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Multiple sparse linear algebra backends.

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1. Added support for CXSparse - SparseNormalCholesky and
   SchurComplementSolver support SuiteSparse and CXSparse now.
   I am not sure I will add suport for visibility based
   preconditioning using CXSparse. Its not a high priority.

2. New enum SparseLinearAlgebraLibraryType which allows the user
   to indicate which sparse linear algebra library should be used.

3. Updated tests for SolverImpl and system_test.

4. Build system changes to automatically detect CXSparse and
   link to it by default -- just like SuiteSparse.

5. Minor bug fixes dealing in the cmake files and VBP.

6. Changed the order of the system test.

7. Deduped the unsymmetric linear solver test.

Change-Id: I33252a103c87b722ecb7ed7b5f0ae7fd91249244
This commit is contained in:
Sameer Agarwal
2012-05-29 00:27:57 -07:00
parent 319ef465e2
commit b051873a55
17 changed files with 547 additions and 214 deletions
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include/ceres/solver.h
+17 -4
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@@ -67,11 +67,18 @@ class Solver {
function_tolerance = 1e-6;
gradient_tolerance = 1e-10;
parameter_tolerance = 1e-8;
#ifndef CERES_NO_SUITESPARSE
linear_solver_type = SPARSE_NORMAL_CHOLESKY;
#else
#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
linear_solver_type = DENSE_QR;
#endif // CERES_NO_SUITESPARSE
#else
linear_solver_type = SPARSE_NORMAL_CHOLESKY;
#endif
sparse_linear_algebra_library = SUITE_SPARSE;
#if defined(CERES_NO_SUITESPARSE) && !defined(CERES_NO_CXSPARSE)
sparse_linear_algebra_library = CX_SPARSE;
#endif
preconditioner_type = JACOBI;
num_linear_solver_threads = 1;
num_eliminate_blocks = 0;
@@ -154,6 +161,12 @@ class Solver {
// Type of preconditioner to use with the iterative linear solvers.
PreconditionerType preconditioner_type;
// Ceres supports using multiple sparse linear algebra libraries
// for sparse matrix ordering and factorizations. Currently,
// SUITE_SPARSE and CX_SPARSE are the valid choices, depending on
// whether they are linked into Ceres at build time.
SparseLinearAlgebraLibraryType sparse_linear_algebra_library;
// Number of threads used by Ceres to solve the Newton
// step. Currently only the SPARSE_SCHUR solver is capable of
// using this setting.