Enable visibility based preconditioners for CX_SPARSE and EIGEN_SPARSE
CLUSTER_JACOBI and CLUSTER_TRIDIAGONAL preconditioners require a sparse
Cholesky factorization library. Previously this code was hard coded to
use SuiteSparse. Once SparseCholesky abstraction was introduced, it
became possible to use it with Eigen or CXSParse.
Unfortunately the old code path that was enforcing the requirement
of SuiteSparse was not removed.
This change does the following:
1. Remove the SUITE_SPARSE restriction on CLUSTER_TRIDIAGONAL and
CLUSTER_JACOBI
2. Redo the checking code to be ifdef free and more general.
3. Add bundle adjustment tests to test these configurations.
Thanks to Bjorn Piltz for catching and reporting this bug.
Change-Id: I637791f6f8149694b6aa75f6a4b6417398cb9590
diff --git a/internal/ceres/solver.cc b/internal/ceres/solver.cc
index 3fa4be1..d38982a 100644
--- a/internal/ceres/solver.cc
+++ b/internal/ceres/solver.cc
@@ -59,6 +59,8 @@
using std::map;
using std::string;
using std::vector;
+using internal::StringAppendF;
+using internal::StringPrintf;
#define OPTION_OP(x, y, OP) \
if (!(options.x OP y)) { \
@@ -146,100 +148,59 @@
return false;
}
- if (options.preconditioner_type == CLUSTER_JACOBI &&
- options.sparse_linear_algebra_library_type != SUITE_SPARSE) {
- *error = "CLUSTER_JACOBI requires "
- "Solver::Options::sparse_linear_algebra_library_type to be "
- "SUITE_SPARSE.";
+ if (options.dense_linear_algebra_library_type == LAPACK &&
+ !IsDenseLinearAlgebraLibraryTypeAvailable(LAPACK) &&
+ (options.linear_solver_type == DENSE_NORMAL_CHOLESKY ||
+ options.linear_solver_type == DENSE_QR ||
+ options.linear_solver_type == DENSE_SCHUR)) {
+ *error = StringPrintf(
+ "Can't use %s with "
+ "Solver::Options::dense_linear_algebra_library_type = LAPACK "
+ "because LAPACK was not enabled when Ceres was built.",
+ LinearSolverTypeToString(options.linear_solver_type));
return false;
}
- if (options.preconditioner_type == CLUSTER_TRIDIAGONAL &&
- options.sparse_linear_algebra_library_type != SUITE_SPARSE) {
- *error = "CLUSTER_TRIDIAGONAL requires "
- "Solver::Options::sparse_linear_algebra_library_type to be "
- "SUITE_SPARSE.";
- return false;
- }
-
-#ifdef CERES_NO_LAPACK
- if (options.dense_linear_algebra_library_type == LAPACK) {
- if (options.linear_solver_type == DENSE_NORMAL_CHOLESKY) {
- *error = "Can't use DENSE_NORMAL_CHOLESKY with LAPACK because "
- "LAPACK was not enabled when Ceres was built.";
- return false;
- } else if (options.linear_solver_type == DENSE_QR) {
- *error = "Can't use DENSE_QR with LAPACK because "
- "LAPACK was not enabled when Ceres was built.";
- return false;
- } else if (options.linear_solver_type == DENSE_SCHUR) {
- *error = "Can't use DENSE_SCHUR with LAPACK because "
- "LAPACK was not enabled when Ceres was built.";
- return false;
- }
- }
-#endif
-
-#ifdef CERES_NO_SUITESPARSE
- if (options.sparse_linear_algebra_library_type == SUITE_SPARSE) {
- if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
- *error = "Can't use SPARSE_NORMAL_CHOLESKY with SUITESPARSE because "
- "SuiteSparse was not enabled when Ceres was built.";
- return false;
- } else if (options.linear_solver_type == SPARSE_SCHUR) {
- *error = "Can't use SPARSE_SCHUR with SUITESPARSE because "
- "SuiteSparse was not enabled when Ceres was built.";
- return false;
- } else if (options.preconditioner_type == CLUSTER_JACOBI) {
- *error = "CLUSTER_JACOBI preconditioner not supported. "
- "SuiteSparse was not enabled when Ceres was built.";
