Remove support for CXSparse
Eigen provides all the functionality that we need from CXSparse
with a more liberal license.
I will update the documentation in a follow up CL.
Change-Id: I0b9fd8be3c27754cc2986cc0e06595c8b3fdec0b
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d72fe29..21eaefb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -137,7 +137,6 @@
option(MINIGLOG "Use a stripped down version of glog." OFF)
option(GFLAGS "Enable Google Flags." ON)
option(SUITESPARSE "Enable SuiteSparse." ON)
-option(CXSPARSE "Enable CXSparse." ON)
if (APPLE)
option(ACCELERATESPARSE
"Enable use of sparse solvers in Apple's Accelerate framework." ON)
@@ -193,7 +192,7 @@
# Apple claims that the BLAS call dsyrk_ is a private API, and will not allow
# you to submit to the Apple Store if the symbol is present.
update_cache_variable(LAPACK OFF)
- message(STATUS "Building for iOS: SuiteSparse, CXSparse, LAPACK, gflags, "
+ message(STATUS "Building for iOS: SuiteSparse, LAPACK, gflags, "
"and OpenMP are not available.")
update_cache_variable(BUILD_EXAMPLES OFF)
@@ -291,32 +290,6 @@
list(APPEND CERES_COMPILE_OPTIONS CERES_NO_SUITESPARSE)
endif (SUITESPARSE)
-# CXSparse.
-if (CXSPARSE)
- # Don't search with REQUIRED as we can continue without CXSparse.
- find_package(CXSparse)
- if (CXSparse_FOUND)
- set(CXSparse_DEPENDENCY "find_dependency(CXSparse ${CXSparse_VERSION})")
- # By default, if CXSparse and all dependencies are found, Ceres is
- # built with CXSparse support.
- message("-- Found CXSparse version: ${CXSparse_VERSION}, "
- "building with CXSparse.")
-
- if (CXSparse_NO_CMAKE OR NOT CXSparse_DIR)
- install(FILES ${Ceres_SOURCE_DIR}/cmake/FindCXSparse.cmake
- DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
- endif (CXSparse_NO_CMAKE OR NOT CXSparse_DIR)
- else (CXSparse_FOUND)
- # Disable use of CXSparse if it cannot be found and continue.
- message("-- Did not find CXSparse, Building without CXSparse.")
- update_cache_variable(CXSPARSE OFF)
- list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CXSPARSE)
- endif (CXSparse_FOUND)
-else (CXSPARSE)
- message("-- Building without CXSparse.")
- list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CXSPARSE)
-endif (CXSPARSE)
-
if (ACCELERATESPARSE)
find_package(AccelerateSparse)
if (AccelerateSparse_FOUND)
@@ -336,9 +309,9 @@
endif()
# Ensure that the user understands they have disabled all sparse libraries.
-if (NOT SUITESPARSE AND NOT CXSPARSE AND NOT EIGENSPARSE AND NOT ACCELERATESPARSE)
+if (NOT SUITESPARSE AND NOT EIGENSPARSE AND NOT ACCELERATESPARSE)
message(" ===============================================================")
- message(" Compiling without any sparse library: SuiteSparse, CXSparse ")
+ message(" Compiling without any sparse library: SuiteSparse, ")
message(" EigenSparse & Apple's Accelerate are all disabled or unavailable. ")
message(" No sparse linear solvers (SPARSE_NORMAL_CHOLESKY & SPARSE_SCHUR)")
message(" will be available when Ceres is used.")
diff --git a/bazel/ceres.bzl b/bazel/ceres.bzl
index c76e23a..87dca32 100644
--- a/bazel/ceres.bzl
+++ b/bazel/ceres.bzl
@@ -56,7 +56,6 @@
"cost_function.cc",
"covariance.cc",
"covariance_impl.cc",
- "cxsparse.cc",
"dense_cholesky.cc",
"dense_normal_cholesky_solver.cc",
"dense_qr.cc",
@@ -72,7 +71,6 @@
"evaluator.cc",
"file.cc",
"first_order_function.cc",
- "float_cxsparse.cc",
"float_suitesparse.cc",
"function_sample.cc",
"gradient_checker.cc",
@@ -206,7 +204,7 @@
# https://github.com/ceres-solver/ceres-solver/issues/396
defines = [
"CERES_NO_SUITESPARSE",
- "CERES_NO_CXSPARSE",
+ "CERES_NO_METIS",
"CERES_NO_ACCELERATE_SPARSE",
"CERES_NO_LAPACK",
"CERES_USE_EIGEN_SPARSE",
diff --git a/cmake/CeresCompileOptionsToComponents.cmake b/cmake/CeresCompileOptionsToComponents.cmake
index 5be0fb2..0baf214 100644
--- a/cmake/CeresCompileOptionsToComponents.cmake
+++ b/cmake/CeresCompileOptionsToComponents.cmake
@@ -77,8 +77,6 @@
add_to_output_if_not_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
CERES_NO_SUITESPARSE "SuiteSparse;SparseLinearAlgebraLibrary")
add_to_output_if_not_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
- CERES_NO_CXSPARSE "CXSparse;SparseLinearAlgebraLibrary")
- add_to_output_if_not_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
CERES_NO_ACCELERATE_SPARSE "AccelerateSparse;SparseLinearAlgebraLibrary")
add_to_output_if_not_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
CERES_RESTRICT_SCHUR_SPECIALIZATION "SchurSpecializations")
diff --git a/cmake/CeresConfig.cmake.in b/cmake/CeresConfig.cmake.in
index 4745483..028eabb 100644
--- a/cmake/CeresConfig.cmake.in
+++ b/cmake/CeresConfig.cmake.in
@@ -179,7 +179,6 @@
find_dependency(Threads)
# Optional dependencies
-@CXSparse_DEPENDENCY@
@SuiteSparse_DEPENDENCY@
# As imported CMake targets are not re-exported when a dependent target is
diff --git a/cmake/FindCXSparse.cmake b/cmake/FindCXSparse.cmake
deleted file mode 100644
index afd1ebf..0000000
--- a/cmake/FindCXSparse.cmake
+++ /dev/null
@@ -1,240 +0,0 @@
-# Ceres Solver - A fast non-linear least squares minimizer
-# Copyright 2022 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: alexs.mac@gmail.com (Alex Stewart)
-#
-
-#[=======================================================================[.rst:
-FindCXSparse
-============
-
-Find CXSparse and its dependencies.
-
-This module defines the following variables which should be referenced by the
-caller to use the library.
-
-``CXSparse_FOUND``
- ``TRUE`` iff CXSparse and all dependencies have been found.
-
-``CXSparse_VERSION``
- Extracted from ``cs.h``.
-
-``CXSparse_VERSION_MAJOR``
- Equal to 3 if ``CXSparse_VERSION`` = 3.1.2
-
-``CXSparse_VERSION_MINOR``
- Equal to 1 if ``CXSparse_VERSION`` = 3.1.2
-
-``CXSparse_VERSION_PATCH``
- Equal to 2 if ``CXSparse_VERSION`` = 3.1.2
-
-The following variables control the behaviour of this module:
-
-``CXSparse_NO_CMAKE``
- Do not attempt to use the native CXSparse CMake package configuration.
-
-Targets
--------
-
-The following target defines CXSparse.
-
-``CXSparse::CXSparse``
- The main CXSparse to be linked against.
-
-The following variables are also defined by this module, but in line with CMake
-recommended ``find_package`` module style should NOT be referenced directly by
-callers (use the plural variables detailed above instead). These variables do
-however affect the behaviour of the module via ``find_[path/library]()`` which
-are NOT re-called (i.e., search for library is not repeated) if these variables
-are set with valid values *in the CMake cache*. This means that if these
-variables are set directly in the cache, either by the user in the CMake GUI, or
-by the user passing ``-DVAR=VALUE`` directives to CMake when called (which
-explicitly defines a cache variable), then they will be used verbatim, bypassing
-the ``HINTS`` variables and other hard-coded search locations.
-
-``CXSparse_INCLUDE_DIR``
- Include directory for CXSparse, not including the include directory of any
- dependencies.
-
-``CXSparse_LIBRARY``
- CXSparse library, not including the libraries of any dependencies.
-]=======================================================================]
-
-if (NOT CXSparse_NO_CMAKE)
- find_package (CXSparse NO_MODULE QUIET)
-endif (NOT CXSparse_NO_CMAKE)
-
-if (CXSparse_FOUND)
- return ()
-endif (CXSparse_FOUND)
-
-# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when
-# FindCXSparse was invoked.
-macro(CXSparse_RESET_FIND_LIBRARY_PREFIX)
- if (MSVC)
- set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")
- endif (MSVC)
-endmacro(CXSparse_RESET_FIND_LIBRARY_PREFIX)
-
-# Called if we failed to find CXSparse or any of it's required dependencies,
-# unsets all public (designed to be used externally) variables and reports
-# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
-macro(CXSparse_REPORT_NOT_FOUND REASON_MSG)
- # Make results of search visible in the CMake GUI if CXSparse has not
- # been found so that user does not have to toggle to advanced view.
- mark_as_advanced(CLEAR CXSparse_INCLUDE_DIR
- CXSparse_LIBRARY)
-
- cxsparse_reset_find_library_prefix()
-
- # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
- # use the camelcase library name, not uppercase.
- if (CXSparse_FIND_QUIETLY)
- message(STATUS "Failed to find CXSparse - " ${REASON_MSG} ${ARGN})
- elseif (CXSparse_FIND_REQUIRED)
- message(FATAL_ERROR "Failed to find CXSparse - " ${REASON_MSG} ${ARGN})
- else()
- # Neither QUIETLY nor REQUIRED, use no priority which emits a message
- # but continues configuration and allows generation.
- message("-- Failed to find CXSparse - " ${REASON_MSG} ${ARGN})
- endif ()
- return()
-endmacro(CXSparse_REPORT_NOT_FOUND)
-
-# Handle possible presence of lib prefix for libraries on MSVC, see
-# also CXSparse_RESET_FIND_LIBRARY_PREFIX().
-if (MSVC)
- # Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES
- # s/t we can set it back before returning.
- set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")
- # The empty string in this list is important, it represents the case when
- # the libraries have no prefix (shared libraries / DLLs).
- set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")
-endif (MSVC)
-
-# Additional suffixes to try appending to each search path.
-list(APPEND CXSparse_CHECK_PATH_SUFFIXES
- suitesparse) # Linux/Windows
-
-# Search supplied hint directories first if supplied.
-find_path(CXSparse_INCLUDE_DIR
- NAMES cs.h
- PATH_SUFFIXES ${CXSparse_CHECK_PATH_SUFFIXES})
-if (NOT CXSparse_INCLUDE_DIR OR
- NOT EXISTS ${CXSparse_INCLUDE_DIR})
- cxsparse_report_not_found(
- "Could not find CXSparse include directory, set CXSparse_INCLUDE_DIR "
- "to directory containing cs.h")
-endif (NOT CXSparse_INCLUDE_DIR OR
- NOT EXISTS ${CXSparse_INCLUDE_DIR})
-
-find_library(CXSparse_LIBRARY NAMES cxsparse
- PATH_SUFFIXES ${CXSparse_CHECK_PATH_SUFFIXES})
-
-if (NOT CXSparse_LIBRARY OR
- NOT EXISTS ${CXSparse_LIBRARY})
- cxsparse_report_not_found(
- "Could not find CXSparse library, set CXSparse_LIBRARY "
- "to full path to libcxsparse.")
