Add fake FloatCXSparseCholesky and FloatSuiteSparseCholesky
Change-Id: I8d61144d0678b8da92322a18517fa6924d950653
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
index 1dad396..eb18eb0 100644
--- a/internal/ceres/CMakeLists.txt
+++ b/internal/ceres/CMakeLists.txt
@@ -67,6 +67,8 @@
evaluator.cc
eigensparse.cc
file.cc
+ float_suitesparse.cc
+ float_cxsparse.cc
function_sample.cc
gradient_checker.cc
gradient_checking_cost_function.cc
diff --git a/internal/ceres/float_cxsparse.cc b/internal/ceres/float_cxsparse.cc
new file mode 100644
index 0000000..6c68830
--- /dev/null
+++ b/internal/ceres/float_cxsparse.cc
@@ -0,0 +1,47 @@
+// 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"
+
+#if !defined(CERES_NO_CXSPARSE)
+
+namespace ceres {
+namespace internal {
+
+std::unique_ptr<SparseCholesky> FloatCXSparseCholesky::Create(
+ OrderingType ordering_type) {
+ LOG(FATAL) << "FloatCXSparseCholesky is not available.";
+ return std::unique_ptr<SparseCholesky>();
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // !defined(CERES_NO_CXSPARSE)
diff --git a/internal/ceres/float_cxsparse.h b/internal/ceres/float_cxsparse.h
new file mode 100644
index 0000000..57fc5e4
--- /dev/null
+++ b/internal/ceres/float_cxsparse.h
@@ -0,0 +1,58 @@
+// 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/port.h"
+
+#if !defined(CERES_NO_CXSPARSE)
+
+#include <memory>
+#include "ceres/sparse_cholesky.h"
+
+namespace ceres {
+namespace internal {
+
+// Fake implementation of a single precision Sparse Cholesky using
+// CXSparse.
+class FloatCXSparseCholesky : public SparseCholesky {
+ public:
+ static std::unique_ptr<SparseCholesky> Create(
+ OrderingType ordering_type);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // !defined(CERES_NO_CXSPARSE)
+
+#endif // CERES_INTERNAL_FLOAT_CXSPARSE_H_
diff --git a/internal/ceres/float_suitesparse.cc b/internal/ceres/float_suitesparse.cc
new file mode 100644
index 0000000..0360457
--- /dev/null
+++ b/internal/ceres/float_suitesparse.cc
@@ -0,0 +1,47 @@
+// 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_suitesparse.h"
+
+#if !defined(CERES_NO_SUITESPARSE)
+
+namespace ceres {
+namespace internal {
+
+std::unique_ptr<SparseCholesky> FloatSuiteSparseCholesky::Create(
+ OrderingType ordering_type) {
+ LOG(FATAL) << "FloatSuiteSparseCholesky is not available.";
+ return std::unique_ptr<SparseCholesky>();
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // !defined(CERES_NO_SUITESPARSE)
diff --git a/internal/ceres/float_suitesparse.h b/internal/ceres/float_suitesparse.h
new file mode 100644
index 0000000..ac4d409
--- /dev/null
+++ b/internal/ceres/float_suitesparse.h
@@ -0,0 +1,58 @@
+// 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_SUITESPARSE_H_
+#define CERES_INTERNAL_FLOAT_SUITESPARSE_H_
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#include <memory>
+#include "ceres/sparse_cholesky.h"
+
+#if !defined(CERES_NO_SUITESPARSE)
+
+namespace ceres {
+namespace internal {
+
+// Fake implementation of a single precision Sparse Cholesky using
+// SuiteSparse.
+class FloatSuiteSparseCholesky : public SparseCholesky {
+ public:
+ static std::unique_ptr<SparseCholesky> Create(
+ OrderingType ordering_type);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // !defined(CERES_NO_SUITESPARSE)
+
+#endif // CERES_INTERNAL_FLOAT_SUITESPARSE_H_
diff --git a/internal/ceres/sparse_cholesky.cc b/internal/ceres/sparse_cholesky.cc
index ef6d762..e18f380 100644
--- a/internal/ceres/sparse_cholesky.cc
+++ b/internal/ceres/sparse_cholesky.cc
@@ -32,6 +32,8 @@
#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"
@@ -46,7 +48,11 @@
switch (options.sparse_linear_algebra_library_type) {
case SUITE_SPARSE:
#ifndef CERES_NO_SUITESPARSE
- sparse_cholesky = SuiteSparseCholesky::Create(ordering_type);
+ if (options.use_mixed_precision_solves) {
+ sparse_cholesky = FloatSuiteSparseCholesky::Create(ordering_type);
+ } else {
+ sparse_cholesky = SuiteSparseCholesky::Create(ordering_type);
+ }
break;
#else
LOG(FATAL) << "Ceres was compiled without support for SuiteSparse.";
@@ -67,7 +73,11 @@
case CX_SPARSE:
#ifndef CERES_NO_CXSPARSE
- sparse_cholesky = CXSparseCholesky::Create(ordering_type);
+ if (options.use_mixed_precision_solves) {
+ sparse_cholesky = FloatCXSparseCholesky::Create(ordering_type);
+ } else {
+ sparse_cholesky = CXSparseCholesky::Create(ordering_type);
+ }
#else
LOG(FATAL) << "Ceres was compiled without support for CXSparse.";
#endif
