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Expand check for lack of a sparse linear algebra library.

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The LinearSolver factory was creating a NULL linear solver
if only Eigen's sparse linear algebra backend was available.

Thanks to Michael Samples and Domink Reitzle for reporting this.

Change-Id: I35e3a6c0fd0da2a31934adb5dfe4cad29577cc73
This commit is contained in:
Sameer Agarwal
2014-08-27 22:54:00 -07:00
parent 12eb389b4e
commit 62a8d64453
2 changed files with 44 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
internal/ceres/linear_solver.cc
+6 -2
View File
@@ -75,14 +75,18 @@ LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) {
return new CgnrSolver(options);
case SPARSE_NORMAL_CHOLESKY:
#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
#if defined(CERES_NO_SUITESPARSE) && \
defined(CERES_NO_CXSPARSE) && \
!defined(CERES_USE_EIGEN_SPARSE)
return NULL;
#else
return new SparseNormalCholeskySolver(options);
#endif
case SPARSE_SCHUR:
#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
#if defined(CERES_NO_SUITESPARSE) && \
defined(CERES_NO_CXSPARSE) && \
!defined(CERES_USE_EIGEN_SPARSE)
return NULL;
#else
return new SparseSchurComplementSolver(options);
internal/ceres/solver_test.cc
+38 -2
View File
@@ -247,6 +247,14 @@ TEST(Solver, SparseNormalCholeskyNoSuiteSparse) {
string message;
EXPECT_FALSE(options.IsValid(&message));
}
TEST(Solver, SparseSchurNoSuiteSparse) {
Solver::Options options;
options.sparse_linear_algebra_library_type = SUITE_SPARSE;
options.linear_solver_type = SPARSE_SCHUR;
string message;
EXPECT_FALSE(options.IsValid(&message));
}
#endif
#if defined(CERES_NO_CXSPARSE)
@@ -257,6 +265,32 @@ TEST(Solver, SparseNormalCholeskyNoCXSparse) {
string message;
EXPECT_FALSE(options.IsValid(&message));
}
TEST(Solver, SparseSchurNoCXSparse) {
Solver::Options options;
options.sparse_linear_algebra_library_type = CX_SPARSE;
options.linear_solver_type = SPARSE_SCHUR;
string message;
EXPECT_FALSE(options.IsValid(&message));
}
#endif
#if !defined(CERES_USE_EIGEN_SPARSE)
TEST(Solver, SparseNormalCholeskyNoEigenSparse) {
Solver::Options options;
options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
string message;
EXPECT_FALSE(options.IsValid(&message));
}
TEST(Solver, SparseSchurNoEigenSparse) {
Solver::Options options;
options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
options.linear_solver_type = SPARSE_SCHUR;
string message;
EXPECT_FALSE(options.IsValid(&message));
}
#endif
TEST(Solver, IterativeLinearSolverForDogleg) {
@@ -284,7 +318,9 @@ TEST(Solver, LinearSolverTypeNormalOperation) {
EXPECT_TRUE(options.IsValid(&message));
options.linear_solver_type = SPARSE_SCHUR;
#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
#if defined(CERES_NO_SUITESPARSE) && \
defined(CERES_NO_CXSPARSE) && \
!defined(CERES_USE_EIGEN_SPARSE)
EXPECT_FALSE(options.IsValid(&message));
#else
EXPECT_TRUE(options.IsValid(&message));
@@ -311,7 +347,7 @@ class DummyCostFunction : public SizedCostFunction<kNumResiduals, N1, N2, N3> {
TEST(Solver, FixedCostForConstantProblem) {
double x = 1.0;
Problem problem;
problem.AddResidualBlock(new DummyCostFunction<2,1>(), NULL, &x);
problem.AddResidualBlock(new DummyCostFunction<2, 1>(), NULL, &x);
problem.SetParameterBlockConstant(&x);
const double expected_cost = 41.0 / 2.0; // 1/2 * ((4 + 0)^2 + (4 + 1)^2)
Solver::Options options;