-endif (NOT CXSparse_LIBRARY OR
- NOT EXISTS ${CXSparse_LIBRARY})
-
-# Mark internally as found, then verify. CXSparse_REPORT_NOT_FOUND() unsets
-# if called.
-set(CXSparse_FOUND TRUE)
-
-# Extract CXSparse version from cs.h
-if (CXSparse_INCLUDE_DIR)
- set(CXSparse_VERSION_FILE ${CXSparse_INCLUDE_DIR}/cs.h)
- if (NOT EXISTS ${CXSparse_VERSION_FILE})
- cxsparse_report_not_found(
- "Could not find file: ${CXSparse_VERSION_FILE} "
- "containing version information in CXSparse install located at: "
- "${CXSparse_INCLUDE_DIR}.")
- else (NOT EXISTS ${CXSparse_VERSION_FILE})
- file(READ ${CXSparse_INCLUDE_DIR}/cs.h CXSparse_VERSION_FILE_CONTENTS)
-
- string(REGEX MATCH "#define CS_VER [0-9]+"
- CXSparse_VERSION_MAJOR "${CXSparse_VERSION_FILE_CONTENTS}")
- string(REGEX REPLACE "#define CS_VER ([0-9]+)" "\\1"
- CXSparse_VERSION_MAJOR "${CXSparse_VERSION_MAJOR}")
-
- string(REGEX MATCH "#define CS_SUBVER [0-9]+"
- CXSparse_VERSION_MINOR "${CXSparse_VERSION_FILE_CONTENTS}")
- string(REGEX REPLACE "#define CS_SUBVER ([0-9]+)" "\\1"
- CXSparse_VERSION_MINOR "${CXSparse_VERSION_MINOR}")
-
- string(REGEX MATCH "#define CS_SUBSUB [0-9]+"
- CXSparse_VERSION_PATCH "${CXSparse_VERSION_FILE_CONTENTS}")
- string(REGEX REPLACE "#define CS_SUBSUB ([0-9]+)" "\\1"
- CXSparse_VERSION_PATCH "${CXSparse_VERSION_PATCH}")
-
- # This is on a single line s/t CMake does not interpret it as a list of
- # elements and insert ';' separators which would result in 3.;1.;2 nonsense.
- set(CXSparse_VERSION "${CXSparse_VERSION_MAJOR}.${CXSparse_VERSION_MINOR}.${CXSparse_VERSION_PATCH}")
- set(CXSparse_VERSION_COMPONENTS 3)
- endif (NOT EXISTS ${CXSparse_VERSION_FILE})
-endif (CXSparse_INCLUDE_DIR)
-
-# Catch the case when the caller has set CXSparse_LIBRARY in the cache / GUI and
-# thus FIND_LIBRARY was not called, but specified library is invalid, otherwise
-# we would report CXSparse as found.
-# TODO: This regex for CXSparse library is pretty primitive, we use lowercase
-# for comparison to handle Windows using CamelCase library names, could
-# this check be better?
-string(TOLOWER "${CXSparse_LIBRARY}" LOWERCASE_CXSparse_LIBRARY)
-if (CXSparse_LIBRARY AND
- EXISTS ${CXSparse_LIBRARY} AND
- NOT "${LOWERCASE_CXSparse_LIBRARY}" MATCHES ".*cxsparse[^/]*")
- cxsparse_report_not_found(
- "Caller defined CXSparse_LIBRARY: "
- "${CXSparse_LIBRARY} does not match CXSparse.")
-endif (CXSparse_LIBRARY AND
- EXISTS ${CXSparse_LIBRARY} AND
- NOT "${LOWERCASE_CXSparse_LIBRARY}" MATCHES ".*cxsparse[^/]*")
-
-cxsparse_reset_find_library_prefix()
-
-mark_as_advanced(CXSparse_INCLUDE_DIR CXSparse_LIBRARY)
-
-# Handle REQUIRED / QUIET optional arguments and version.
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(CXSparse
- REQUIRED_VARS CXSparse_INCLUDE_DIR CXSparse_LIBRARY
- VERSION_VAR CXSparse_VERSION)
-
-if (CXSparse_INCLUDE_DIR AND CXSparse_LIBRARY)
- if (NOT TARGET CXSparse::CXSparse)
- add_library (CXSparse::CXSparse IMPORTED UNKNOWN)
- endif (NOT TARGET CXSparse::CXSparse)
-
- set_property (TARGET CXSparse::CXSparse PROPERTY
- IMPORTED_LOCATION ${CXSparse_LIBRARY})
- set_property (TARGET CXSparse::CXSparse PROPERTY
- INTERFACE_INCLUDE_DIRECTORIES ${CXSparse_INCLUDE_DIR})
-endif (CXSparse_INCLUDE_DIR AND CXSparse_LIBRARY)
diff --git a/cmake/config.h.in b/cmake/config.h.in
index 028b62e..66a195a 100644
--- a/cmake/config.h.in
+++ b/cmake/config.h.in
@@ -50,9 +50,6 @@
// If defined, Ceres was compiled without SuiteSparse.
@CERES_NO_SUITESPARSE@
-// If defined, Ceres was compiled without CXSparse.
-@CERES_NO_CXSPARSE@
-
// If defined, Ceres was compiled without CUDA.
@CERES_NO_CUDA@
@@ -61,7 +58,6 @@
#if defined(CERES_NO_SUITESPARSE) && \
defined(CERES_NO_ACCELERATE_SPARSE) && \
- defined(CERES_NO_CXSPARSE) && \
!defined(CERES_USE_EIGEN_SPARSE) // NOLINT
// If defined Ceres was compiled without any sparse linear algebra support.
#define CERES_NO_SPARSE
@@ -109,9 +105,6 @@
#if !defined(CERES_NO_SUITESPARSE)
#error CERES_NO_SPARSE requires CERES_NO_SUITESPARSE.
#endif
-#if !defined(CERES_NO_CXSPARSE)
-#error CERES_NO_SPARSE requires CERES_NO_CXSPARSE
-#endif
#if !defined(CERES_NO_ACCELERATE_SPARSE)
#error CERES_NO_SPARSE requires CERES_NO_ACCELERATE_SPARSE
#endif
diff --git a/include/ceres/solver.h b/include/ceres/solver.h
index 92cb495..6d58183 100644
--- a/include/ceres/solver.h
+++ b/include/ceres/solver.h
@@ -378,16 +378,12 @@
DenseLinearAlgebraLibraryType dense_linear_algebra_library_type = EIGEN;
// Ceres supports using multiple sparse linear algebra libraries for sparse
- // matrix ordering and factorizations. Currently, SUITE_SPARSE and CX_SPARSE
- // are the valid choices, depending on whether they are linked into Ceres at
- // build time.
+ // matrix ordering and factorizations.
SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type =
#if !defined(CERES_NO_SUITESPARSE)
SUITE_SPARSE;
#elif defined(CERES_USE_EIGEN_SPARSE)
EIGEN_SPARSE;
-#elif !defined(CERES_NO_CXSPARSE)
- CX_SPARSE;
#elif !defined(CERES_NO_ACCELERATE_SPARSE)
ACCELERATE_SPARSE;
#else
@@ -413,7 +409,7 @@
//
// Implementation status:
//
- // AMD works for SUITE_SPARSE, CX_SPARSE, EIGEN_SPARSE &
+ // AMD works for SUITE_SPARSE, EIGEN_SPARSE &
// ACCELERATE_SPARSE.
//
// NESDIS currently works for SUITE_SPARSE when using
diff --git a/include/ceres/types.h b/include/ceres/types.h
index 2fc5abc..c1e973a 100644
--- a/include/ceres/types.h
+++ b/include/ceres/types.h
@@ -67,8 +67,7 @@
// Eigen.
DENSE_QR,
- // Solve the normal equations using a sparse cholesky solver; requires
- // SuiteSparse or CXSparse.
+ // Solve the normal equations using a sparse cholesky solver;
SPARSE_NORMAL_CHOLESKY,
// Specialized solvers, specific to problems with a generalized
@@ -165,11 +164,6 @@
// minimum degree ordering.
SUITE_SPARSE,
- // A lightweight replacement for SuiteSparse, which does not require
- // a LAPACK/BLAS implementation. Consequently, its performance is
- // also a bit lower than SuiteSparse.
- CX_SPARSE,
-
// Eigen's sparse linear algebra routines. In particular Ceres uses
// the Simplicial LDLT routines.
EIGEN_SPARSE,
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
index e60b886..5b8c1ea 100644
--- a/internal/ceres/CMakeLists.txt
+++ b/internal/ceres/CMakeLists.txt
@@ -120,12 +120,6 @@
SuiteSparse::SPQR)
endif (SUITESPARSE AND SuiteSparse_FOUND)
-if (CXSPARSE AND CXSparse_FOUND)
- # Define version information for use in Solver::FullReport.
- add_definitions(-DCERES_CXSPARSE_VERSION="${CXSparse_VERSION}")
- list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES CXSparse::CXSparse)
-endif (CXSPARSE AND CXSparse_FOUND)
-
if (ACCELERATESPARSE AND AccelerateSparse_FOUND)
list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${AccelerateSparse_LIBRARIES})
endif()
@@ -186,7 +180,6 @@
cost_function.cc
covariance.cc
covariance_impl.cc
- cxsparse.cc
dense_cholesky.cc
dense_normal_cholesky_solver.cc
dense_qr.cc
@@ -202,7 +195,6 @@
evaluator.cc
file.cc
first_order_function.cc
- float_cxsparse.cc
float_suitesparse.cc
function_sample.cc
gradient_checking_cost_function.cc
diff --git a/internal/ceres/cxsparse.cc b/internal/ceres/cxsparse.cc
deleted file mode 100644
index 46766ac..0000000
--- a/internal/ceres/cxsparse.cc
+++ /dev/null
@@ -1,282 +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 rep%roduce 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: strandmark@google.com (Petter Strandmark)
-
-// This include must come before any #ifndef check on Ceres compile options.
-#include "ceres/internal/config.h"
-
-#ifndef CERES_NO_CXSPARSE
-
-#include <memory>
-#include <string>
-#include <vector>
-
-#include "ceres/compressed_col_sparse_matrix_utils.h"
-#include "ceres/compressed_row_sparse_matrix.h"
-#include "ceres/cxsparse.h"
-#include "ceres/triplet_sparse_matrix.h"
-#include "glog/logging.h"
-
-namespace ceres::internal {
-
-using std::vector;
-
-CXSparse::CXSparse() : scratch_(nullptr), scratch_size_(0) {}
-
-CXSparse::~CXSparse() {
- if (scratch_size_ > 0) {
- cs_di_free(scratch_);
- }
-}
-
-csn* CXSparse::Cholesky(cs_di* A, cs_dis* symbolic_factor) {
- return cs_di_chol(A, symbolic_factor);
-}
-
-void CXSparse::Solve(cs_dis* symbolic_factor, csn* numeric_factor, double* b) {
- // Make sure we have enough scratch space available.
