Multiple sparse linear algebra backends.
1. Added support for CXSparse - SparseNormalCholesky and
SchurComplementSolver support SuiteSparse and CXSparse now.
I am not sure I will add suport for visibility based
preconditioning using CXSparse. Its not a high priority.
2. New enum SparseLinearAlgebraLibraryType which allows the user
to indicate which sparse linear algebra library should be used.
3. Updated tests for SolverImpl and system_test.
4. Build system changes to automatically detect CXSparse and
link to it by default -- just like SuiteSparse.
5. Minor bug fixes dealing in the cmake files and VBP.
6. Changed the order of the system test.
7. Deduped the unsymmetric linear solver test.
Change-Id: I33252a103c87b722ecb7ed7b5f0ae7fd91249244
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 39d4c64..ab00deb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -59,27 +59,31 @@
# Locations to search for Eigen
SET(EIGEN_SEARCH_HEADERS ${SEARCH_HEADERS})
LIST(APPEND EIGEN_SEARCH_HEADERS /usr/include/eigen3) # Ubuntu 10.04's default location.
-LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/include/eigen3)
+LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/include/eigen3)
LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/homebrew/include/eigen3) # Mac OS X
LIST(APPEND EIGEN_SEARCH_HEADERS /opt/local/var/macports/software/eigen3/opt/local/include/eigen3) # Mac OS X
# Locations to search for SuiteSparse
SET(SUITESPARSE_SEARCH_LIBS ${SEARCH_LIBS})
LIST(APPEND SUITESPARSE_SEARCH_LIBS /usr/lib/suitesparse) # Ubuntu
-LIST(APPEND SUITESPARSE_SEARCH_LIBS /usr/local/lib/suitesparse)
+LIST(APPEND SUITESPARSE_SEARCH_LIBS /usr/local/lib/suitesparse)
LIST(APPEND SUITESPARSE_SEARCH_LIBS /opt/local/lib/ufsparse) # Mac OS X
SET(SUITESPARSE_SEARCH_HEADERS ${SEARCH_HEADERS})
LIST(APPEND SUITESPARSE_SEARCH_HEADERS /usr/include/suitesparse) # Ubuntu
-LIST(APPEND SUITESPARSE_SEARCH_HEADERS /usr/local/include/suitesparse)
+LIST(APPEND SUITESPARSE_SEARCH_HEADERS /usr/local/include/suitesparse)
LIST(APPEND SUITESPARSE_SEARCH_HEADERS /opt/local/include/ufsparse) # Mac OS X
+SET(CXSPARSE_SEARCH_LIBS ${SEARCH_LIBS})
+SET(CXSPARSE_SEARCH_HEADERS ${SEARCH_HEADERS})
+LIST(APPEND CXSPARSE_SEARCH_HEADERS /usr/include/suitesparse) # Ubuntu
+
# Check for SuiteSparse dependencies
MESSAGE("-- Check for AMD")
SET(AMD_FOUND TRUE)
FIND_LIBRARY(AMD_LIB NAMES amd PATHS ${SUITESPARSE_SEARCH_LIBS})
-IF (EXISTS ${AMD_LIB})
+IF (EXISTS ${AMD_LIB})
MESSAGE("-- Found AMD library: ${AMD_LIB}")
ELSE (EXISTS ${AMD_LIB})
MESSAGE("-- Did not find AMD library")
@@ -87,7 +91,7 @@
ENDIF (EXISTS ${AMD_LIB})
FIND_PATH(AMD_INCLUDE NAMES amd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
-IF (EXISTS ${AMD_INCLUDE})
+IF (EXISTS ${AMD_INCLUDE})
MESSAGE("-- Found AMD header in: ${AMD_INCLUDE}")
ELSE (EXISTS ${AMD_INCLUDE})
MESSAGE("-- Did not find AMD header")
@@ -98,7 +102,7 @@
SET(CAMD_FOUND TRUE)
FIND_LIBRARY(CAMD_LIB NAMES camd PATHS ${SUITESPARSE_SEARCH_LIBS})
-IF (EXISTS ${CAMD_LIB})
+IF (EXISTS ${CAMD_LIB})
MESSAGE("-- Found CAMD library: ${CAMD_LIB}")
ELSE (EXISTS ${CAMD_LIB})
