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/internal/ceres/linear_solver.cc b/internal/ceres/linear_solver.cc
index 7221a74..c08d1f2 100644
--- a/internal/ceres/linear_solver.cc
+++ b/internal/ceres/linear_solver.cc
@@ -50,22 +50,24 @@
return new CgnrSolver(options);
case SPARSE_NORMAL_CHOLESKY:
-#ifndef CERES_NO_SUITESPARSE
- return new SparseNormalCholeskySolver(options);
-#else
+#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
LOG(WARNING) << "SPARSE_NORMAL_CHOLESKY is not available. Please "
- << "build Ceres with SuiteSparse. Returning NULL.";
+ << "build Ceres with SuiteSparse or CXSparse. "
+ << "Returning NULL.";
return NULL;
-#endif // CERES_NO_SUITESPARSE
+#else
+ return new SparseNormalCholeskySolver(options);
+#endif
case SPARSE_SCHUR:
-#ifndef CERES_NO_SUITESPARSE
- return new SparseSchurComplementSolver(options);
-#else
+#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
LOG(WARNING) << "SPARSE_SCHUR is not available. Please "
- << "build Ceres with SuiteSparse. Returning NULL.";
+ << "build Ceres with SuiteSparse or CXSparse. "
+ << "Returning NULL.";
return NULL;
-#endif // CERES_NO_SUITESPARSE
+#else
+ return new SparseSchurComplementSolver(options);
+#endif
case DENSE_SCHUR:
return new DenseSchurComplementSolver(options);