- const int num_cols = numeric_factor->L->n;
- if (scratch_size_ < num_cols) {
- if (scratch_size_ > 0) {
- cs_di_free(scratch_);
- }
- scratch_ =
- reinterpret_cast<CS_ENTRY*>(cs_di_malloc(num_cols, sizeof(CS_ENTRY)));
- scratch_size_ = num_cols;
- }
-
- // When the Cholesky factor succeeded, these methods are
- // guaranteed to succeeded as well. In the comments below, "x"
- // refers to the scratch space.
- //
- // Set x = P * b.
- CHECK(cs_di_ipvec(symbolic_factor->pinv, b, scratch_, num_cols));
- // Set x = L \ x.
- CHECK(cs_di_lsolve(numeric_factor->L, scratch_));
- // Set x = L' \ x.
- CHECK(cs_di_ltsolve(numeric_factor->L, scratch_));
- // Set b = P' * x.
- CHECK(cs_di_pvec(symbolic_factor->pinv, scratch_, b, num_cols));
-}
-
-bool CXSparse::SolveCholesky(cs_di* lhs, double* rhs_and_solution) {
- return cs_cholsol(1, lhs, rhs_and_solution);
-}
-
-cs_dis* CXSparse::AnalyzeCholesky(cs_di* A) {
- // order = 1 for Cholesky factor.
- return cs_schol(1, A);
-}
-
-cs_dis* CXSparse::AnalyzeCholeskyWithNaturalOrdering(cs_di* A) {
- // order = 0 for Natural ordering.
- return cs_schol(0, A);
-}
-
-cs_dis* CXSparse::BlockAnalyzeCholesky(cs_di* A,
- const vector<int>& row_blocks,
- const vector<int>& col_blocks) {
- const int num_row_blocks = row_blocks.size();
- const int num_col_blocks = col_blocks.size();
-
- vector<int> block_rows;
- vector<int> block_cols;
- CompressedColumnScalarMatrixToBlockMatrix(
- A->i, A->p, row_blocks, col_blocks, &block_rows, &block_cols);
- cs_di block_matrix;
- block_matrix.m = num_row_blocks;
- block_matrix.n = num_col_blocks;
- block_matrix.nz = -1;
- block_matrix.nzmax = block_rows.size();
- block_matrix.p = &block_cols[0];
- block_matrix.i = &block_rows[0];
- block_matrix.x = nullptr;
-
- int* ordering = cs_amd(1, &block_matrix);
- vector<int> block_ordering(num_row_blocks, -1);
- std::copy(ordering, ordering + num_row_blocks, &block_ordering[0]);
- cs_free(ordering);
-
- vector<int> scalar_ordering;
- BlockOrderingToScalarOrdering(row_blocks, block_ordering, &scalar_ordering);
-
- auto* symbolic_factor =
- reinterpret_cast<cs_dis*>(cs_calloc(1, sizeof(cs_dis)));
- symbolic_factor->pinv = cs_pinv(&scalar_ordering[0], A->n);
- cs* permuted_A = cs_symperm(A, symbolic_factor->pinv, 0);
-
- symbolic_factor->parent = cs_etree(permuted_A, 0);
- int* postordering = cs_post(symbolic_factor->parent, A->n);
- int* column_counts =
- cs_counts(permuted_A, symbolic_factor->parent, postordering, 0);
- cs_free(postordering);
- cs_spfree(permuted_A);
-
- symbolic_factor->cp = static_cast<int*>(cs_malloc(A->n + 1, sizeof(int)));
- symbolic_factor->lnz = cs_cumsum(symbolic_factor->cp, column_counts, A->n);
- symbolic_factor->unz = symbolic_factor->lnz;
-
- cs_free(column_counts);
-
- if (symbolic_factor->lnz < 0) {
- cs_sfree(symbolic_factor);
- symbolic_factor = nullptr;
- }
-
- return symbolic_factor;
-}
-
-cs_di CXSparse::CreateSparseMatrixTransposeView(CompressedRowSparseMatrix* A) {
- cs_di At;
- At.m = A->num_cols();
- At.n = A->num_rows();
- At.nz = -1;
- At.nzmax = A->num_nonzeros();
- At.p = A->mutable_rows();
- At.i = A->mutable_cols();
- At.x = A->mutable_values();
- return At;
-}
-
-cs_di* CXSparse::CreateSparseMatrix(TripletSparseMatrix* tsm) {
- cs_di_sparse tsm_wrapper;
- tsm_wrapper.nzmax = tsm->num_nonzeros();
- tsm_wrapper.nz = tsm->num_nonzeros();
- tsm_wrapper.m = tsm->num_rows();
- tsm_wrapper.n = tsm->num_cols();
- tsm_wrapper.p = tsm->mutable_cols();
- tsm_wrapper.i = tsm->mutable_rows();
- tsm_wrapper.x = tsm->mutable_values();
-
- return cs_compress(&tsm_wrapper);
-}
-
-void CXSparse::ApproximateMinimumDegreeOrdering(cs_di* A, int* ordering) {
- int* cs_ordering = cs_amd(1, A);
- std::copy(cs_ordering, cs_ordering + A->m, ordering);
- cs_free(cs_ordering);
-}
-
-cs_di* CXSparse::TransposeMatrix(cs_di* A) { return cs_di_transpose(A, 1); }
-
-cs_di* CXSparse::MatrixMatrixMultiply(cs_di* A, cs_di* B) {
- return cs_di_multiply(A, B);
-}
-
-void CXSparse::Free(cs_di* sparse_matrix) { cs_di_spfree(sparse_matrix); }
-
-void CXSparse::Free(cs_dis* symbolic_factor) { cs_di_sfree(symbolic_factor); }
-
-void CXSparse::Free(csn* numeric_factor) { cs_di_nfree(numeric_factor); }
-
-std::unique_ptr<SparseCholesky> CXSparseCholesky::Create(
- const OrderingType ordering_type) {
- return std::unique_ptr<SparseCholesky>(new CXSparseCholesky(ordering_type));
-}
-
-CompressedRowSparseMatrix::StorageType CXSparseCholesky::StorageType() const {
- return CompressedRowSparseMatrix::StorageType::LOWER_TRIANGULAR;
-}
-
-CXSparseCholesky::CXSparseCholesky(const OrderingType ordering_type)
- : ordering_type_(ordering_type),
- symbolic_factor_(nullptr),
- numeric_factor_(nullptr) {}
-
-CXSparseCholesky::~CXSparseCholesky() {
- FreeSymbolicFactorization();
- FreeNumericFactorization();
-}
-
-LinearSolverTerminationType CXSparseCholesky::Factorize(
- CompressedRowSparseMatrix* lhs, std::string* message) {
- CHECK_EQ(lhs->storage_type(), StorageType());
- if (lhs == nullptr) {
- *message = "Failure: Input lhs is nullptr.";
- return LinearSolverTerminationType::FATAL_ERROR;
- }
-
- cs_di cs_lhs = cs_.CreateSparseMatrixTransposeView(lhs);
-
- if (symbolic_factor_ == nullptr) {
- if (ordering_type_ == OrderingType::NATURAL) {
- symbolic_factor_ = cs_.AnalyzeCholeskyWithNaturalOrdering(&cs_lhs);
- } else {
- if (!lhs->col_blocks().empty() && !(lhs->row_blocks().empty())) {
- symbolic_factor_ = cs_.BlockAnalyzeCholesky(
- &cs_lhs, lhs->col_blocks(), lhs->row_blocks());
- } else {
- symbolic_factor_ = cs_.AnalyzeCholesky(&cs_lhs);
- }
- }
-
- if (symbolic_factor_ == nullptr) {
- *message = "CXSparse Failure : Symbolic factorization failed.";
- return LinearSolverTerminationType::FATAL_ERROR;
- }
- }
-
- FreeNumericFactorization();
- numeric_factor_ = cs_.Cholesky(&cs_lhs, symbolic_factor_);
- if (numeric_factor_ == nullptr) {
- *message = "CXSparse Failure : Numeric factorization failed.";
- return LinearSolverTerminationType::FAILURE;
- }
-
- return LinearSolverTerminationType::SUCCESS;
-}
-
-LinearSolverTerminationType CXSparseCholesky::Solve(const double* rhs,
- double* solution,
- std::string* message) {
- CHECK(numeric_factor_ != nullptr)
- << "Solve called without a call to Factorize first.";
- const int num_cols = numeric_factor_->L->n;
- memcpy(solution, rhs, num_cols * sizeof(*solution));
- cs_.Solve(symbolic_factor_, numeric_factor_, solution);
- return LinearSolverTerminationType::SUCCESS;
-}
-
-void CXSparseCholesky::FreeSymbolicFactorization() {
- if (symbolic_factor_ != nullptr) {
- cs_.Free(symbolic_factor_);
- symbolic_factor_ = nullptr;
- }
-}
-
-void CXSparseCholesky::FreeNumericFactorization() {
- if (numeric_factor_ != nullptr) {
- cs_.Free(numeric_factor_);
- numeric_factor_ = nullptr;
- }
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/cxsparse.h b/internal/ceres/cxsparse.h
deleted file mode 100644
index f4f1e4e..0000000
--- a/internal/ceres/cxsparse.h
+++ /dev/null
@@ -1,180 +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: strandmark@google.com (Petter Strandmark)
-
-#ifndef CERES_INTERNAL_CXSPARSE_H_
-#define CERES_INTERNAL_CXSPARSE_H_
-
-// This include must come before any #ifndef check on Ceres compile options.
-#include "ceres/internal/config.h"
-
-#ifndef CERES_NO_CXSPARSE
-
-#include <memory>
-#include <string>
-#include <vector>
-
-#include "ceres/internal/disable_warnings.h"
-#include "ceres/linear_solver.h"
-#include "ceres/sparse_cholesky.h"
-#include "cs.h"
-
-namespace ceres::internal {
-
-class CompressedRowSparseMatrix;
-class TripletSparseMatrix;
-
-// This object provides access to solving linear systems using Cholesky
-// factorization with a known symbolic factorization. This features does not
-// explicitly exist in CXSparse. The methods in the class are nonstatic because
-// the class manages internal scratch space.
-class CERES_NO_EXPORT CXSparse {
- public:
- CXSparse();
- ~CXSparse();
-
- // Solve the system lhs * solution = rhs in place by using an
- // approximate minimum degree fill reducing ordering.
- bool SolveCholesky(cs_di* lhs, double* rhs_and_solution);
-
- // Solves a linear system given its symbolic and numeric factorization.
- void Solve(cs_dis* symbolic_factor,
- csn* numeric_factor,
- double* rhs_and_solution);
-
- // Compute the numeric Cholesky factorization of A, given its
- // symbolic factorization.
- //
- // Caller owns the result.
- csn* Cholesky(cs_di* A, cs_dis* symbolic_factor);
-
- // Creates a sparse matrix from a compressed-column form. No memory is
- // allocated or copied; the structure A is filled out with info from the
- // argument.
