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/schur_complement_solver_test.cc b/internal/ceres/schur_complement_solver_test.cc
index 5e0cc40..ea5c346 100644
--- a/internal/ceres/schur_complement_solver_test.cc
+++ b/internal/ceres/schur_complement_solver_test.cc
@@ -92,13 +92,17 @@
sol_d.get());
}
- void ComputeAndCompareSolutions(int problem_id,
- bool regularization,
- ceres::LinearSolverType linear_solver_type) {
+ void ComputeAndCompareSolutions(
+ int problem_id,
+ bool regularization,
+ ceres::LinearSolverType linear_solver_type,
+ ceres::SparseLinearAlgebraLibraryType sparse_linear_algebra_library) {
SetUpFromProblemId(problem_id);
LinearSolver::Options options;
options.num_eliminate_blocks = num_eliminate_blocks;
options.type = linear_solver_type;
+ options.sparse_linear_algebra_library = sparse_linear_algebra_library;
+
scoped_ptr<LinearSolver> solver(LinearSolver::Create(options));
LinearSolver::PerSolveOptions per_solve_options;
@@ -133,21 +137,30 @@
};
#ifndef CERES_NO_SUITESPARSE
-
-TEST_F(SchurComplementSolverTest, SparseSchur) {
- ComputeAndCompareSolutions(2, false, SPARSE_SCHUR);
- ComputeAndCompareSolutions(3, false, SPARSE_SCHUR);
- ComputeAndCompareSolutions(2, true, SPARSE_SCHUR);
- ComputeAndCompareSolutions(3, true, SPARSE_SCHUR);
+TEST_F(SchurComplementSolverTest, SparseSchurWithSuiteSparse) {
+ ComputeAndCompareSolutions(2, false, SPARSE_SCHUR, SUITE_SPARSE);
+ ComputeAndCompareSolutions(3, false, SPARSE_SCHUR, SUITE_SPARSE);
+ ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, SUITE_SPARSE);
+ ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, SUITE_SPARSE);
}
-
#endif // CERES_NO_SUITESPARSE
+#ifndef CERES_NO_CXSPARSE
+TEST_F(SchurComplementSolverTest, SparseSchurWithCXSparse) {
+ ComputeAndCompareSolutions(2, false, SPARSE_SCHUR, CX_SPARSE);
+ ComputeAndCompareSolutions(3, false, SPARSE_SCHUR, CX_SPARSE);
+ ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, CX_SPARSE);
+ ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, CX_SPARSE);
+}
+#endif // CERES_NO_CXSPARSE
+
TEST_F(SchurComplementSolverTest, DenseSchur) {
- ComputeAndCompareSolutions(2, false, DENSE_SCHUR);
- ComputeAndCompareSolutions(3, false, DENSE_SCHUR);
- ComputeAndCompareSolutions(2, true, DENSE_SCHUR);
- ComputeAndCompareSolutions(3, true, DENSE_SCHUR);
+ // The sparse linear algebra library type is ignored for
+ // DENSE_SCHUR.
+ ComputeAndCompareSolutions(2, false, DENSE_SCHUR, SUITE_SPARSE);
+ ComputeAndCompareSolutions(3, false, DENSE_SCHUR, SUITE_SPARSE);
+ ComputeAndCompareSolutions(2, true, DENSE_SCHUR, SUITE_SPARSE);
+ ComputeAndCompareSolutions(3, true, DENSE_SCHUR, SUITE_SPARSE);
}
} // namespace internal
