#ifndef CERES_INTERNAL_FLOAT_SUITESPARSE_H_
#define CERES_INTERNAL_FLOAT_SUITESPARSE_H_
// This include must come before any #ifndef check on Ceres compile options.
#include "ceres/internal/port.h"
#include <memory>
#include "ceres/sparse_cholesky.h"
#if !defined(CERES_NO_SUITESPARSE)
namespace ceres {
namespace internal {
// Fake implementation of a single precision Sparse Cholesky using
// SuiteSparse.
class FloatSuiteSparseCholesky : public SparseCholesky {
public:
static std::unique_ptr<SparseCholesky> Create(
OrderingType ordering_type);
};
} // namespace internal
} // namespace ceres
#endif // !defined(CERES_NO_SUITESPARSE)
#endif // CERES_INTERNAL_FLOAT_SUITESPARSE_H_
internal/ceres/sparse_cholesky.cc
+12 -2
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@@ -32,6 +32,8 @@
#include "ceres/cxsparse.h"
#include "ceres/eigensparse.h"
#include "ceres/float_cxsparse.h"
#include "ceres/float_suitesparse.h"
#include "ceres/iterative_refiner.h"
#include "ceres/suitesparse.h"
@@ -46,7 +48,11 @@ std::unique_ptr<SparseCholesky> SparseCholesky::Create(
switch (options.sparse_linear_algebra_library_type) {
case SUITE_SPARSE:
#ifndef CERES_NO_SUITESPARSE
sparse_cholesky = SuiteSparseCholesky::Create(ordering_type);
if (options.use_mixed_precision_solves) {
sparse_cholesky = FloatSuiteSparseCholesky::Create(ordering_type);
} else {
sparse_cholesky = SuiteSparseCholesky::Create(ordering_type);
}
break;
#else
LOG(FATAL) << "Ceres was compiled without support for SuiteSparse.";
@@ -67,7 +73,11 @@ std::unique_ptr<SparseCholesky> SparseCholesky::Create(
case CX_SPARSE:
#ifndef CERES_NO_CXSPARSE
sparse_cholesky = CXSparseCholesky::Create(ordering_type);
if (options.use_mixed_precision_solves) {
sparse_cholesky = FloatCXSparseCholesky::Create(ordering_type);
} else {
sparse_cholesky = CXSparseCholesky::Create(ordering_type);
}
#else
LOG(FATAL) << "Ceres was compiled without support for CXSparse.";
#endif