Solver::Options::ordering* are dead.
Remove the old ordering API, and modify solver_impl.cc
to use the new API everywhere.
In the process also clean up the linear solver instantion
logic in solver_impl.cc a bit too.
Change-Id: Ia66898abc7f622070b184b21fce8cc6140c4cebf
diff --git a/internal/ceres/system_test.cc b/internal/ceres/system_test.cc
index 3dfbc00..4d78de7 100644
--- a/internal/ceres/system_test.cc
+++ b/internal/ceres/system_test.cc
@@ -44,6 +44,7 @@
#include <string>
#include "ceres/autodiff_cost_function.h"
+#include "ceres/ordering.h"
#include "ceres/problem.h"
#include "ceres/rotation.h"
#include "ceres/solver.h"
@@ -57,28 +58,30 @@
namespace ceres {
namespace internal {
+const bool kAutomaticOrdering = true;
+const bool kUserOrdering = false;
+
// Struct used for configuring the solver.
struct SolverConfig {
SolverConfig(LinearSolverType linear_solver_type,
SparseLinearAlgebraLibraryType sparse_linear_algebra_library,
- OrderingType ordering_type)
+ bool use_automatic_ordering)
: linear_solver_type(linear_solver_type),
sparse_linear_algebra_library(sparse_linear_algebra_library),
- ordering_type(ordering_type),
+ use_automatic_ordering(use_automatic_ordering),
preconditioner_type(IDENTITY),
num_threads(1) {
}
SolverConfig(LinearSolverType linear_solver_type,
SparseLinearAlgebraLibraryType sparse_linear_algebra_library,
- OrderingType ordering_type,
- PreconditionerType preconditioner_type,
- int num_threads)
+ bool use_automatic_ordering,
+ PreconditionerType preconditioner_type)
: linear_solver_type(linear_solver_type),
sparse_linear_algebra_library(sparse_linear_algebra_library),
- ordering_type(ordering_type),
+ use_automatic_ordering(use_automatic_ordering),
preconditioner_type(preconditioner_type),
- num_threads(num_threads) {
+ num_threads(1) {
}
string ToString() const {
@@ -86,14 +89,14 @@
"(%s, %s, %s, %s, %d)",
LinearSolverTypeToString(linear_solver_type),
SparseLinearAlgebraLibraryTypeToString(sparse_linear_algebra_library),
- OrderingTypeToString(ordering_type),
+ use_automatic_ordering ? "AUTOMATIC" : "USER",
PreconditionerTypeToString(preconditioner_type),
num_threads);
}
LinearSolverType linear_solver_type;
SparseLinearAlgebraLibraryType sparse_linear_algebra_library;
- OrderingType ordering_type;
+ bool use_automatic_ordering;
PreconditionerType preconditioner_type;
int num_threads;
};
@@ -129,18 +132,14 @@
options.linear_solver_type = config.linear_solver_type;
options.sparse_linear_algebra_library =
config.sparse_linear_algebra_library;
- options.ordering_type = config.ordering_type;
options.preconditioner_type = config.preconditioner_type;
options.num_threads = config.num_threads;
options.num_linear_solver_threads = config.num_threads;
options.return_final_residuals = true;
- if (options.ordering_type == SCHUR || options.ordering_type == NATURAL) {
- options.ordering.clear();
- }
-
- if (options.ordering_type == SCHUR) {
- options.num_eliminate_blocks = 0;
+ if (config.use_automatic_ordering) {
+ delete options.ordering;
+ options.ordering = NULL;
}
LOG(INFO) << "Running solver configuration: "
@@ -279,21 +278,19 @@
sparse_linear_algebra_library, \
ordering))
- CONFIGURE(DENSE_QR, SUITE_SPARSE, NATURAL);
- CONFIGURE(DENSE_NORMAL_CHOLESKY, SUITE_SPARSE, NATURAL);
- CONFIGURE(DENSE_SCHUR, SUITE_SPARSE, SCHUR);
+ CONFIGURE(DENSE_QR, SUITE_SPARSE, kAutomaticOrdering);
+ CONFIGURE(DENSE_NORMAL_CHOLESKY, SUITE_SPARSE, kAutomaticOrdering);
+ CONFIGURE(DENSE_SCHUR, SUITE_SPARSE, kAutomaticOrdering);
#ifndef CERES_NO_SUITESPARSE
- CONFIGURE(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, NATURAL);
- CONFIGURE(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, SCHUR);
+ CONFIGURE(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kAutomaticOrdering);
#endif // CERES_NO_SUITESPARSE
#ifndef CERES_NO_CXSPARSE
- CONFIGURE(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, NATURAL);
- CONFIGURE(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, SCHUR);
+ CONFIGURE(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, kAutomaticOrdering);
#endif // CERES_NO_CXSPARSE
- CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, SCHUR);
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering);
#undef CONFIGURE
@@ -390,16 +387,17 @@
problem_.AddResidualBlock(cost_function, NULL, camera, point);
}
+ options_.ordering = new Ordering;
+
// The points come before the cameras.
