commit 8f41ca6abc3f5bbfdda3590107f92e46ebbc9c93
author Alex Stewart <alexs.mac@gmail.com> Sat Jun 23 20:17:34 2018 +0100
committer Alex Stewart <alexs.mac@gmail.com> Fri Jun 29 09:43:03 2018 +0100
tree 31a5212900d6e6ef9454b61d3155da18cbacc84f
parent 357288008ef97fba9805008493356fc024d4a578

Add Apple's Accelerate framework as a sparse linear algebra library.

- Currently DynamicSparseNormalCholeskySolver is unsupported for
  Accelerate.

Change-Id: I03b5a86bb22fef249c4aecd48947a613e8eff7a5

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 86452b5..2f3375a 100644
--- a/internal/ceres/generate_bundle_adjustment_tests.py
+++ b/internal/ceres/generate_bundle_adjustment_tests.py
@@ -49,15 +49,19 @@
   ('ITERATIVE_SCHUR',        'SUITE_SPARSE',     'CLUSTER_JACOBI'),
   ('ITERATIVE_SCHUR',        'EIGEN_SPARSE',     'CLUSTER_JACOBI'),
   ('ITERATIVE_SCHUR',        'CX_SPARSE',        'CLUSTER_JACOBI'),
+  ('ITERATIVE_SCHUR',        'ACCELERATE_SPARSE','CLUSTER_JACOBI'),
   ('ITERATIVE_SCHUR',        'SUITE_SPARSE',     'CLUSTER_TRIDIAGONAL'),
   ('ITERATIVE_SCHUR',        'EIGEN_SPARSE',     'CLUSTER_TRIDIAGONAL'),
   ('ITERATIVE_SCHUR',        'CX_SPARSE',        'CLUSTER_TRIDIAGONAL'),
+  ('ITERATIVE_SCHUR',        'ACCELERATE_SPARSE','CLUSTER_TRIDIAGONAL'),
   ('SPARSE_NORMAL_CHOLESKY', 'SUITE_SPARSE',     'IDENTITY'),
   ('SPARSE_NORMAL_CHOLESKY', 'EIGEN_SPARSE',     'IDENTITY'),
   ('SPARSE_NORMAL_CHOLESKY', 'CX_SPARSE',        'IDENTITY'),
+  ('SPARSE_NORMAL_CHOLESKY', 'ACCELERATE_SPARSE','IDENTITY'),
   ('SPARSE_SCHUR',           'SUITE_SPARSE',     'IDENTITY'),
   ('SPARSE_SCHUR',           'EIGEN_SPARSE',     'IDENTITY'),
   ('SPARSE_SCHUR',           'CX_SPARSE',        'IDENTITY'),
+  ('SPARSE_SCHUR',           'ACCELERATE_SPARSE','IDENTITY'),
 ]
 
 FILENAME_SHORTENING_MAP = dict(
@@ -69,6 +73,7 @@
   SUITE_SPARSE='suitesparse',
   EIGEN_SPARSE='eigensparse',
   CX_SPARSE='cxsparse',
+  ACCELERATE_SPARSE='acceleratesparse',
   IDENTITY='identity',
   JACOBI='jacobi',
   SCHUR_JACOBI='schurjacobi',
@@ -192,6 +197,9 @@
   elif sparse_backend == 'CX_SPARSE':
     preprocessor_conditions_begin.append('#ifndef CERES_NO_CXSPARSE')
     preprocessor_conditions_end.insert(0, '#endif  // CERES_NO_CXSPARSE')
+  elif sparse_backend == 'ACCELERATE_SPARSE':
+    preprocessor_conditions_begin.append('#ifndef CERES_NO_ACCELERATE_SPARSE')
+    preprocessor_conditions_end.insert(0, '#endif  // CERES_NO_ACCELERATE_SPARSE')
   elif sparse_backend == 'EIGEN_SPARSE':
     preprocessor_conditions_begin.append('#ifdef CERES_USE_EIGEN_SPARSE')
     preprocessor_conditions_end.insert(0, '#endif  // CERES_USE_EIGEN_SPARSE')