- cs_di CreateSparseMatrixTransposeView(CompressedRowSparseMatrix* A);
-
- // Creates a new matrix from a triplet form. Deallocate the returned matrix
- // with Free. May return nullptr if the compression or allocation fails.
- cs_di* CreateSparseMatrix(TripletSparseMatrix* A);
-
- // B = A'
- //
- // The returned matrix should be deallocated with Free when not used
- // anymore.
- cs_di* TransposeMatrix(cs_di* A);
-
- // C = A * B
- //
- // The returned matrix should be deallocated with Free when not used
- // anymore.
- cs_di* MatrixMatrixMultiply(cs_di* A, cs_di* B);
-
- // Computes a symbolic factorization of A that can be used in SolveCholesky.
- //
- // The returned matrix should be deallocated with Free when not used anymore.
- cs_dis* AnalyzeCholesky(cs_di* A);
-
- // Computes a symbolic factorization of A that can be used in
- // SolveCholesky, but does not compute a fill-reducing ordering.
- //
- // The returned matrix should be deallocated with Free when not used anymore.
- cs_dis* AnalyzeCholeskyWithNaturalOrdering(cs_di* A);
-
- // Computes a symbolic factorization of A that can be used in
- // SolveCholesky. The difference from AnalyzeCholesky is that this
- // function first detects the block sparsity of the matrix using
- // information about the row and column blocks and uses this block
- // sparse matrix to find a fill-reducing ordering. This ordering is
- // then used to find a symbolic factorization. This can result in a
- // significant performance improvement AnalyzeCholesky on block
- // sparse matrices.
- //
- // The returned matrix should be deallocated with Free when not used
- // anymore.
- cs_dis* BlockAnalyzeCholesky(cs_di* A,
- const std::vector<int>& row_blocks,
- const std::vector<int>& col_blocks);
-
- // Compute an fill-reducing approximate minimum degree ordering of
- // the matrix A. ordering should be non-nullptr and should point to
- // enough memory to hold the ordering for the rows of A.
- void ApproximateMinimumDegreeOrdering(cs_di* A, int* ordering);
-
- void Free(cs_di* sparse_matrix);
- void Free(cs_dis* symbolic_factorization);
- void Free(csn* numeric_factorization);
-
- private:
- // Cached scratch space
- CS_ENTRY* scratch_;
- int scratch_size_;
-};
-
-// An implementation of SparseCholesky interface using the CXSparse
-// library.
-class CERES_NO_EXPORT CXSparseCholesky final : public SparseCholesky {
- public:
- // Factory
- static std::unique_ptr<SparseCholesky> Create(OrderingType ordering_type);
-
- // SparseCholesky interface.
- ~CXSparseCholesky() override;
- CompressedRowSparseMatrix::StorageType StorageType() const final;
- LinearSolverTerminationType Factorize(CompressedRowSparseMatrix* lhs,
- std::string* message) final;
- LinearSolverTerminationType Solve(const double* rhs,
- double* solution,
- std::string* message) final;
-
- private:
- explicit CXSparseCholesky(const OrderingType ordering_type);
- void FreeSymbolicFactorization();
- void FreeNumericFactorization();
-
- const OrderingType ordering_type_;
- CXSparse cs_;
- cs_dis* symbolic_factor_;
- csn* numeric_factor_;
-};
-
-} // namespace ceres::internal
-
-#include "ceres/internal/reenable_warnings.h"
-
-#else
-
-typedef void cs_dis;
-
-class CXSparse {
- public:
- void Free(void* arg) {}
-};
-#endif // CERES_NO_CXSPARSE
-
-#endif // CERES_INTERNAL_CXSPARSE_H_
diff --git a/internal/ceres/dynamic_sparse_normal_cholesky_solver.cc b/internal/ceres/dynamic_sparse_normal_cholesky_solver.cc
index 3abfb29..992d48c 100644
--- a/internal/ceres/dynamic_sparse_normal_cholesky_solver.cc
+++ b/internal/ceres/dynamic_sparse_normal_cholesky_solver.cc
@@ -39,7 +39,6 @@
#include "Eigen/SparseCore"
#include "ceres/compressed_row_sparse_matrix.h"
-#include "ceres/cxsparse.h"
#include "ceres/internal/config.h"
#include "ceres/internal/eigen.h"
#include "ceres/linear_solver.h"
@@ -86,9 +85,6 @@
case SUITE_SPARSE:
summary = SolveImplUsingSuiteSparse(A, x);
break;
- case CX_SPARSE:
- summary = SolveImplUsingCXSparse(A, x);
- break;
case EIGEN_SPARSE:
summary = SolveImplUsingEigen(A, x);
break;
@@ -175,58 +171,6 @@
#endif // CERES_USE_EIGEN_SPARSE
}
-LinearSolver::Summary DynamicSparseNormalCholeskySolver::SolveImplUsingCXSparse(
- CompressedRowSparseMatrix* A, double* rhs_and_solution) {
-#ifdef CERES_NO_CXSPARSE
-
- LinearSolver::Summary summary;
- summary.num_iterations = 0;
- summary.termination_type = LinearSolverTerminationType::FATAL_ERROR;
- summary.message =
- "SPARSE_NORMAL_CHOLESKY cannot be used with CX_SPARSE "
- "because Ceres was not built with support for CXSparse. "
- "This requires enabling building with -DCXSPARSE=ON.";
-
- return summary;
-
-#else
- EventLogger event_logger(
- "DynamicSparseNormalCholeskySolver::CXSparse::Solve");
-
- LinearSolver::Summary summary;
- summary.num_iterations = 1;
- summary.termination_type = LinearSolverTerminationType::SUCCESS;
- summary.message = "Success.";
-
- CXSparse cxsparse;
-
- // Wrap the augmented Jacobian in a compressed sparse column matrix.
- cs_di a_transpose = cxsparse.CreateSparseMatrixTransposeView(A);
-
- // Compute the normal equations. J'J delta = J'f and solve them
- // using a sparse Cholesky factorization. Notice that when compared
- // to SuiteSparse we have to explicitly compute the transpose of Jt,
- // and then the normal equations before they can be
- // factorized. CHOLMOD/SuiteSparse on the other hand can just work
- // off of Jt to compute the Cholesky factorization of the normal
- // equations.
- cs_di* a = cxsparse.TransposeMatrix(&a_transpose);
- cs_di* lhs = cxsparse.MatrixMatrixMultiply(&a_transpose, a);
- cxsparse.Free(a);
- event_logger.AddEvent("NormalEquations");
-
- if (!cxsparse.SolveCholesky(lhs, rhs_and_solution)) {
- summary.termination_type = LinearSolverTerminationType::FAILURE;
- summary.message = "CXSparse::SolveCholesky failed";
- }
- event_logger.AddEvent("Solve");
-
- cxsparse.Free(lhs);
- event_logger.AddEvent("TearDown");
- return summary;
-#endif
-}
-
LinearSolver::Summary
DynamicSparseNormalCholeskySolver::SolveImplUsingSuiteSparse(
CompressedRowSparseMatrix* A, double* rhs_and_solution) {
diff --git a/internal/ceres/dynamic_sparse_normal_cholesky_solver_test.cc b/internal/ceres/dynamic_sparse_normal_cholesky_solver_test.cc
index 1852969..b0c218d 100644
--- a/internal/ceres/dynamic_sparse_normal_cholesky_solver_test.cc
+++ b/internal/ceres/dynamic_sparse_normal_cholesky_solver_test.cc
@@ -124,12 +124,6 @@
#endif
#endif
-#ifndef CERES_NO_CXSPARSE
-TEST_F(DynamicSparseNormalCholeskySolverTest, CXSparse) {
- TestSolver(CX_SPARSE, OrderingType::AMD);
-}
-#endif
-
#ifdef CERES_USE_EIGEN_SPARSE
TEST_F(DynamicSparseNormalCholeskySolverTest, EigenAMD) {
TestSolver(EIGEN_SPARSE, OrderingType::AMD);
diff --git a/internal/ceres/dynamic_sparsity_test.cc b/internal/ceres/dynamic_sparsity_test.cc
index 29cfb15..694a343 100644
--- a/internal/ceres/dynamic_sparsity_test.cc
+++ b/internal/ceres/dynamic_sparsity_test.cc
@@ -368,7 +368,6 @@
TEST(DynamicSparsity, StaticAndDynamicSparsityProduceSameSolution) {
// Skip test if there is no sparse linear algebra library.
if (!IsSparseLinearAlgebraLibraryTypeAvailable(SUITE_SPARSE) &&
- !IsSparseLinearAlgebraLibraryTypeAvailable(CX_SPARSE) &&
!IsSparseLinearAlgebraLibraryTypeAvailable(EIGEN_SPARSE)) {
return;
}
diff --git a/internal/ceres/eigensparse.cc b/internal/ceres/eigensparse.cc
index 7ef1210..3be222e 100644
--- a/internal/ceres/eigensparse.cc
+++ b/internal/ceres/eigensparse.cc
@@ -34,10 +34,14 @@
#ifdef CERES_USE_EIGEN_SPARSE
-#include <iostream> // This is needed because MetisSupport depends on iostream.
#include <sstream>
+#ifndef CERES_NO_METIS
+#include <iostream> // This is needed because MetisSupport depends on iostream.
+
#include "Eigen/MetisSupport"
+#endif
+
#include "Eigen/SparseCholesky"
#include "Eigen/SparseCore"
#include "ceres/compressed_row_sparse_matrix.h"
@@ -146,9 +150,6 @@
using WithAMDOrdering = Eigen::SimplicialLDLT<Eigen::SparseMatrix<double>,
Eigen::Upper,
Eigen::AMDOrdering<int>>;
- using WithMetisOrdering = Eigen::SimplicialLDLT<Eigen::SparseMatrix<double>,
- Eigen::Upper,
- Eigen::MetisOrdering<int>>;
using WithNaturalOrdering =
Eigen::SimplicialLDLT<Eigen::SparseMatrix<double>,
Eigen::Upper,
@@ -158,6 +159,10 @@
return std::make_unique<EigenSparseCholeskyTemplate<WithAMDOrdering>>();
#ifndef CERES_NO_METIS
} else if (ordering_type == OrderingType::NESDIS) {
+ using WithMetisOrdering = Eigen::SimplicialLDLT<Eigen::SparseMatrix<double>,
+ Eigen::Upper,
+ Eigen::MetisOrdering<int>>;
+
return std::make_unique<EigenSparseCholeskyTemplate<WithMetisOrdering>>();
}
#else
@@ -179,9 +184,6 @@
using WithAMDOrdering = Eigen::SimplicialLDLT<Eigen::SparseMatrix<float>,
Eigen::Upper,
Eigen::AMDOrdering<int>>;
- using WithMetisOrdering = Eigen::SimplicialLDLT<Eigen::SparseMatrix<float>,
- Eigen::Upper,
- Eigen::MetisOrdering<int>>;
using WithNaturalOrdering =
Eigen::SimplicialLDLT<Eigen::SparseMatrix<float>,
Eigen::Upper,
@@ -190,6 +192,10 @@
return std::make_unique<EigenSparseCholeskyTemplate<WithAMDOrdering>>();
#ifndef CERES_NO_METIS
} else if (ordering_type == OrderingType::NESDIS) {
+ using WithMetisOrdering = Eigen::SimplicialLDLT<Eigen::SparseMatrix<float>,
+ Eigen::Upper,
+ Eigen::MetisOrdering<int>>;
+
return std::make_unique<EigenSparseCholeskyTemplate<WithMetisOrdering>>();
}
#else
diff --git a/internal/ceres/float_cxsparse.cc b/internal/ceres/float_cxsparse.cc
deleted file mode 100644
index f675307..0000000
--- a/internal/ceres/float_cxsparse.cc
+++ /dev/null
@@ -1,47 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2018 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: sameeragarwal@google.com (Sameer Agarwal)
-
-#include "ceres/float_cxsparse.h"
-
-#include <memory>
-
-#if !defined(CERES_NO_CXSPARSE)
-
-namespace ceres::internal {
-
-std::unique_ptr<SparseCholesky> FloatCXSparseCholesky::Create(
- OrderingType ordering_type) {
- LOG(FATAL) << "FloatCXSparseCholesky is not available.";
- return {};
-}
-
-} // namespace ceres::internal
-
-#endif // !defined(CERES_NO_CXSPARSE)
diff --git a/internal/ceres/float_cxsparse.h b/internal/ceres/float_cxsparse.h
deleted file mode 100644
index 9c559d2..0000000
--- a/internal/ceres/float_cxsparse.h
+++ /dev/null
@@ -1,57 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2018 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: sameeragarwal@google.com (Sameer Agarwal)
-
-#ifndef CERES_INTERNAL_FLOAT_CXSPARSE_H_
-#define CERES_INTERNAL_FLOAT_CXSPARSE_H_
-
-// This include must come before any #ifndef check on Ceres compile options.
