Multiple dense linear algebra backends.
1. When a LAPACK implementation is present, then
DENSE_QR, DENSE_NORMAL_CHOLESKY and DENSE_SCHUR
can use it for doing dense linear algebra operations.
2. The user can switch dense linear algebra libraries
by setting Solver::Options::dense_linear_algebra_library_type.
3. Solver::Options::sparse_linear_algebra_library is now
Solver::Options::sparse_linear_algebra_library_type to be consistent
with all the other enums in Solver::Options.
4. Updated documentation as well as Solver::Summary::FullReport
to reflect these changes.
Change-Id: I5ab930bc15e90906b648bc399b551e6bd5d6498f
diff --git a/internal/ceres/schur_complement_solver_test.cc b/internal/ceres/schur_complement_solver_test.cc
index 206d4b5..745ea8e 100644
--- a/internal/ceres/schur_complement_solver_test.cc
+++ b/internal/ceres/schur_complement_solver_test.cc
@@ -87,7 +87,8 @@
int problem_id,
bool regularization,
ceres::LinearSolverType linear_solver_type,
- ceres::SparseLinearAlgebraLibraryType sparse_linear_algebra_library,
+ ceres::DenseLinearAlgebraLibraryType dense_linear_algebra_library_type,
+ ceres::SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
bool use_postordering) {
SetUpFromProblemId(problem_id);
LinearSolver::Options options;
@@ -95,7 +96,10 @@
options.elimination_groups.push_back(
A->block_structure()->cols.size() - num_eliminate_blocks);
options.type = linear_solver_type;
- options.sparse_linear_algebra_library = sparse_linear_algebra_library;
+ options.dense_linear_algebra_library_type =
+ dense_linear_algebra_library_type;
+ options.sparse_linear_algebra_library_type =
+ sparse_linear_algebra_library_type;
options.use_postordering = use_postordering;
scoped_ptr<LinearSolver> solver(LinearSolver::Create(options));
@@ -131,53 +135,65 @@
scoped_array<double> sol_d;
};
-TEST_F(SchurComplementSolverTest, DenseSchurWithSmallProblem) {
- ComputeAndCompareSolutions(2, false, DENSE_SCHUR, SUITE_SPARSE, true);
- ComputeAndCompareSolutions(2, true, DENSE_SCHUR, SUITE_SPARSE, true);
+TEST_F(SchurComplementSolverTest, EigenBasedDenseSchurWithSmallProblem) {
+ ComputeAndCompareSolutions(2, false, DENSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+ ComputeAndCompareSolutions(2, true, DENSE_SCHUR, EIGEN, SUITE_SPARSE, true);
}
-TEST_F(SchurComplementSolverTest, DenseSchurWithLargeProblem) {
- ComputeAndCompareSolutions(3, false, DENSE_SCHUR, SUITE_SPARSE, true);
- ComputeAndCompareSolutions(3, true, DENSE_SCHUR, SUITE_SPARSE, true);
+TEST_F(SchurComplementSolverTest, EigenBasedDenseSchurWithLargeProblem) {
+ ComputeAndCompareSolutions(3, false, DENSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+ ComputeAndCompareSolutions(3, true, DENSE_SCHUR, EIGEN, SUITE_SPARSE, true);
}
+#ifndef CERES_NO_LAPACK
+TEST_F(SchurComplementSolverTest, LAPACKBasedDenseSchurWithSmallProblem) {
+ ComputeAndCompareSolutions(2, false, DENSE_SCHUR, LAPACK, SUITE_SPARSE, true);
+ ComputeAndCompareSolutions(2, true, DENSE_SCHUR, LAPACK, SUITE_SPARSE, true);
+}
+
+TEST_F(SchurComplementSolverTest, LAPACKBasedDenseSchurWithLargeProblem) {
+ ComputeAndCompareSolutions(3, false, DENSE_SCHUR, LAPACK, SUITE_SPARSE, true);
+ ComputeAndCompareSolutions(3, true, DENSE_SCHUR, LAPACK, SUITE_SPARSE, true);
+}
+#endif
+
#ifndef CERES_NO_SUITESPARSE
TEST_F(SchurComplementSolverTest,
SparseSchurWithSuiteSparseSmallProblemNoPostOrdering) {
- ComputeAndCompareSolutions(2, false, SPARSE_SCHUR, SUITE_SPARSE, false);
- ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, SUITE_SPARSE, false);
+ ComputeAndCompareSolutions(2, false, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, false);
+ ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, false);
}
TEST_F(SchurComplementSolverTest,
SparseSchurWithSuiteSparseSmallProblemPostOrdering) {
- ComputeAndCompareSolutions(2, false, SPARSE_SCHUR, SUITE_SPARSE, true);
- ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, SUITE_SPARSE, true);
+ ComputeAndCompareSolutions(2, false, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+ ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, true);
}
TEST_F(SchurComplementSolverTest,
SparseSchurWithSuiteSparseLargeProblemNoPostOrdering) {
- ComputeAndCompareSolutions(3, false, SPARSE_SCHUR, SUITE_SPARSE, false);
- ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, SUITE_SPARSE, false);
+ ComputeAndCompareSolutions(3, false, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, false);
+ ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, false);
}
TEST_F(SchurComplementSolverTest,
SparseSchurWithSuiteSparseLargeProblemPostOrdering) {
- ComputeAndCompareSolutions(3, false, SPARSE_SCHUR, SUITE_SPARSE, true);
- ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, SUITE_SPARSE, true);
+ ComputeAndCompareSolutions(3, false, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+ ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, true);
}
#endif // CERES_NO_SUITESPARSE
#ifndef CERES_NO_CXSPARSE
TEST_F(SchurComplementSolverTest,
SparseSchurWithSuiteSparseSmallProblem) {
- ComputeAndCompareSolutions(2, false, SPARSE_SCHUR, SUITE_SPARSE, true);
- ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, SUITE_SPARSE, true);
+ ComputeAndCompareSolutions(2, false, SPARSE_SCHUR, EIGEN, CX_SPARSE, true);
+ ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, EIGEN, CX_SPARSE, true);
}
TEST_F(SchurComplementSolverTest,
SparseSchurWithSuiteSparseLargeProblem) {
- ComputeAndCompareSolutions(3, false, SPARSE_SCHUR, SUITE_SPARSE, true);
- ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, SUITE_SPARSE, true);
+ ComputeAndCompareSolutions(3, false, SPARSE_SCHUR, EIGEN, CX_SPARSE, true);
+ ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, EIGEN, CX_SPARSE, true);
}
#endif // CERES_NO_CXSPARSE
