tree 71b0529fadb9dda7c9a39fecf04ca2c83c270d00
parent f9272d3e1b1d9334242c2f283f43fc7545dd2d4b
author Sameer Agarwal <sameeragarwal@google.com> 1525810817 -0700
committer Sameer Agarwal <sameeragarwal@google.com> 1525899432 -0700

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