MESSAGE("-- Did not find CAMD library")
@@ -106,7 +110,7 @@
ENDIF (EXISTS ${CAMD_LIB})
FIND_PATH(CAMD_INCLUDE NAMES camd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
-IF (EXISTS ${CAMD_INCLUDE})
+IF (EXISTS ${CAMD_INCLUDE})
MESSAGE("-- Found CAMD header in: ${CAMD_INCLUDE}")
ELSE (EXISTS ${CAMD_INCLUDE})
MESSAGE("-- Did not find CAMD header")
@@ -117,7 +121,7 @@
SET(COLAMD_FOUND TRUE)
FIND_LIBRARY(COLAMD_LIB NAMES colamd PATHS ${SUITESPARSE_SEARCH_LIBS})
-IF (EXISTS ${COLAMD_LIB})
+IF (EXISTS ${COLAMD_LIB})
MESSAGE("-- Found COLAMD library: ${COLAMD_LIB}")
ELSE (EXISTS ${COLAMD_LIB})
MESSAGE("-- Did not find COLAMD library")
@@ -125,7 +129,7 @@
ENDIF (EXISTS ${COLAMD_LIB})
FIND_PATH(COLAMD_INCLUDE NAMES colamd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
-IF (EXISTS ${COLAMD_INCLUDE})
+IF (EXISTS ${COLAMD_INCLUDE})
MESSAGE("-- Found COLAMD header in: ${COLAMD_INCLUDE}")
ELSE (EXISTS ${COLAMD_INCLUDE})
MESSAGE("-- Did not find COLAMD header")
@@ -136,7 +140,7 @@
SET(CCOLAMD_FOUND TRUE)
FIND_LIBRARY(CCOLAMD_LIB NAMES ccolamd PATHS ${SUITESPARSE_SEARCH_LIBS})
-IF (EXISTS ${CCOLAMD_LIB})
+IF (EXISTS ${CCOLAMD_LIB})
MESSAGE("-- Found CCOLAMD library: ${CCOLAMD_LIB}")
ELSE (EXISTS ${CCOLAMD_LIB})
MESSAGE("-- Did not find CCOLAMD library")
@@ -144,7 +148,7 @@
ENDIF (EXISTS ${CCOLAMD_LIB})
FIND_PATH(CCOLAMD_INCLUDE NAMES ccolamd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
-IF (EXISTS ${CCOLAMD_INCLUDE})
+IF (EXISTS ${CCOLAMD_INCLUDE})
MESSAGE("-- Found CCOLAMD header in: ${CCOLAMD_INCLUDE}")
ELSE (EXISTS ${CCOLAMD_INCLUDE})
MESSAGE("-- Did not find CCOLAMD header")
@@ -155,7 +159,7 @@
SET(CHOLMOD_FOUND TRUE)
FIND_LIBRARY(CHOLMOD_LIB NAMES cholmod PATHS ${SUITESPARSE_SEARCH_LIBS})
-IF (EXISTS ${CHOLMOD_LIB})
+IF (EXISTS ${CHOLMOD_LIB})
MESSAGE("-- Found CHOLMOD library: ${CHOLMOD_LIB}")
ELSE (EXISTS ${CHOLMOD_LIB})
MESSAGE("-- Did not find CHOLMOD library")
@@ -163,7 +167,7 @@
ENDIF (EXISTS ${CHOLMOD_LIB})
FIND_PATH(CHOLMOD_INCLUDE NAMES cholmod.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
-IF (EXISTS ${CHOLMOD_INCLUDE})
+IF (EXISTS ${CHOLMOD_INCLUDE})
MESSAGE("-- Found CHOLMOD header in: ${CHOLMOD_INCLUDE}")
ELSE (EXISTS ${CHOLMOD_INCLUDE})
MESSAGE("-- Did not find CHOLMOD header")
@@ -173,7 +177,7 @@
MESSAGE("-- Check for METIS (optional)")
FIND_LIBRARY(METIS_LIB NAMES metis PATHS ${SUITESPARSE_SEARCH_LIBS})
-IF (EXISTS ${METIS_LIB})
+IF (EXISTS ${METIS_LIB})
MESSAGE("-- Found METIS library: ${METIS_LIB}")
ELSE (EXISTS ${METIS_LIB})
MESSAGE("-- Did not find METIS library")
@@ -187,7 +191,7 @@
FIND_LIBRARY(LAPACK_LIB NAMES vecLib)
ELSE (APPLE)
FIND_LIBRARY(BLAS_LIB NAMES blas)
- IF (EXISTS ${BLAS_LIB})
+ IF (EXISTS ${BLAS_LIB})
MESSAGE("-- Found BLAS library: ${BLAS_LIB}")
ELSE (EXISTS ${BLAS_LIB})
MESSAGE("-- Did not find BLAS library")
@@ -196,14 +200,14 @@
FIND_LIBRARY(LAPACK_LIB NAMES lapack)
ENDIF (APPLE)
-IF (EXISTS ${LAPACK_LIB})
+IF (EXISTS ${LAPACK_LIB})
MESSAGE("-- Found LAPACK library: ${LAPACK_LIB}")
ELSE (EXISTS ${LAPACK_LIB})
SET(BLAS_AND_LAPACK_FOUND FALSE)
MESSAGE("-- Did not find LAPACK library")
ENDIF (EXISTS ${LAPACK_LIB})