- return false;
- } else if (options.preconditioner_type == CLUSTER_TRIDIAGONAL) {
- *error = "CLUSTER_TRIDIAGONAL preconditioner not supported. "
- "SuiteSparse was not enabled when Ceres was built.";
- return false;
- }
- }
-#endif
-
-#ifdef CERES_NO_CXSPARSE
- if (options.sparse_linear_algebra_library_type == CX_SPARSE) {
- if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
- *error = "Can't use SPARSE_NORMAL_CHOLESKY with CX_SPARSE because "
- "CXSparse was not enabled when Ceres was built.";
- return false;
- } else if (options.linear_solver_type == SPARSE_SCHUR) {
- *error = "Can't use SPARSE_SCHUR with CX_SPARSE because "
- "CXSparse was not enabled when Ceres was built.";
- return false;
- }
- }
-#endif
-
-#ifndef CERES_USE_EIGEN_SPARSE
- if (options.sparse_linear_algebra_library_type == EIGEN_SPARSE) {
- if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
- *error = "Can't use SPARSE_NORMAL_CHOLESKY with EIGEN_SPARSE because "
- "Eigen's sparse linear algebra was not enabled when Ceres was "
- "built.";
- return false;
- } else if (options.linear_solver_type == SPARSE_SCHUR) {
- *error = "Can't use SPARSE_SCHUR with EIGEN_SPARSE because "
- "Eigen's sparse linear algebra was not enabled when Ceres was "
- "built.";
- return false;
- }
- }
-#endif
-
if (options.sparse_linear_algebra_library_type == NO_SPARSE) {
- if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
- *error = "Can't use SPARSE_NORMAL_CHOLESKY as "
- "sparse_linear_algebra_library_type is NO_SPARSE.";
+ const char* error_template =
+ "Can't use %s with "
+ "Solver::Options::sparse_linear_algebra_library_type = NO_SPARSE.";
+ const char* name = nullptr;
+
+ if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY ||
+ options.linear_solver_type == SPARSE_SCHUR) {
+ name = LinearSolverTypeToString(options.linear_solver_type);
+ } else if (options.linear_solver_type == ITERATIVE_SCHUR &&
+ (options.preconditioner_type == CLUSTER_JACOBI ||
+ options.preconditioner_type == CLUSTER_TRIDIAGONAL)) {
+ name = PreconditionerTypeToString(options.preconditioner_type);
+ }
+
+ if (name != nullptr) {
+ *error = StringPrintf(error_template, name);
return false;
- } else if (options.linear_solver_type == SPARSE_SCHUR) {
- *error = "Can't use SPARSE_SCHUR as "
- "sparse_linear_algebra_library_type is NO_SPARSE.";
+ }
+ } else if (!IsSparseLinearAlgebraLibraryTypeAvailable(
+ options.sparse_linear_algebra_library_type)) {
+ const char* error_template =
+ "Can't use %s with "
+ "Solver::Options::sparse_linear_algebra_library_type = %s, "
+ "because support was not enabled when Ceres Solver was built.";
+ const char* name = nullptr;
+ if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY ||
+ options.linear_solver_type == SPARSE_SCHUR) {
+ name = LinearSolverTypeToString(options.linear_solver_type);
+ } else if (options.linear_solver_type == ITERATIVE_SCHUR &&
+ (options.preconditioner_type == CLUSTER_JACOBI ||
+ options.preconditioner_type == CLUSTER_TRIDIAGONAL)) {
+ name = PreconditionerTypeToString(options.preconditioner_type);
+ }
+
+ if (name != nullptr) {
+ *error = StringPrintf(error_template,
+ name,
+ SparseLinearAlgebraLibraryTypeToString(
+ options.sparse_linear_algebra_library_type));
return false;
}
}
@@ -633,9 +594,6 @@
solver.Solve(options, problem, summary);
}
-using internal::StringAppendF;
-using internal::StringPrintf;
-
string Solver::Summary::BriefReport() const {
return StringPrintf("Ceres Solver Report: "
"Iterations: %d, "
