Remove remaining references to CXSparse Also remove examples/Makefile.example as it is hopelessly out of date. Change-Id: I2ed2f0c4768eacbf65cf76299c7a8b3474eb750b
diff --git a/examples/Makefile.example b/examples/Makefile.example deleted file mode 100644 index f2b0dc0..0000000 --- a/examples/Makefile.example +++ /dev/null
@@ -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)
diff --git a/internal/ceres/dynamic_sparse_normal_cholesky_solver.h b/internal/ceres/dynamic_sparse_normal_cholesky_solver.h index 022b38e..394ba2a 100644 --- a/internal/ceres/dynamic_sparse_normal_cholesky_solver.h +++ b/internal/ceres/dynamic_sparse_normal_cholesky_solver.h
@@ -67,9 +67,6 @@ 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);
diff --git a/internal/ceres/problem_impl.cc b/internal/ceres/problem_impl.cc index 0a6b446..52575ee 100644 --- a/internal/ceres/problem_impl.cc +++ b/internal/ceres/problem_impl.cc
@@ -667,11 +667,11 @@ 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;