commit 367b65e17a541a9f29b9ea63682fe6f6b5b54074
author Sameer Agarwal <sameeragarwal@google.com> Fri Aug 09 10:35:37 2013 -0700
committer Sameer Agarwal <sameeragarwal@google.com> Tue Aug 13 14:57:03 2013 -0700
tree bb3b1c21c0b9ad3bc7f06b47e459ff716b4c91ef
parent 080d1d04bdf722c3f602833c4c07ac1c5d26fcc0

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

internal/ceres/solver_impl.cc

diff --git a/internal/ceres/solver_impl.cc b/internal/ceres/solver_impl.cc
index d6ef731..bd731fe 100644
--- a/internal/ceres/solver_impl.cc
+++ b/internal/ceres/solver_impl.cc
@@ -506,8 +506,10 @@
       original_options.num_linear_solver_threads;
   summary->num_linear_solver_threads_used = options.num_linear_solver_threads;
 
-  summary->sparse_linear_algebra_library =
-      options.sparse_linear_algebra_library;
+  summary->dense_linear_algebra_library_type =
+      options.dense_linear_algebra_library_type;
+  summary->sparse_linear_algebra_library_type =
+      options.sparse_linear_algebra_library_type;
 
   summary->trust_region_strategy_type = options.trust_region_strategy_type;
   summary->dogleg_type = options.dogleg_type;
@@ -1092,7 +1094,7 @@
   if (IsSchurType(options->linear_solver_type)) {
     if (!ReorderProgramForSchurTypeLinearSolver(
             options->linear_solver_type,
-            options->sparse_linear_algebra_library,
+            options->sparse_linear_algebra_library_type,
             problem_impl->parameter_map(),
             linear_solver_ordering,
             transformed_program.get(),
@@ -1104,7 +1106,7 @@
 
   if (options->linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
     if (!ReorderProgramForSparseNormalCholesky(
-            options->sparse_linear_algebra_library,
+            options->sparse_linear_algebra_library_type,
             linear_solver_ordering,
             transformed_program.get(),
             error)) {
@@ -1134,9 +1136,32 @@
     }
   }
 
+#ifdef CERES_NO_LAPACK
+  if (options->linear_solver_type == DENSE_NORMAL_CHOLESKY &&
+      options->dense_linear_algebra_library_type == LAPACK) {
+    *error = "Can't use DENSE_NORMAL_CHOLESKY with LAPACK because "
+        "LAPACK was not enabled when Ceres was built.";
+    return NULL;
+  }
+
+  if (options->linear_solver_type == DENSE_QR &&
+      options->dense_linear_algebra_library_type == LAPACK) {
+    *error = "Can't use DENSE_QR with LAPACK because "
+        "LAPACK was not enabled when Ceres was built.";
+    return NULL;
+  }
+
+  if (options->linear_solver_type == DENSE_SCHUR &&
+      options->dense_linear_algebra_library_type == LAPACK) {
+    *error = "Can't use DENSE_SCHUR with LAPACK because "
+        "LAPACK was not enabled when Ceres was built.";
+    return NULL;
+  }
+#endif
+
 #ifdef CERES_NO_SUITESPARSE
   if (options->linear_solver_type == SPARSE_NORMAL_CHOLESKY &&
-      options->sparse_linear_algebra_library == SUITE_SPARSE) {
+      options->sparse_linear_algebra_library_type == SUITE_SPARSE) {
     *error = "Can't use SPARSE_NORMAL_CHOLESKY with SUITESPARSE because "
              "SuiteSparse was not enabled when Ceres was built.";
     return NULL;
@@ -1157,7 +1182,7 @@
 
 #ifdef CERES_NO_CXSPARSE
   if (options->linear_solver_type == SPARSE_NORMAL_CHOLESKY &&
-      options->sparse_linear_algebra_library == CX_SPARSE) {
+      options->sparse_linear_algebra_library_type == CX_SPARSE) {
     *error = "Can't use SPARSE_NORMAL_CHOLESKY with CXSPARSE because "
              "CXSparse was not enabled when Ceres was built.";
     return NULL;
@@ -1194,8 +1219,10 @@
       options->max_linear_solver_iterations;
   linear_solver_options.type = options->linear_solver_type;
   linear_solver_options.preconditioner_type = options->preconditioner_type;
-  linear_solver_options.sparse_linear_algebra_library =
-      options->sparse_linear_algebra_library;
+  linear_solver_options.sparse_linear_algebra_library_type =
+      options->sparse_linear_algebra_library_type;
+  linear_solver_options.dense_linear_algebra_library_type =
+      options->dense_linear_algebra_library_type;
   linear_solver_options.use_postordering = options->use_postordering;
 
   // Ignore user's postordering preferences and force it to be true if
@@ -1204,7 +1231,7 @@
   // done.
 #if !defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CAMD)
   if (IsSchurType(linear_solver_options.type) &&
-      linear_solver_options.sparse_linear_algebra_library == SUITE_SPARSE) {
+      linear_solver_options.sparse_linear_algebra_library_type == SUITE_SPARSE) {
     linear_solver_options.use_postordering = true;
   }
 #endif