Make the min. required version of SuiteSparse to be 4.5.6
With this change we can drop the complicated/conditional handling
around CAMD and assume that it is always available.
Change-Id: I93e1da676fb75817f79824b8b2b6549d03f278b0
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f6bf905..d72fe29 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -266,7 +266,7 @@
# built with SuiteSparse support.
# Check for SuiteSparse and dependencies.
- find_package(SuiteSparse 4.0 COMPONENTS CHOLMOD SPQR)
+ find_package(SuiteSparse 4.5.6 COMPONENTS CHOLMOD SPQR)
if (SuiteSparse_FOUND)
set(SuiteSparse_DEPENDENCY "find_dependency(SuiteSparse ${SuiteSparse_VERSION})")
# By default, if all of SuiteSparse's dependencies are found, Ceres is
diff --git a/docs/source/installation.rst b/docs/source/installation.rst
index fa845c1..7cce067 100644
--- a/docs/source/installation.rst
+++ b/docs/source/installation.rst
@@ -68,7 +68,7 @@
examples and tests and usually a dependency for glog.
- `SuiteSparse <http://faculty.cse.tamu.edu/davis/suitesparse.html>`_
- 4.0 or later. Needed for solving large sparse linear
+ 4.5.6 or later. Needed for solving large sparse linear
systems. **Optional; strongly recommended for large scale bundle
adjustment**
diff --git a/internal/ceres/reorder_program.cc b/internal/ceres/reorder_program.cc
index a4f7c35..bda4545 100644
--- a/internal/ceres/reorder_program.cc
+++ b/internal/ceres/reorder_program.cc
@@ -120,10 +120,9 @@
cholmod_sparse* block_jacobian_transpose = ss.CreateSparseMatrix(
const_cast<TripletSparseMatrix*>(&tsm_block_jacobian_transpose));
- // No CAMD or the user did not supply a useful ordering, then just
- // use regular AMD.
- if (parameter_block_ordering.NumGroups() <= 1 ||
- !SuiteSparse::IsConstrainedApproximateMinimumDegreeOrderingAvailable()) {
+ // If the user did not supply a useful ordering, then just use
+ // regular AMD.
+ if (parameter_block_ordering.NumGroups() <= 1) {
ss.ApproximateMinimumDegreeOrdering(block_jacobian_transpose, &ordering[0]);
} else {
vector<int> constraints;
@@ -331,10 +330,6 @@
const ParameterBlockOrdering& parameter_block_ordering, Program* program) {
#ifndef CERES_NO_SUITESPARSE
SuiteSparse ss;
- if (!SuiteSparse::IsConstrainedApproximateMinimumDegreeOrderingAvailable()) {
- return;
- }
-
vector<int> constraints;
vector<ParameterBlock*>& parameter_blocks =
*(program->mutable_parameter_blocks());
diff --git a/internal/ceres/suitesparse.cc b/internal/ceres/suitesparse.cc
index 7dffe1c..a7d28e6 100644
--- a/internal/ceres/suitesparse.cc
+++ b/internal/ceres/suitesparse.cc
@@ -352,16 +352,7 @@
bool SuiteSparse::ConstrainedApproximateMinimumDegreeOrdering(
cholmod_sparse* matrix, int* constraints, int* ordering) {
-#ifndef CERES_NO_CAMD
return cholmod_camd(matrix, nullptr, 0, constraints, ordering, &cc_);
-#else
- LOG(FATAL) << "Congratulations you have found a bug in Ceres."
- << "Ceres Solver was compiled with SuiteSparse "
- << "version 4.1.0 or less. Calling this function "
- << "in that case is a bug. Please contact the"
- << "the Ceres Solver developers.";
- return false;
-#endif
}
std::unique_ptr<SparseCholesky> SuiteSparseCholesky::Create(
diff --git a/internal/ceres/suitesparse.h b/internal/ceres/suitesparse.h
index ad7b0da..b8dc666 100644
--- a/internal/ceres/suitesparse.h
+++ b/internal/ceres/suitesparse.h
@@ -49,28 +49,6 @@
#include "cholmod.h"
#include "glog/logging.h"
-// Before SuiteSparse version 4.2.0, cholmod_camd was only enabled
-// if SuiteSparse was compiled with Metis support. This makes
-// calling and linking into cholmod_camd problematic even though it
-// has nothing to do with Metis. This has been fixed reliably in
-// 4.2.0.
