commit 1e3cbd9a4442cdd8fda43a7fb452f19dac8c74af
author Petter Strandmark <strandmark@google.com> Wed Aug 29 09:39:56 2012 -0700
committer Petter Strandmark <strandmark@google.com> Thu Aug 30 09:45:20 2012 -0700
tree 36bd00a92ef27ab0356f18b93eecac05424a2aa5
parent 8b64140878ccd1e183d3715c38942a81fdecefde

Caching the symbolic Cholesky factorization when using CXSparse

Average factorization times for bundle adjustment test problem:
SuiteSparse: 0.2794 s.
CXSparse: 0.4039 s.
CXSparse cached: 0.2399 s.

CXSparse will still be slower, though, because it has to compute
the transpose and J^T * J.

Change-Id: If9cdaa3dd520bee84b56e5fd4953b56a93db6bde

internal/ceres/schur_complement_solver.h

diff --git a/internal/ceres/schur_complement_solver.h b/internal/ceres/schur_complement_solver.h
index a8f0852..ea1b318 100644
--- a/internal/ceres/schur_complement_solver.h
+++ b/internal/ceres/schur_complement_solver.h
@@ -33,9 +33,11 @@
 
 #include <set>
 #include <utility>
+
 #include "ceres/block_random_access_matrix.h"
 #include "ceres/block_sparse_matrix.h"
 #include "ceres/block_structure.h"
+#include "ceres/cxsparse.h"
 #include "ceres/linear_solver.h"
 #include "ceres/schur_eliminator.h"
 #include "ceres/suitesparse.h"
@@ -169,6 +171,12 @@
   // once and reused in subsequent calls.
   cholmod_factor* factor_;
 #endif  // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+  CXSparse cxsparse_;
+  // Cached factorization
+  cs_dis* cxsparse_factor_;
+#endif  // CERES_NO_CXSPARSE
   CERES_DISALLOW_COPY_AND_ASSIGN(SparseSchurComplementSolver);
 };