-#include "ceres/internal/config.h"
-
-#if !defined(CERES_NO_CXSPARSE)
-
-#include <memory>
-
-#include "ceres/internal/export.h"
-#include "ceres/sparse_cholesky.h"
-
-namespace ceres::internal {
-
-// Fake implementation of a single precision Sparse Cholesky using
-// CXSparse.
-class CERES_NO_EXPORT FloatCXSparseCholesky : public SparseCholesky {
- public:
- static std::unique_ptr<SparseCholesky> Create(OrderingType ordering_type);
-};
-
-} // namespace ceres::internal
-
-#endif // !defined(CERES_NO_CXSPARSE)
-
-#endif // CERES_INTERNAL_FLOAT_CXSPARSE_H_
diff --git a/internal/ceres/generate_bundle_adjustment_tests.py b/internal/ceres/generate_bundle_adjustment_tests.py
index 566258b..6e60270 100644
--- a/internal/ceres/generate_bundle_adjustment_tests.py
+++ b/internal/ceres/generate_bundle_adjustment_tests.py
@@ -52,11 +52,9 @@
# Linear solver Sparse backend
('SPARSE_NORMAL_CHOLESKY', 'SUITE_SPARSE'),
('SPARSE_NORMAL_CHOLESKY', 'EIGEN_SPARSE'),
- ('SPARSE_NORMAL_CHOLESKY', 'CX_SPARSE'),
('SPARSE_NORMAL_CHOLESKY', 'ACCELERATE_SPARSE'),
('SPARSE_SCHUR', 'SUITE_SPARSE'),
('SPARSE_SCHUR', 'EIGEN_SPARSE'),
- ('SPARSE_SCHUR', 'CX_SPARSE'),
('SPARSE_SCHUR', 'ACCELERATE_SPARSE'),
]
@@ -66,11 +64,9 @@
('ITERATIVE_SCHUR', 'NO_SPARSE', 'SCHUR_JACOBI'),
('ITERATIVE_SCHUR', 'SUITE_SPARSE', 'CLUSTER_JACOBI'),
('ITERATIVE_SCHUR', 'EIGEN_SPARSE', 'CLUSTER_JACOBI'),
- ('ITERATIVE_SCHUR', 'CX_SPARSE', 'CLUSTER_JACOBI'),
('ITERATIVE_SCHUR', 'ACCELERATE_SPARSE','CLUSTER_JACOBI'),
('ITERATIVE_SCHUR', 'SUITE_SPARSE', 'CLUSTER_TRIDIAGONAL'),
('ITERATIVE_SCHUR', 'EIGEN_SPARSE', 'CLUSTER_TRIDIAGONAL'),
- ('ITERATIVE_SCHUR', 'CX_SPARSE', 'CLUSTER_TRIDIAGONAL'),
('ITERATIVE_SCHUR', 'ACCELERATE_SPARSE','CLUSTER_TRIDIAGONAL'),
]
@@ -85,7 +81,6 @@
NO_SPARSE='', # Omit sparse reference entirely for dense tests.
SUITE_SPARSE='suitesparse',
EIGEN_SPARSE='eigensparse',
- CX_SPARSE='cxsparse',
ACCELERATE_SPARSE='acceleratesparse',
IDENTITY='identity',
JACOBI='jacobi',
@@ -212,9 +207,6 @@
if sparse_backend == 'SUITE_SPARSE':
preprocessor_conditions_begin.append('#ifndef CERES_NO_SUITESPARSE')
preprocessor_conditions_end.insert(0, '#endif // CERES_NO_SUITESPARSE')
- elif sparse_backend == 'CX_SPARSE':
- preprocessor_conditions_begin.append('#ifndef CERES_NO_CXSPARSE')
- preprocessor_conditions_end.insert(0, '#endif // CERES_NO_CXSPARSE')
elif sparse_backend == 'ACCELERATE_SPARSE':
preprocessor_conditions_begin.append('#ifndef CERES_NO_ACCELERATE_SPARSE')
preprocessor_conditions_end.insert(0, '#endif // CERES_NO_ACCELERATE_SPARSE')
diff --git a/internal/ceres/generated_bundle_adjustment_tests/CMakeLists.txt b/internal/ceres/generated_bundle_adjustment_tests/CMakeLists.txt
index b0c672f..73fe3f5 100644
--- a/internal/ceres/generated_bundle_adjustment_tests/CMakeLists.txt
+++ b/internal/ceres/generated_bundle_adjustment_tests/CMakeLists.txt
@@ -40,82 +40,66 @@
ceres_test(ba_denseschur_cuda_auto)
ceres_test(ba_sparsecholesky_suitesparse_auto)
ceres_test(ba_sparsecholesky_eigensparse_auto)
-ceres_test(ba_sparsecholesky_cxsparse_auto)
ceres_test(ba_sparsecholesky_acceleratesparse_auto)
ceres_test(ba_sparseschur_suitesparse_auto)
ceres_test(ba_sparseschur_eigensparse_auto)
-ceres_test(ba_sparseschur_cxsparse_auto)
ceres_test(ba_sparseschur_acceleratesparse_auto)
ceres_test(ba_iterschur_jacobi_auto)
ceres_test(ba_iterschur_schurjacobi_auto)
ceres_test(ba_iterschur_suitesparse_clustjacobi_auto)
ceres_test(ba_iterschur_eigensparse_clustjacobi_auto)
-ceres_test(ba_iterschur_cxsparse_clustjacobi_auto)
ceres_test(ba_iterschur_acceleratesparse_clustjacobi_auto)
ceres_test(ba_iterschur_suitesparse_clusttri_auto)
ceres_test(ba_iterschur_eigensparse_clusttri_auto)
-ceres_test(ba_iterschur_cxsparse_clusttri_auto)
ceres_test(ba_iterschur_acceleratesparse_clusttri_auto)
ceres_test(ba_denseschur_eigen_auto_threads)
ceres_test(ba_denseschur_lapack_auto_threads)
ceres_test(ba_denseschur_cuda_auto_threads)
ceres_test(ba_sparsecholesky_suitesparse_auto_threads)
ceres_test(ba_sparsecholesky_eigensparse_auto_threads)
-ceres_test(ba_sparsecholesky_cxsparse_auto_threads)
ceres_test(ba_sparsecholesky_acceleratesparse_auto_threads)
ceres_test(ba_sparseschur_suitesparse_auto_threads)
ceres_test(ba_sparseschur_eigensparse_auto_threads)
-ceres_test(ba_sparseschur_cxsparse_auto_threads)
ceres_test(ba_sparseschur_acceleratesparse_auto_threads)
ceres_test(ba_iterschur_jacobi_auto_threads)
ceres_test(ba_iterschur_schurjacobi_auto_threads)
ceres_test(ba_iterschur_suitesparse_clustjacobi_auto_threads)
ceres_test(ba_iterschur_eigensparse_clustjacobi_auto_threads)
-ceres_test(ba_iterschur_cxsparse_clustjacobi_auto_threads)
ceres_test(ba_iterschur_acceleratesparse_clustjacobi_auto_threads)
ceres_test(ba_iterschur_suitesparse_clusttri_auto_threads)
ceres_test(ba_iterschur_eigensparse_clusttri_auto_threads)
-ceres_test(ba_iterschur_cxsparse_clusttri_auto_threads)
ceres_test(ba_iterschur_acceleratesparse_clusttri_auto_threads)
ceres_test(ba_denseschur_eigen_user)
ceres_test(ba_denseschur_lapack_user)
ceres_test(ba_denseschur_cuda_user)
ceres_test(ba_sparsecholesky_suitesparse_user)
ceres_test(ba_sparsecholesky_eigensparse_user)
-ceres_test(ba_sparsecholesky_cxsparse_user)
ceres_test(ba_sparsecholesky_acceleratesparse_user)
ceres_test(ba_sparseschur_suitesparse_user)
ceres_test(ba_sparseschur_eigensparse_user)
-ceres_test(ba_sparseschur_cxsparse_user)
ceres_test(ba_sparseschur_acceleratesparse_user)
ceres_test(ba_iterschur_jacobi_user)
ceres_test(ba_iterschur_schurjacobi_user)
ceres_test(ba_iterschur_suitesparse_clustjacobi_user)
ceres_test(ba_iterschur_eigensparse_clustjacobi_user)
-ceres_test(ba_iterschur_cxsparse_clustjacobi_user)
ceres_test(ba_iterschur_acceleratesparse_clustjacobi_user)
ceres_test(ba_iterschur_suitesparse_clusttri_user)
ceres_test(ba_iterschur_eigensparse_clusttri_user)
-ceres_test(ba_iterschur_cxsparse_clusttri_user)
ceres_test(ba_iterschur_acceleratesparse_clusttri_user)
ceres_test(ba_denseschur_eigen_user_threads)
ceres_test(ba_denseschur_lapack_user_threads)
ceres_test(ba_denseschur_cuda_user_threads)
ceres_test(ba_sparsecholesky_suitesparse_user_threads)
ceres_test(ba_sparsecholesky_eigensparse_user_threads)
-ceres_test(ba_sparsecholesky_cxsparse_user_threads)
ceres_test(ba_sparsecholesky_acceleratesparse_user_threads)
ceres_test(ba_sparseschur_suitesparse_user_threads)
ceres_test(ba_sparseschur_eigensparse_user_threads)
-ceres_test(ba_sparseschur_cxsparse_user_threads)
ceres_test(ba_sparseschur_acceleratesparse_user_threads)
ceres_test(ba_iterschur_jacobi_user_threads)
ceres_test(ba_iterschur_schurjacobi_user_threads)
ceres_test(ba_iterschur_suitesparse_clustjacobi_user_threads)
ceres_test(ba_iterschur_eigensparse_clustjacobi_user_threads)
-ceres_test(ba_iterschur_cxsparse_clustjacobi_user_threads)
ceres_test(ba_iterschur_acceleratesparse_clustjacobi_user_threads)
ceres_test(ba_iterschur_suitesparse_clusttri_user_threads)
ceres_test(ba_iterschur_eigensparse_clusttri_user_threads)
-ceres_test(ba_iterschur_cxsparse_clusttri_user_threads)
ceres_test(ba_iterschur_acceleratesparse_clusttri_user_threads)
diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clustjacobi_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clustjacobi_auto_test.cc
deleted file mode 100644
index dedff9c..0000000
--- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clustjacobi_auto_test.cc
+++ /dev/null
@@ -1,63 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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.
