commit 08e60379bac997b50aa59a1b47292aaf47f2c303
author Sameer Agarwal <sameeragarwal@google.com> Tue Jun 13 00:12:00 2017 -0700
committer Sameer Agarwal <sameeragarwal@google.com> Wed Jun 21 23:41:36 2017 -0700
tree ec458fd9a3dc220b4d706749774831fd98c191d5
parent b5b394c7388c80b7aebe91a255111c15b5013ce8

Integrate InnerProductComputer

Despite its relative size, this is very significant change
to Ceres.

Why
===

Up till now, when the user chose SPARSE_NORMAL_CHOLESKY,
the Jacobian was evaluated in a CompressedRowSparseMatrix,
which was then use to compute the normal equations which were
passed to a sparse linear algebra library for factorization.

The reason to do this was because in the case of SuiteSparse,
we were able to pass the Jacobian matrix directly without
computing the normal equations and SuiteSparse/CHOLMOD did the
normal equation computation.

This turned out to be slow, so Cheng Wang implemented a high
performance version of the matrix-matrix multiply to compute
the normal equations, and all the sparse linear algebra libraries
now are passed the normal equations.

So that raises the question, as to what the best representation
of the Jacobian which is suitable for the normal equation computation.

Turns out BlockSparseMatrix is ideal. It brings two advantages.

1. Jacobian evaluation into a BlockSparseMatrix is considerably
   faster when using a BlockSparseMatrix than
   CompressedRowSparseMatrix. This is because we save on a bunch
   of memory copies.

2. To make the matrix multiplication fast and use the block structure
   Cheng Wang had to essentially make the CompressedRowSparseMatrix
   carry a bunch of sidecar information about the block sparsity,
   essentially making it behave like a BlockSparseMatrix. The resulting
   code had fairly complicated indexing and complicated the semantics
   of CompressedRowSparseMatrix. The new InnerProductComputer class
   does away with all that and once this CL goes in, I will be able to
   remove all that code and simplify the semantics of
   CompressedRowSparseMatrix.

Changes
=======

1. Use InnerProductComputer in SparseNormalCholeskySolver.
2. Change the evaluator instantiated for SPARSE_NORMAL_CHOLESKY with
   static sparsity inside evaluator.cc
3. The former change necessitates that we change ProblemImpl::Evaluate
   to create the evaluate it needs on its own, because it was
   depending on passing "SPARSE_NORMAL_CHOLESKY" as linear solver type
   to the evaluator factor to get an Evaluator which can use
   CompressedRowSparseMatrix objects for storing the Jacobian.
4. Update the tests for SparseNormalCholeskySolver.
5. Separate out the tests for DynamicSparseNormalCholeskySolver into its
   own file.

Change-Id: I2ef7ef8fbfbb4967d0c1ec2068c1c778248fdf5b