-SET(SUITESPARSE_FOUND
+SET(SUITESPARSE_FOUND
AMD_FOUND AND
CAMD_FOUND AND
COLAMD_FOUND AND
@@ -215,20 +219,65 @@
# built with SuiteSparse support. -DSUITESPARSE=ON/OFF can be used to
# enable/disable SuiteSparse explicitly.
IF (DEFINED SUITESPARSE)
- IF (SUITESPARSE AND NOT SUITESPARSE_FOUND)
- MESSAGE(FATAL_ERROR "One or more of SuiteSparse's dependencies was not found")
- ENDIF (SUITESPARSE AND NOT SUITESPARSE_FOUND)
+ IF (SUITESPARSE)
+ IF (NOT SUITESPARSE_FOUND)
+ MESSAGE(FATAL_ERROR "One or more of SuiteSparse's dependencies was not found")
+ ENDIF (NOT SUITESPARSE_FOUND)
+ ELSE (SUITESPARSE)
+ ADD_DEFINITIONS(-DCERES_NO_SUITESPARSE)
+ ENDIF (SUITESPARSE)
ELSE (DEFINED SUITESPARSE)
IF (SUITESPARSE_FOUND)
MESSAGE("-- Found all SuiteSparse dependencies. Building with SuiteSparse")
SET(SUITESPARSE ON)
ELSE (SUITESPARSE_FOUND)
- MESSAGE("-- Did not find all SuiteSparse dependencies. Building without SuiteSparse")
+ MESSAGE("-- Did not find all SuiteSparse dependencies. Building without SuiteSparse")
SET(SUITESPARSE OFF)
ADD_DEFINITIONS(-DCERES_NO_SUITESPARSE)
ENDIF (SUITESPARSE_FOUND)
ENDIF (DEFINED SUITESPARSE)
+# By default, if all of CXSparse's dependencies are found, Ceres is
+# built with CXSparse support. -DCXSPARSE=ON/OFF can be used to
+# enable/disable CXSparse explicitly.
+MESSAGE("-- Check for CXSparse")
+SET(CXSPARSE_FOUND ON)
+
+FIND_LIBRARY(CXSPARSE_LIB NAMES cxsparse PATHS ${CXSPARSE_SEARCH_LIBS})
+IF (EXISTS ${CXSPARSE_LIB})
+ MESSAGE("-- Found CXSparse library in: ${CXSPARSE_LIB}")
+ELSE (EXISTS ${CXSPARSE_LIB})
+ MESSAGE("-- Did not find CXSparse header")
+ SET(CXSPARSE_FOUND FALSE)
+ENDIF (EXISTS ${CXSPARSE_LIB})
+
+FIND_PATH(CXSPARSE_INCLUDE NAMES cs.h PATHS ${CXSPARSE_SEARCH_HEADERS})
+IF (EXISTS ${CXSPARSE_INCLUDE})
+ MESSAGE("-- Found CXSparse header in: ${CXSPARSE_INCLUDE}")
+ELSE (EXISTS ${CXSPARSE_INCLUDE})
+ MESSAGE("-- Did not find CXSparse header")
+ SET(CXSPARSE_FOUND FALSE)
+ENDIF (EXISTS ${CXSPARSE_INCLUDE})
+
+IF (DEFINED CXSPARSE)
+ IF (CXSPARSE)
+ IF (NOT CXSPARSE_FOUND)
+ MESSAGE(FATAL_ERROR "-- CXSparse not found.")
+ ENDIF (NOT CXSPARSE_FOUND)
+ ELSE (CXSPARSE)
+ ADD_DEFINITIONS(-DCERES_NO_CXSPARSE)
+ ENDIF (CXSPARSE)
+ELSE (DEFINED CXSPARSE)
+ IF (CXSPARSE_FOUND)
+ MESSAGE("-- Building with CXSparse support.")
+ SET(CXSPARSE ON)
+ ELSE (CXSPARSE_FOUND)
+ MESSAGE("-- Building without CXSparse.")
+ SET(CXSPARSE OFF)
+ ADD_DEFINITIONS(-DCERES_NO_CXSPARSE)
+ ENDIF (CXSPARSE_FOUND)
+ENDIF (DEFINED CXSPARSE)
+
# Google Flags
OPTION(GFLAGS
"Enable Google Flags."
@@ -352,6 +401,10 @@
INCLUDE_DIRECTORIES(${CHOLMOD_INCLUDE})
ENDIF(SUITESPARSE)
+IF (CXSPARSE)
+ INCLUDE_DIRECTORIES(${CXSPARSE_INCLUDE})
+ENDIF(CXSPARSE)
+
IF (GFLAGS)
INCLUDE_DIRECTORIES(${GFLAGS_INCLUDE})
ENDIF (GFLAGS)