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// ========================================
-//
-// This file is generated using generate_bundle_adjustment_tests.py.
-
-#include "ceres/internal/config.h"
-#include "bundle_adjustment_test_util.h"
-
-#ifndef CERES_NO_CXSPARSE
-
-namespace ceres::internal {
-
-TEST_F(BundleAdjustmentTest,
- IterativeSchur_CxSparse_ClusterJacobi_AutomaticOrdering) { // NOLINT
- BundleAdjustmentProblem bundle_adjustment_problem;
- Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
- options->num_threads = 1;
- options->linear_solver_type = ITERATIVE_SCHUR;
- options->dense_linear_algebra_library_type = EIGEN;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- options->preconditioner_type = CLUSTER_JACOBI;
- if (kAutomaticOrdering) {
- options->linear_solver_ordering = nullptr;
- }
- Problem* problem = bundle_adjustment_problem.mutable_problem();
- RunSolverForConfigAndExpectResidualsMatch(*options, problem);
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clustjacobi_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clustjacobi_auto_threads_test.cc
deleted file mode 100644
index 3bcb11d..0000000
--- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clustjacobi_auto_threads_test.cc
+++ /dev/null
@@ -1,65 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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.
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// ========================================
-//
-// This file is generated using generate_bundle_adjustment_tests.py.
-
-#include "ceres/internal/config.h"
-#include "bundle_adjustment_test_util.h"
-
-#ifndef CERES_NO_CXSPARSE
-#ifndef CERES_NO_THREADS
-
-namespace ceres::internal {
-
-TEST_F(BundleAdjustmentTest,
- IterativeSchur_CxSparse_ClusterJacobi_AutomaticOrdering_Threads) { // NOLINT
- BundleAdjustmentProblem bundle_adjustment_problem;
- Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
- options->num_threads = 4;
- options->linear_solver_type = ITERATIVE_SCHUR;
- options->dense_linear_algebra_library_type = EIGEN;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- options->preconditioner_type = CLUSTER_JACOBI;
- if (kAutomaticOrdering) {
- options->linear_solver_ordering = nullptr;
- }
- Problem* problem = bundle_adjustment_problem.mutable_problem();
- RunSolverForConfigAndExpectResidualsMatch(*options, problem);
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_THREADS
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clustjacobi_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clustjacobi_user_test.cc
deleted file mode 100644
index 5acbc66..0000000
--- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clustjacobi_user_test.cc
+++ /dev/null
@@ -1,63 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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.
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// ========================================
-//
-// This file is generated using generate_bundle_adjustment_tests.py.
-
-#include "ceres/internal/config.h"
-#include "bundle_adjustment_test_util.h"
-
-#ifndef CERES_NO_CXSPARSE
-
-namespace ceres::internal {
-
-TEST_F(BundleAdjustmentTest,
- IterativeSchur_CxSparse_ClusterJacobi_UserOrdering) { // NOLINT
- BundleAdjustmentProblem bundle_adjustment_problem;
- Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
- options->num_threads = 1;
- options->linear_solver_type = ITERATIVE_SCHUR;
- options->dense_linear_algebra_library_type = EIGEN;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- options->preconditioner_type = CLUSTER_JACOBI;
- if (kUserOrdering) {
- options->linear_solver_ordering = nullptr;
- }
- Problem* problem = bundle_adjustment_problem.mutable_problem();
- RunSolverForConfigAndExpectResidualsMatch(*options, problem);
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clustjacobi_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clustjacobi_user_threads_test.cc
deleted file mode 100644
index 9e0baea..0000000
--- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clustjacobi_user_threads_test.cc
+++ /dev/null
@@ -1,65 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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.
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// ========================================
-//
-// This file is generated using generate_bundle_adjustment_tests.py.
-
-#include "ceres/internal/config.h"
-#include "bundle_adjustment_test_util.h"
-
-#ifndef CERES_NO_CXSPARSE
-#ifndef CERES_NO_THREADS
-
-namespace ceres::internal {
-
-TEST_F(BundleAdjustmentTest,
- IterativeSchur_CxSparse_ClusterJacobi_UserOrdering_Threads) { // NOLINT
- BundleAdjustmentProblem bundle_adjustment_problem;
- Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
- options->num_threads = 4;
- options->linear_solver_type = ITERATIVE_SCHUR;
- options->dense_linear_algebra_library_type = EIGEN;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- options->preconditioner_type = CLUSTER_JACOBI;
- if (kUserOrdering) {
- options->linear_solver_ordering = nullptr;
- }
- Problem* problem = bundle_adjustment_problem.mutable_problem();
- RunSolverForConfigAndExpectResidualsMatch(*options, problem);
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_THREADS
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clusttri_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clusttri_auto_test.cc
deleted file mode 100644
index 5e5c2ab..0000000
--- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clusttri_auto_test.cc
+++ /dev/null
@@ -1,63 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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.
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// ========================================
-//
-// This file is generated using generate_bundle_adjustment_tests.py.
-
-#include "ceres/internal/config.h"
-#include "bundle_adjustment_test_util.h"
-
-#ifndef CERES_NO_CXSPARSE
-
-namespace ceres::internal {
-
-TEST_F(BundleAdjustmentTest,
- IterativeSchur_CxSparse_ClusterTridiagonal_AutomaticOrdering) { // NOLINT
- BundleAdjustmentProblem bundle_adjustment_problem;
- Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
- options->num_threads = 1;
- options->linear_solver_type = ITERATIVE_SCHUR;
- options->dense_linear_algebra_library_type = EIGEN;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- options->preconditioner_type = CLUSTER_TRIDIAGONAL;
- if (kAutomaticOrdering) {
- options->linear_solver_ordering = nullptr;
- }
- Problem* problem = bundle_adjustment_problem.mutable_problem();
- RunSolverForConfigAndExpectResidualsMatch(*options, problem);
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clusttri_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clusttri_auto_threads_test.cc
deleted file mode 100644
index d9d9fff..0000000
--- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clusttri_auto_threads_test.cc
+++ /dev/null
@@ -1,65 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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.
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// ========================================
-//
-// This file is generated using generate_bundle_adjustment_tests.py.
-
-#include "ceres/internal/config.h"
-#include "bundle_adjustment_test_util.h"
-
-#ifndef CERES_NO_CXSPARSE
-#ifndef CERES_NO_THREADS
-
-namespace ceres::internal {
-
-TEST_F(BundleAdjustmentTest,
- IterativeSchur_CxSparse_ClusterTridiagonal_AutomaticOrdering_Threads) { // NOLINT
- BundleAdjustmentProblem bundle_adjustment_problem;
- Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
- options->num_threads = 4;
- options->linear_solver_type = ITERATIVE_SCHUR;
- options->dense_linear_algebra_library_type = EIGEN;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- options->preconditioner_type = CLUSTER_TRIDIAGONAL;
- if (kAutomaticOrdering) {
- options->linear_solver_ordering = nullptr;
- }
- Problem* problem = bundle_adjustment_problem.mutable_problem();
- RunSolverForConfigAndExpectResidualsMatch(*options, problem);
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_THREADS
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clusttri_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clusttri_user_test.cc
deleted file mode 100644
index b3176d0..0000000
--- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clusttri_user_test.cc
+++ /dev/null
@@ -1,63 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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.
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// ========================================
-//
-// This file is generated using generate_bundle_adjustment_tests.py.
-
-#include "ceres/internal/config.h"
-#include "bundle_adjustment_test_util.h"
-
-#ifndef CERES_NO_CXSPARSE
-
-namespace ceres::internal {
-
-TEST_F(BundleAdjustmentTest,
- IterativeSchur_CxSparse_ClusterTridiagonal_UserOrdering) { // NOLINT
- BundleAdjustmentProblem bundle_adjustment_problem;
- Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
- options->num_threads = 1;
- options->linear_solver_type = ITERATIVE_SCHUR;
- options->dense_linear_algebra_library_type = EIGEN;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- options->preconditioner_type = CLUSTER_TRIDIAGONAL;
- if (kUserOrdering) {
- options->linear_solver_ordering = nullptr;
- }
- Problem* problem = bundle_adjustment_problem.mutable_problem();
- RunSolverForConfigAndExpectResidualsMatch(*options, problem);
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clusttri_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clusttri_user_threads_test.cc
deleted file mode 100644
index 1922835..0000000
--- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_cxsparse_clusttri_user_threads_test.cc
+++ /dev/null
@@ -1,65 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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.
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// ========================================
-//
-// This file is generated using generate_bundle_adjustment_tests.py.
-
-#include "ceres/internal/config.h"
-#include "bundle_adjustment_test_util.h"
-
-#ifndef CERES_NO_CXSPARSE
-#ifndef CERES_NO_THREADS
-
-namespace ceres::internal {
-
-TEST_F(BundleAdjustmentTest,
- IterativeSchur_CxSparse_ClusterTridiagonal_UserOrdering_Threads) { // NOLINT
- BundleAdjustmentProblem bundle_adjustment_problem;
- Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
- options->num_threads = 4;
- options->linear_solver_type = ITERATIVE_SCHUR;
- options->dense_linear_algebra_library_type = EIGEN;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- options->preconditioner_type = CLUSTER_TRIDIAGONAL;
- if (kUserOrdering) {
- options->linear_solver_ordering = nullptr;
- }
- Problem* problem = bundle_adjustment_problem.mutable_problem();
- RunSolverForConfigAndExpectResidualsMatch(*options, problem);
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_THREADS
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_cxsparse_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_cxsparse_auto_test.cc
deleted file mode 100644
index 17b96296..0000000
--- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_cxsparse_auto_test.cc
+++ /dev/null
@@ -1,63 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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.
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// ========================================
-//
-// This file is generated using generate_bundle_adjustment_tests.py.