-//
-// The fix was actually committed in 4.1.0, but there is
-// some confusion about a silent update to the tar ball, so we are
-// being conservative and choosing the next minor version where
-// things are stable.
-#if (SUITESPARSE_VERSION < 4002)
-#define CERES_NO_CAMD
-#endif
-
-// UF_long is deprecated but SuiteSparse_long is only available in
-// newer versions of SuiteSparse. So for older versions of
-// SuiteSparse, we define SuiteSparse_long to be the same as UF_long,
-// which is what recent versions of SuiteSparse do anyways.
-#ifndef SuiteSparse_long
-#define SuiteSparse_long UF_long
-#endif
-
#include "ceres/internal/disable_warnings.h"
namespace ceres::internal {
@@ -240,20 +218,6 @@
// Find a fill reducing ordering using nested dissection.
bool NestedDissectionOrdering(cholmod_sparse* matrix, int* ordering);
- // Before SuiteSparse version 4.2.0, cholmod_camd was only enabled
- // if SuiteSparse was compiled with Metis support. This makes
- // calling and linking into cholmod_camd problematic even though it
- // has nothing to do with Metis. This has been fixed reliably in
- // 4.2.0.
- //
- // The fix was actually committed in 4.1.0, but there is
- // some confusion about a silent update to the tar ball, so we are
- // being conservative and choosing the next minor version where
- // things are stable.
- static bool IsConstrainedApproximateMinimumDegreeOrderingAvailable() {
- return (SUITESPARSE_VERSION > 4001);
- }
-
// Nested dissection is only available if SuiteSparse is compiled
// with Metis support.
static bool IsNestedDissectionAvailable() {
@@ -274,9 +238,6 @@
// Calling ApproximateMinimumDegreeOrdering is equivalent to calling
// ConstrainedApproximateMinimumDegreeOrdering with a constraint
// array that puts all columns in the same elimination group.
- //
- // If CERES_NO_CAMD is defined then calling this function will
- // result in a crash.
bool ConstrainedApproximateMinimumDegreeOrdering(cholmod_sparse* matrix,
int* constraints,
int* ordering);
@@ -339,17 +300,6 @@
class CERES_NO_EXPORT SuiteSparse {
public:
- // Defining this static function even when SuiteSparse is not
- // available, allows client code to check for the presence of CAMD
- // without checking for the absence of the CERES_NO_CAMD symbol.
- //
- // This is safer because the symbol maybe missing due to a user
- // accidentally not including suitesparse.h in their code when
- // checking for the symbol.
- static bool IsConstrainedApproximateMinimumDegreeOrderingAvailable() {
- return false;
- }
-
void Free(void* /*arg*/) {}
};
diff --git a/internal/ceres/trust_region_preprocessor.cc b/internal/ceres/trust_region_preprocessor.cc
index 4b97021..daf6601 100644
--- a/internal/ceres/trust_region_preprocessor.cc
+++ b/internal/ceres/trust_region_preprocessor.cc
@@ -227,21 +227,15 @@
if (options.linear_solver_type == SPARSE_SCHUR) {
// When using SPARSE_SCHUR, we ignore the user's postordering
- // preferences in certain cases.
- //
- // 1. SUITE_SPARSE is the sparse linear algebra library requested
- // but cholmod_camd is not available.
- // 2. CX_SPARSE is the sparse linear algebra library requested.
+ // preferences if CX_SPARSE is the sparse linear algebra
+ // backend.
//
// This ensures that the linear solver does not assume that a
// fill-reducing pre-ordering has been done.
//
// TODO(sameeragarwal): Implement the reordering of parameter
// blocks for CX_SPARSE.
- if ((options.sparse_linear_algebra_library_type == SUITE_SPARSE &&
- !SuiteSparse::
- IsConstrainedApproximateMinimumDegreeOrderingAvailable()) ||
- (options.sparse_linear_algebra_library_type == CX_SPARSE)) {
+ if (options.sparse_linear_algebra_library_type == CX_SPARSE) {
pp->linear_solver_options.use_postordering = true;
}
}
