commit 6fb3dae4eeef855568e47ebbb29a8ba4f3c9153f
author Mark Shachkov <markshachkov@gmail.com> Wed May 01 11:00:58 2024 +0200
committer Mark Shachkov <markshachkov@gmail.com> Tue Jul 09 20:23:18 2024 +0200
tree 8a7c22cf0537642aae30712f188cc18836faa4ac
parent e47a42c2957951c9fafcca9995d9927e15557069

Add cuDSS as sparse Cholesky solver

cuDSS could be used as an alternative for SuiteSparse and EigenSparse
in case if CUDA capable GPU is available.

Change-Id: I7a567093ce91363478118153e181134ed5804573

internal/ceres/generate_bundle_adjustment_tests.py

diff --git a/internal/ceres/generate_bundle_adjustment_tests.py b/internal/ceres/generate_bundle_adjustment_tests.py
index ac83bc3..0359b40 100644
--- a/internal/ceres/generate_bundle_adjustment_tests.py
+++ b/internal/ceres/generate_bundle_adjustment_tests.py
@@ -53,9 +53,11 @@
     ('SPARSE_NORMAL_CHOLESKY', 'SUITE_SPARSE'),
     ('SPARSE_NORMAL_CHOLESKY', 'EIGEN_SPARSE'),
     ('SPARSE_NORMAL_CHOLESKY', 'ACCELERATE_SPARSE'),
+    ('SPARSE_NORMAL_CHOLESKY', 'CUDA_SPARSE'),
     ('SPARSE_SCHUR',           'SUITE_SPARSE'),
     ('SPARSE_SCHUR',           'EIGEN_SPARSE'),
     ('SPARSE_SCHUR',           'ACCELERATE_SPARSE'),
+    ('SPARSE_SCHUR',           'CUDA_SPARSE')
 ]
 
 ITERATIVE_SOLVER_CONFIGS = [
@@ -66,9 +68,11 @@
     ('ITERATIVE_SCHUR',        'SUITE_SPARSE',     'CLUSTER_JACOBI'),
     ('ITERATIVE_SCHUR',        'EIGEN_SPARSE',     'CLUSTER_JACOBI'),
     ('ITERATIVE_SCHUR',        'ACCELERATE_SPARSE','CLUSTER_JACOBI'),
+    ('ITERATIVE_SCHUR',        'CUDA_SPARSE',      'CLUSTER_JACOBI'),
     ('ITERATIVE_SCHUR',        'SUITE_SPARSE',     'CLUSTER_TRIDIAGONAL'),
     ('ITERATIVE_SCHUR',        'EIGEN_SPARSE',     'CLUSTER_TRIDIAGONAL'),
     ('ITERATIVE_SCHUR',        'ACCELERATE_SPARSE','CLUSTER_TRIDIAGONAL'),
+    ('ITERATIVE_SCHUR',        'CUDA_SPARSE',      'CLUSTER_TRIDIAGONAL'),
 ]
 
 FILENAME_SHORTENING_MAP = dict(
@@ -83,6 +87,7 @@
   SUITE_SPARSE='suitesparse',
   EIGEN_SPARSE='eigensparse',
   ACCELERATE_SPARSE='acceleratesparse',
+  CUDA_SPARSE='cudasparse',
   IDENTITY='identity',
   JACOBI='jacobi',
   SCHUR_JACOBI='schurjacobi',
@@ -217,6 +222,14 @@
   elif sparse_backend == 'EIGEN_SPARSE':
     preprocessor_conditions_begin.append('#ifdef CERES_USE_EIGEN_SPARSE')
     preprocessor_conditions_end.insert(0, '#endif  // CERES_USE_EIGEN_SPARSE')
+  elif sparse_backend == 'CUDA_SPARSE':
+    preprocessor_conditions_begin.append('#ifndef CERES_NO_CUDA')
+    preprocessor_conditions_end.insert(0, '#endif  // CERES_NO_CUDA')
+    if linear_solver == 'SPARSE_SCHUR' or linear_solver == 'SPARSE_NORMAL_CHOLESKY' or (
+            linear_solver == 'ITERATIVE_SCHUR' and (
+            preconditioner == 'CLUSTER_JACOBI' or preconditioner == 'CLUSTER_TRIDIAGONAL')):
+      preprocessor_conditions_begin.append('#ifndef CERES_NO_CUDSS')
+      preprocessor_conditions_end.insert(0, '#endif  // CERES_NO_CUDSS')
 
   if dense_backend == "LAPACK":
     preprocessor_conditions_begin.append('#ifndef CERES_NO_LAPACK')