-
-#include "ceres/internal/config.h"
-#include "bundle_adjustment_test_util.h"
-
-#ifndef CERES_NO_CXSPARSE
-
-namespace ceres::internal {
-
-TEST_F(BundleAdjustmentTest,
- SparseNormalCholesky_CxSparse_AutomaticOrdering) { // NOLINT
- BundleAdjustmentProblem bundle_adjustment_problem;
- Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
- options->num_threads = 1;
- options->linear_solver_type = SPARSE_NORMAL_CHOLESKY;
- options->dense_linear_algebra_library_type = EIGEN;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- options->preconditioner_type = IDENTITY;
- if (kAutomaticOrdering) {
- options->linear_solver_ordering = nullptr;
- }
- Problem* problem = bundle_adjustment_problem.mutable_problem();
- RunSolverForConfigAndExpectResidualsMatch(*options, problem);
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_cxsparse_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_cxsparse_auto_threads_test.cc
deleted file mode 100644
index bd454ac..0000000
--- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_cxsparse_auto_threads_test.cc
+++ /dev/null
@@ -1,65 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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.
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// ========================================
-//
-// This file is generated using generate_bundle_adjustment_tests.py.
-
-#include "ceres/internal/config.h"
-#include "bundle_adjustment_test_util.h"
-
-#ifndef CERES_NO_CXSPARSE
-#ifndef CERES_NO_THREADS
-
-namespace ceres::internal {
-
-TEST_F(BundleAdjustmentTest,
- SparseNormalCholesky_CxSparse_AutomaticOrdering_Threads) { // NOLINT
- BundleAdjustmentProblem bundle_adjustment_problem;
- Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
- options->num_threads = 4;
- options->linear_solver_type = SPARSE_NORMAL_CHOLESKY;
- options->dense_linear_algebra_library_type = EIGEN;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- options->preconditioner_type = IDENTITY;
- if (kAutomaticOrdering) {
- options->linear_solver_ordering = nullptr;
- }
- Problem* problem = bundle_adjustment_problem.mutable_problem();
- RunSolverForConfigAndExpectResidualsMatch(*options, problem);
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_THREADS
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_cxsparse_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_cxsparse_user_test.cc
deleted file mode 100644
index f071f57..0000000
--- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_cxsparse_user_test.cc
+++ /dev/null
@@ -1,63 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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.
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// ========================================
-//
-// This file is generated using generate_bundle_adjustment_tests.py.
-
-#include "ceres/internal/config.h"
-#include "bundle_adjustment_test_util.h"
-
-#ifndef CERES_NO_CXSPARSE
-
-namespace ceres::internal {
-
-TEST_F(BundleAdjustmentTest,
- SparseNormalCholesky_CxSparse_UserOrdering) { // NOLINT
- BundleAdjustmentProblem bundle_adjustment_problem;
- Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
- options->num_threads = 1;
- options->linear_solver_type = SPARSE_NORMAL_CHOLESKY;
- options->dense_linear_algebra_library_type = EIGEN;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- options->preconditioner_type = IDENTITY;
- if (kUserOrdering) {
- options->linear_solver_ordering = nullptr;
- }
- Problem* problem = bundle_adjustment_problem.mutable_problem();
- RunSolverForConfigAndExpectResidualsMatch(*options, problem);
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_cxsparse_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_cxsparse_user_threads_test.cc
deleted file mode 100644
index 129247b..0000000
--- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_cxsparse_user_threads_test.cc
+++ /dev/null
@@ -1,65 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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.
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// ========================================
-//
-// This file is generated using generate_bundle_adjustment_tests.py.
-
-#include "ceres/internal/config.h"
-#include "bundle_adjustment_test_util.h"
-
-#ifndef CERES_NO_CXSPARSE
-#ifndef CERES_NO_THREADS
-
-namespace ceres::internal {
-
-TEST_F(BundleAdjustmentTest,
- SparseNormalCholesky_CxSparse_UserOrdering_Threads) { // NOLINT
- BundleAdjustmentProblem bundle_adjustment_problem;
- Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
- options->num_threads = 4;
- options->linear_solver_type = SPARSE_NORMAL_CHOLESKY;
- options->dense_linear_algebra_library_type = EIGEN;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- options->preconditioner_type = IDENTITY;
- if (kUserOrdering) {
- options->linear_solver_ordering = nullptr;
- }
- Problem* problem = bundle_adjustment_problem.mutable_problem();
- RunSolverForConfigAndExpectResidualsMatch(*options, problem);
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_THREADS
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_cxsparse_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_cxsparse_auto_test.cc
deleted file mode 100644
index 22bed0e..0000000
--- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_cxsparse_auto_test.cc
+++ /dev/null
@@ -1,63 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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.
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// ========================================
-//
-// This file is generated using generate_bundle_adjustment_tests.py.
-
-#include "ceres/internal/config.h"
-#include "bundle_adjustment_test_util.h"
-
-#ifndef CERES_NO_CXSPARSE
-
-namespace ceres::internal {
-
-TEST_F(BundleAdjustmentTest,
- SparseSchur_CxSparse_AutomaticOrdering) { // NOLINT
- BundleAdjustmentProblem bundle_adjustment_problem;
- Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
- options->num_threads = 1;
- options->linear_solver_type = SPARSE_SCHUR;
- options->dense_linear_algebra_library_type = EIGEN;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- options->preconditioner_type = IDENTITY;
- if (kAutomaticOrdering) {
- options->linear_solver_ordering = nullptr;
- }
- Problem* problem = bundle_adjustment_problem.mutable_problem();
- RunSolverForConfigAndExpectResidualsMatch(*options, problem);
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_cxsparse_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_cxsparse_auto_threads_test.cc
deleted file mode 100644
index 53d06c6..0000000
--- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_cxsparse_auto_threads_test.cc
+++ /dev/null
@@ -1,65 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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.
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// ========================================
-//
-// This file is generated using generate_bundle_adjustment_tests.py.
-
-#include "ceres/internal/config.h"
-#include "bundle_adjustment_test_util.h"
-
-#ifndef CERES_NO_CXSPARSE
-#ifndef CERES_NO_THREADS
-
-namespace ceres::internal {
-
-TEST_F(BundleAdjustmentTest,
- SparseSchur_CxSparse_AutomaticOrdering_Threads) { // NOLINT
- BundleAdjustmentProblem bundle_adjustment_problem;
- Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
- options->num_threads = 4;
- options->linear_solver_type = SPARSE_SCHUR;
- options->dense_linear_algebra_library_type = EIGEN;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- options->preconditioner_type = IDENTITY;
- if (kAutomaticOrdering) {
- options->linear_solver_ordering = nullptr;
- }
- Problem* problem = bundle_adjustment_problem.mutable_problem();
- RunSolverForConfigAndExpectResidualsMatch(*options, problem);
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_THREADS
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_cxsparse_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_cxsparse_user_test.cc
deleted file mode 100644
index 0f4d00a..0000000
--- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_cxsparse_user_test.cc
+++ /dev/null
@@ -1,63 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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.
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// ========================================
-//
-// This file is generated using generate_bundle_adjustment_tests.py.
-
-#include "ceres/internal/config.h"
-#include "bundle_adjustment_test_util.h"
-
-#ifndef CERES_NO_CXSPARSE
-
-namespace ceres::internal {
-
-TEST_F(BundleAdjustmentTest,
- SparseSchur_CxSparse_UserOrdering) { // NOLINT
- BundleAdjustmentProblem bundle_adjustment_problem;
- Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
- options->num_threads = 1;
- options->linear_solver_type = SPARSE_SCHUR;
- options->dense_linear_algebra_library_type = EIGEN;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- options->preconditioner_type = IDENTITY;
- if (kUserOrdering) {
- options->linear_solver_ordering = nullptr;
- }
- Problem* problem = bundle_adjustment_problem.mutable_problem();
- RunSolverForConfigAndExpectResidualsMatch(*options, problem);
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_cxsparse_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_cxsparse_user_threads_test.cc
deleted file mode 100644
index 49418c4..0000000
--- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_cxsparse_user_threads_test.cc
+++ /dev/null
@@ -1,65 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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.
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// ========================================
-//
-// This file is generated using generate_bundle_adjustment_tests.py.
-
-#include "ceres/internal/config.h"
-#include "bundle_adjustment_test_util.h"
-
-#ifndef CERES_NO_CXSPARSE
-#ifndef CERES_NO_THREADS
-
-namespace ceres::internal {
-
-TEST_F(BundleAdjustmentTest,
- SparseSchur_CxSparse_UserOrdering_Threads) { // NOLINT
- BundleAdjustmentProblem bundle_adjustment_problem;
- Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
- options->num_threads = 4;
- options->linear_solver_type = SPARSE_SCHUR;
- options->dense_linear_algebra_library_type = EIGEN;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- options->preconditioner_type = IDENTITY;
- if (kUserOrdering) {
- options->linear_solver_ordering = nullptr;
- }
- Problem* problem = bundle_adjustment_problem.mutable_problem();
- RunSolverForConfigAndExpectResidualsMatch(*options, problem);
-}
-
-} // namespace ceres::internal
-
-#endif // CERES_NO_THREADS
-#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/reorder_program.cc b/internal/ceres/reorder_program.cc
index b19a1b4..9f89c4b 100644
--- a/internal/ceres/reorder_program.cc
+++ b/internal/ceres/reorder_program.cc
@@ -31,13 +31,11 @@
#include "ceres/reorder_program.h"
#include <algorithm>
-#include <iostream> // Need this because MetisSupport refers to std::cerr.
#include <memory>
#include <numeric>
#include <vector>
#include "Eigen/SparseCore"
-#include "ceres/cxsparse.h"
#include "ceres/internal/config.h"
#include "ceres/internal/export.h"
#include "ceres/ordered_groups.h"
@@ -52,7 +50,13 @@
#include "ceres/types.h"
#ifdef CERES_USE_EIGEN_SPARSE
+
+#ifndef CERES_NO_METIS
+#include <iostream> // Need this because MetisSupport refers to std::cerr.
+
#include "Eigen/MetisSupport"
+#endif
+
#include "Eigen/OrderingMethods"
#endif
@@ -158,36 +162,6 @@
#endif // CERES_NO_SUITESPARSE
}
-void OrderingForSparseNormalCholeskyUsingCXSparse(
- const LinearSolverOrderingType linear_solver_ordering_type,
- const TripletSparseMatrix& tsm_block_jacobian_transpose,
- int* ordering) {
-#ifdef CERES_NO_CXSPARSE
- LOG(FATAL) << "Congratulations, you found a Ceres bug! "
- << "Please report this error to the developers.";
-#else
- CHECK_NE(linear_solver_ordering_type, NESDIS)
- << "Congratulations, you found a Ceres bug! "
- << "Please report this error to the developers.";
-
- // CXSparse works with J'J instead of J'. So compute the block
- // sparsity for J'J and compute an approximate minimum degree
- // ordering.