for (int i = 0; i < num_points_; ++i) {
- options_.ordering.push_back(points + 3 * i);
+ options_.ordering->AddParameterBlockToGroup(points + 3 * i, 0);
}
for (int i = 0; i < num_cameras_; ++i) {
- options_.ordering.push_back(cameras + 9 * i);
+ options_.ordering->AddParameterBlockToGroup(cameras + 9 * i, 1);
}
- options_.num_eliminate_blocks = num_points();
options_.max_num_iterations = 25;
options_.function_tolerance = 1e-10;
options_.gradient_tolerance = 1e-10;
@@ -479,46 +477,43 @@
TEST(SystemTest, BundleAdjustmentProblem) {
vector<SolverConfig> configs;
-#define CONFIGURE(linear_solver, sparse_linear_algebra_library, ordering, preconditioner, threads) \
+#define CONFIGURE(linear_solver, sparse_linear_algebra_library, ordering, preconditioner) \
configs.push_back(SolverConfig(linear_solver, \
sparse_linear_algebra_library, \
ordering, \
- preconditioner, \
- threads))
+ preconditioner))
#ifndef CERES_NO_SUITESPARSE
- CONFIGURE(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, NATURAL, IDENTITY, 1);
- CONFIGURE(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, USER, IDENTITY, 1);
- CONFIGURE(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, SCHUR, IDENTITY, 1);
+ CONFIGURE(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kAutomaticOrdering, IDENTITY);
+ CONFIGURE(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kUserOrdering, IDENTITY);
- CONFIGURE(SPARSE_SCHUR, SUITE_SPARSE, USER, IDENTITY, 1);
- CONFIGURE(SPARSE_SCHUR, SUITE_SPARSE, SCHUR, IDENTITY, 1);
+ CONFIGURE(SPARSE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, IDENTITY);
+ CONFIGURE(SPARSE_SCHUR, SUITE_SPARSE, kUserOrdering, IDENTITY);
#endif // CERES_NO_SUITESPARSE
#ifndef CERES_NO_CXSPARSE
- CONFIGURE(SPARSE_SCHUR, CX_SPARSE, USER, IDENTITY, 1);
- CONFIGURE(SPARSE_SCHUR, CX_SPARSE, SCHUR, IDENTITY, 1);
+ CONFIGURE(SPARSE_SCHUR, CX_SPARSE, kAutomaticOrdering, IDENTITY);
+ CONFIGURE(SPARSE_SCHUR, CX_SPARSE, kUserOrdering, IDENTITY);
#endif // CERES_NO_CXSPARSE
- CONFIGURE(DENSE_SCHUR, SUITE_SPARSE, USER, IDENTITY, 1);
- CONFIGURE(DENSE_SCHUR, SUITE_SPARSE, SCHUR, IDENTITY, 1);
+ CONFIGURE(DENSE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, IDENTITY);
+ CONFIGURE(DENSE_SCHUR, SUITE_SPARSE, kUserOrdering, IDENTITY);
- CONFIGURE(CGNR, SUITE_SPARSE, USER, JACOBI, 1);
-
- CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, USER, JACOBI, 1);
+ CONFIGURE(CGNR, SUITE_SPARSE, kAutomaticOrdering, JACOBI);
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kUserOrdering, JACOBI);
#ifndef CERES_NO_SUITESPARSE
- CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, USER, SCHUR_JACOBI, 1);
- CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, USER, CLUSTER_JACOBI, 1);
- CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, USER, CLUSTER_TRIDIAGONAL, 1);
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kUserOrdering, SCHUR_JACOBI);
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kUserOrdering, CLUSTER_JACOBI);
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kUserOrdering, CLUSTER_TRIDIAGONAL);
#endif // CERES_NO_SUITESPARSE
- CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, SCHUR, JACOBI, 1);
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, JACOBI);
#ifndef CERES_NO_SUITESPARSE
- CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, SCHUR, SCHUR_JACOBI, 1);
- CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, SCHUR, CLUSTER_JACOBI, 1);
- CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, SCHUR, CLUSTER_TRIDIAGONAL, 1);
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, SCHUR_JACOBI);
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, CLUSTER_JACOBI);
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, CLUSTER_TRIDIAGONAL);
#endif // CERES_NO_SUITESPARSE
#undef CONFIGURE
