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Nested dissection for ACCELERATE_SPARSE & EIGEN_SPARSE

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Change-Id: Iec8ea6b0a537559b48b59bcfc91b94b58cb2070e
This commit is contained in:
Sameer Agarwal
2022-05-22 10:58:35 -07:00
parent d87fd551bc
commit fbc2eea166
10 changed files with 192 additions and 64 deletions
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examples/bundle_adjuster.cc
+10 -16
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@@ -92,10 +92,11 @@ DEFINE_string(visibility_clustering, "canonical_views",
"single_linkage, canonical_views");
DEFINE_string(sparse_linear_algebra_library, "suite_sparse",
"Options are: suite_sparse and cx_sparse.");
"Options are: suite_sparse, cx_sparse, accelerate_sparse and eigen_sparse.");
DEFINE_string(dense_linear_algebra_library, "eigen",
"Options are: eigen, lapack, and cuda");
DEFINE_string(ordering, "amd", "Options are: amd, nesdis and user");
DEFINE_string(ordering_type, "amd", "Options are: amd, nesdis");
DEFINE_string(linear_solver_ordering, "automatic", "Options are: automatic and user");
DEFINE_bool(use_quaternions, false, "If true, uses quaternions to represent "
"rotations. If false, angle axis is used.");
@@ -147,6 +148,9 @@ void SetLinearSolver(Solver::Options* options) {
CHECK(StringToDenseLinearAlgebraLibraryType(
CERES_GET_FLAG(FLAGS_dense_linear_algebra_library),
&options->dense_linear_algebra_library_type));
CHECK(
StringToLinearSolverOrderingType(CERES_GET_FLAG(FLAGS_ordering_type),
&options->linear_solver_ordering_type));
options->use_explicit_schur_complement =
CERES_GET_FLAG(FLAGS_explicit_schur_complement);
options->use_mixed_precision_solves =
@@ -222,12 +226,10 @@ void SetOrdering(BALProblem* bal_problem, Solver::Options* options) {
// ITERATIVE_SCHUR solvers make use of this specialized
// structure.
//
// This can either be done by specifying Options::ordering_type =
// ceres::SCHUR, in which case Ceres will automatically determine
// the right ParameterBlock ordering, or by manually specifying a
// suitable ordering vector and defining
// Options::num_eliminate_blocks.
if (CERES_GET_FLAG(FLAGS_ordering) == "user") {
// This can either be done by specifying a
// Options::linear_solver_ordering or having Ceres figure it out
// automatically using a greedy maximum independent set algorithm.
if (CERES_GET_FLAG(FLAGS_linear_solver_ordering) == "user") {
auto* ordering = new ceres::ParameterBlockOrdering;
// The points come before the cameras.
@@ -242,14 +244,6 @@ void SetOrdering(BALProblem* bal_problem, Solver::Options* options) {
}
options->linear_solver_ordering.reset(ordering);
} else {
if (CERES_GET_FLAG(FLAGS_ordering) == "amd") {
options->linear_solver_ordering_type = AMD;
} else if (CERES_GET_FLAG(FLAGS_ordering) == "nesdis") {
options->linear_solver_ordering_type = NESDIS;
} else {
LOG(FATAL) << "Unknown ordering type: " << CERES_GET_FLAG(FLAGS_ordering);
}
}
}