- CXSparse cxsparse;
- cs_di* block_jacobian_transpose;
- block_jacobian_transpose = cxsparse.CreateSparseMatrix(
- const_cast<TripletSparseMatrix*>(&tsm_block_jacobian_transpose));
- cs_di* block_jacobian = cxsparse.TransposeMatrix(block_jacobian_transpose);
- cs_di* block_hessian =
- cxsparse.MatrixMatrixMultiply(block_jacobian_transpose, block_jacobian);
- cxsparse.Free(block_jacobian);
- cxsparse.Free(block_jacobian_transpose);
-
- cxsparse.ApproximateMinimumDegreeOrdering(block_hessian, ordering);
- cxsparse.Free(block_hessian);
-#endif // CERES_NO_CXSPARSE
-}
-
void OrderingForSparseNormalCholeskyUsingEigenSparse(
const LinearSolverOrderingType linear_solver_ordering_type,
const TripletSparseMatrix& tsm_block_jacobian_transpose,
@@ -218,10 +192,10 @@
amd_ordering(block_hessian, perm);
} else {
#ifndef CERES_NO_METIS
- perm.setIdentity(block_hessian.rows());
-#else
Eigen::MetisOrdering<int> metis_ordering;
metis_ordering(block_hessian, perm);
+#else
+ perm.setIdentity(block_hessian.rows());
#endif
}
@@ -427,10 +401,10 @@
amd_ordering(block_schur_complement, perm);
} else {
#ifndef CERES_NO_METIS
- perm.setIdentity(block_schur_complement.rows());
-#else
Eigen::MetisOrdering<int> metis_ordering;
metis_ordering(block_schur_complement, perm);
+#else
+ perm.setIdentity(block_schur_complement.rows());
#endif
}
@@ -578,10 +552,6 @@
parameter_blocks,
parameter_block_ordering,
&ordering[0]);
- } else if (sparse_linear_algebra_library_type == CX_SPARSE) {
- OrderingForSparseNormalCholeskyUsingCXSparse(linear_solver_ordering_type,
- *tsm_block_jacobian_transpose,
- &ordering[0]);
} else if (sparse_linear_algebra_library_type == ACCELERATE_SPARSE) {
// Accelerate does not provide a function to perform reordering without
// performing a full symbolic factorisation. As such, we have nothing
@@ -652,18 +622,6 @@
return false;
}
- if (sparse_linear_algebra_library_type == ceres::CX_SPARSE) {
- if (linear_solver_ordering_type == ceres::NESDIS) {
- return false;
- }
-
- if (linear_solver_type == SPARSE_NORMAL_CHOLESKY ||
- (linear_solver_type == CGNR && preconditioner_type == SUBSET)) {
- return true;
- }
- return false;
- }
-
return false;
}
diff --git a/internal/ceres/schur_complement_solver_test.cc b/internal/ceres/schur_complement_solver_test.cc
index fe7a6b3..233a599 100644
--- a/internal/ceres/schur_complement_solver_test.cc
+++ b/internal/ceres/schur_complement_solver_test.cc
@@ -233,24 +233,6 @@
#endif // CERES_NO_METIS
#endif // CERES_NO_SUITESPARSE
-#ifndef CERES_NO_CXSPARSE
-// TODO(sameeragarwal): Extend these tests for NATURAL & NESDIS, once the linear
-// solver supports it.
-TEST_F(SchurComplementSolverTest, SparseSchurWithCXSparseSmallProblem) {
- ComputeAndCompareSolutions(
- 2, false, SPARSE_SCHUR, EIGEN, CX_SPARSE, OrderingType::AMD);
- ComputeAndCompareSolutions(
- 2, true, SPARSE_SCHUR, EIGEN, CX_SPARSE, OrderingType::AMD);
-}
-
-TEST_F(SchurComplementSolverTest, SparseSchurWithCXSparseLargeProblem) {
- ComputeAndCompareSolutions(
- 3, false, SPARSE_SCHUR, EIGEN, CX_SPARSE, OrderingType::AMD);
- ComputeAndCompareSolutions(
- 3, true, SPARSE_SCHUR, EIGEN, CX_SPARSE, OrderingType::AMD);
-}
-#endif // CERES_NO_CXSPARSE
-
#ifndef CERES_NO_ACCELERATE_SPARSE
TEST_F(SchurComplementSolverTest,
SparseSchurWithAccelerateSparseSmallProblemAMD) {
diff --git a/internal/ceres/solver_utils.cc b/internal/ceres/solver_utils.cc
index d1bac1a..56bad63 100644
--- a/internal/ceres/solver_utils.cc
+++ b/internal/ceres/solver_utils.cc
@@ -63,10 +63,6 @@
value += "-suitesparse-(" + std::string(CERES_SUITESPARSE_VERSION) + ")";
#endif
-#ifndef CERES_NO_CXSPARSE
- value += "-cxsparse-(" + std::string(CERES_CXSPARSE_VERSION) + ")";
-#endif
-
#ifndef CERES_NO_ACCELERATE_SPARSE
value += "-acceleratesparse";
#endif
diff --git a/internal/ceres/sparse_cholesky.cc b/internal/ceres/sparse_cholesky.cc
index c68b833..fe7412c 100644
--- a/internal/ceres/sparse_cholesky.cc
+++ b/internal/ceres/sparse_cholesky.cc
@@ -33,9 +33,7 @@
#include <memory>
#include "ceres/accelerate_sparse.h"
-#include "ceres/cxsparse.h"
#include "ceres/eigensparse.h"
-#include "ceres/float_cxsparse.h"
#include "ceres/float_suitesparse.h"
#include "ceres/iterative_refiner.h"
#include "ceres/suitesparse.h"
@@ -74,18 +72,6 @@
<< "Eigen's sparse Cholesky factorization routines.";
#endif
- case CX_SPARSE:
-#ifndef CERES_NO_CXSPARSE
- if (options.use_mixed_precision_solves) {
- sparse_cholesky = FloatCXSparseCholesky::Create(options.ordering_type);
- } else {
- sparse_cholesky = CXSparseCholesky::Create(options.ordering_type);
- }
- break;
-#else
- LOG(FATAL) << "Ceres was compiled without support for CXSparse.";
-#endif
-
case ACCELERATE_SPARSE:
#ifndef CERES_NO_ACCELERATE_SPARSE
if (options.use_mixed_precision_solves) {
diff --git a/internal/ceres/sparse_cholesky_test.cc b/internal/ceres/sparse_cholesky_test.cc
index bc728e7..785f2e9 100644
--- a/internal/ceres/sparse_cholesky_test.cc
+++ b/internal/ceres/sparse_cholesky_test.cc
@@ -202,17 +202,6 @@
ParamInfoToString);
#endif
-#ifndef CERES_NO_CXSPARSE
-INSTANTIATE_TEST_SUITE_P(
- CXSparseCholesky,
- SparseCholeskyTest,
- ::testing::Combine(::testing::Values(CX_SPARSE),
- ::testing::Values(OrderingType::AMD,
- OrderingType::NATURAL),
- ::testing::Values(true, false)),
- ParamInfoToString);
-#endif
-
#ifndef CERES_NO_ACCELERATE_SPARSE
INSTANTIATE_TEST_SUITE_P(
AccelerateSparseCholesky,
diff --git a/internal/ceres/sparse_normal_cholesky_solver_test.cc b/internal/ceres/sparse_normal_cholesky_solver_test.cc
index 39d9d82..b7d4a39 100644
--- a/internal/ceres/sparse_normal_cholesky_solver_test.cc
+++ b/internal/ceres/sparse_normal_cholesky_solver_test.cc
@@ -129,30 +129,6 @@
}
#endif
-#ifndef CERES_NO_CXSPARSE
-TEST_F(SparseNormalCholeskySolverTest,
- SparseNormalCholeskyUsingCXSparsePreOrdering) {
- LinearSolver::Options options;
- options.sparse_linear_algebra_library_type = CX_SPARSE;
- options.type = SPARSE_NORMAL_CHOLESKY;
- options.ordering_type = OrderingType::NATURAL;
- ContextImpl context;
- options.context = &context;
- TestSolver(options);
-}
-
-TEST_F(SparseNormalCholeskySolverTest,
- SparseNormalCholeskyUsingCXSparsePostOrdering) {
- LinearSolver::Options options;
- options.sparse_linear_algebra_library_type = CX_SPARSE;
- options.type = SPARSE_NORMAL_CHOLESKY;
- options.ordering_type = OrderingType::AMD;
- ContextImpl context;
- options.context = &context;
- TestSolver(options);
-}
-#endif
-
#ifndef CERES_NO_ACCELERATE_SPARSE
TEST_F(SparseNormalCholeskySolverTest,
SparseNormalCholeskyUsingAccelerateSparsePreOrdering) {
diff --git a/internal/ceres/subset_preconditioner_test.cc b/internal/ceres/subset_preconditioner_test.cc
index 0596bc7..2f5e044 100644
--- a/internal/ceres/subset_preconditioner_test.cc
+++ b/internal/ceres/subset_preconditioner_test.cc
@@ -181,14 +181,6 @@
ParamInfoToString);
#endif
-#ifndef CERES_NO_CXSPARSE
-INSTANTIATE_TEST_SUITE_P(SubsetPreconditionerWithCXSparse,
- SubsetPreconditionerTest,
- ::testing::Combine(::testing::Values(CX_SPARSE),
- ::testing::Values(true, false)),
- ParamInfoToString);
-#endif
-
#ifndef CERES_NO_ACCELERATE_SPARSE
INSTANTIATE_TEST_SUITE_P(
SubsetPreconditionerWithAccelerateSparse,
diff --git a/internal/ceres/system_test.cc b/internal/ceres/system_test.cc
index 89be241..6978d9b 100644
--- a/internal/ceres/system_test.cc
+++ b/internal/ceres/system_test.cc
@@ -186,17 +186,6 @@
}
#endif // CERES_NO_SUITESPARSE
-#ifndef CERES_NO_CXSPARSE
-TEST_F(PowellTest, SparseNormalCholeskyUsingCXSparse) {
- PowellsFunction powells_function;
- Solver::Options* options = powells_function.mutable_solver_options();
- options->linear_solver_type = SPARSE_NORMAL_CHOLESKY;
- options->sparse_linear_algebra_library_type = CX_SPARSE;
- RunSolverForConfigAndExpectResidualsMatch(*options,
- powells_function.mutable_problem());
-}
-#endif // CERES_NO_CXSPARSE
-
#ifndef CERES_NO_ACCELERATE_SPARSE
TEST_F(PowellTest, SparseNormalCholeskyUsingAccelerateSparse) {
PowellsFunction powells_function;
diff --git a/internal/ceres/types.cc b/internal/ceres/types.cc
index eea0312..5d1bcea 100644
--- a/internal/ceres/types.cc
+++ b/internal/ceres/types.cc
@@ -104,7 +104,6 @@
SparseLinearAlgebraLibraryType type) {
switch (type) {
CASESTR(SUITE_SPARSE);
- CASESTR(CX_SPARSE);
CASESTR(EIGEN_SPARSE);
CASESTR(ACCELERATE_SPARSE);
CASESTR(NO_SPARSE);
@@ -117,7 +116,6 @@
string value, SparseLinearAlgebraLibraryType* type) {
UpperCase(&value);
STRENUM(SUITE_SPARSE);
- STRENUM(CX_SPARSE);
STRENUM(EIGEN_SPARSE);
STRENUM(ACCELERATE_SPARSE);
STRENUM(NO_SPARSE);
@@ -404,14 +402,6 @@
#endif
}
- if (type == CX_SPARSE) {
-#ifdef CERES_NO_CXSPARSE
- return false;
-#else
- return true;
-#endif
- }
-
if (type == ACCELERATE_SPARSE) {
#ifdef CERES_NO_ACCELERATE_SPARSE
return false;
