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Remove remaining references to CXSparse

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Also remove examples/Makefile.example as it is hopelessly
out of date.

Change-Id: I2ed2f0c4768eacbf65cf76299c7a8b3474eb750b
This commit is contained in:
Sameer Agarwal
2024-05-21 12:18:59 -07:00
parent 522210a08d
commit f71181a92d
3 changed files with 5 additions and 90 deletions
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examples/Makefile.example
-82
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@@ -1,82 +0,0 @@
# Ceres Solver - A fast non-linear least squares minimizer
# Copyright 2015 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: keir@google.com (Keir Mierle)
#
# This is an example Makefile for using Ceres. In practice, the Ceres authors
# suggest using CMake instead, but if Make is needed for some reason, this
# example serves to make it easy to do so.
# This should point to place where you unpacked or cloned Ceres.
CERES_SRC_DIR := /home/keir/wrk/ceres-extra
# This should point to the place where you built Ceres. If you got Ceres by
# installing it, then this will likely be /usr/local/lib.
CERES_BIN_DIR := /home/keir/wrk/ceres-extra-bin
# The place you unpacked or cloned Eigen. If Eigen was installed from packages,
# this will likely be /usr/local/include.
EIGEN_SRC_DIR := /home/keir/src/eigen-3.0.5
INCLUDES := -I$(CERES_SRC_DIR)/include \
-I$(EIGEN_SRC_DIR)
CERES_LIBRARY := -lceres
CERES_LIBRARY_PATH := -L$(CERES_BIN_DIR)/lib
CERES_LIBRARY_DEPENDENCIES = -lgflags -lglog
# If Ceres was built with Suitesparse:
CERES_LIBRARY_DEPENDENCIES += -llapack -lcamd -lamd -lccolamd -lcolamd -lcholmod
# If Ceres was built with CXSparse:
CERES_LIBRARY_DEPENDENCIES += -lcxsparse
# If Ceres was built with OpenMP:
CERES_LIBRARY_DEPENDENCIES += -fopenmp -lpthread -lgomp -lm
# The set of object files for your application.
APPLICATION_OBJS := simple_bundle_adjuster.o
all: simple_bundle_adjuster
simple_bundle_adjuster: $(APPLICATION_OBJS)
g++ \
$(APPLICATION_OBJS) \
$(CERES_LIBRARY_PATH) \
$(CERES_LIBRARY) \
$(CERES_LIBRARY_DEPENDENCIES) \
-o simple_bundle_adjuster
# Disabling debug asserts via -DNDEBUG helps make Eigen faster, at the cost of
# not getting handy assert failures when there are issues in your code.
CFLAGS := -O2 -DNDEBUG
# If you have files ending in .cpp instead of .cc, fix the next line
# appropriately.
%.o: %.cc $(DEPS)
g++ -c -o $@ $< $(CFLAGS) $(INCLUDES)
internal/ceres/dynamic_sparse_normal_cholesky_solver.h
-3
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@@ -67,9 +67,6 @@ class CERES_NO_EXPORT DynamicSparseNormalCholeskySolver
LinearSolver::Summary SolveImplUsingSuiteSparse(CompressedRowSparseMatrix* A,
double* rhs_and_solution);
LinearSolver::Summary SolveImplUsingCXSparse(CompressedRowSparseMatrix* A,
double* rhs_and_solution);
LinearSolver::Summary SolveImplUsingEigen(CompressedRowSparseMatrix* A,
double* rhs_and_solution);
internal/ceres/problem_impl.cc
+5 -5
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@@ -667,11 +667,11 @@ bool ProblemImpl::Evaluate(const Problem::EvaluateOptions& evaluate_options,
Evaluator::Options evaluator_options;
// Even though using SPARSE_NORMAL_CHOLESKY requires SuiteSparse or
// CXSparse, here it just being used for telling the evaluator to
// use a SparseRowCompressedMatrix for the jacobian. This is because
// the Evaluator decides the storage for the Jacobian based on the
// type of linear solver being used.
// Even though using SPARSE_NORMAL_CHOLESKY requires a sparse linear algebra
// library here it just being used for telling the evaluator to use a
// SparseRowCompressedMatrix for the jacobian. This is because the Evaluator
// decides the storage for the Jacobian based on the type of linear solver
// being used.
evaluator_options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
evaluator_options.num_threads = evaluate_options.num_threads;