diff options
Diffstat (limited to 'extern/ceres/internal/ceres/linear_solver.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/linear_solver.cc | 15 |
1 files changed, 9 insertions, 6 deletions
diff --git a/extern/ceres/internal/ceres/linear_solver.cc b/extern/ceres/internal/ceres/linear_solver.cc index 38e4625f747..107af6afcc8 100644 --- a/extern/ceres/internal/ceres/linear_solver.cc +++ b/extern/ceres/internal/ceres/linear_solver.cc @@ -35,6 +35,7 @@ #include "ceres/dense_qr_solver.h" #include "ceres/iterative_schur_complement_solver.h" #include "ceres/schur_complement_solver.h" +#include "ceres/dynamic_sparse_normal_cholesky_solver.h" #include "ceres/sparse_normal_cholesky_solver.h" #include "ceres/types.h" #include "glog/logging.h" @@ -70,23 +71,25 @@ LinearSolverType LinearSolver::LinearSolverForZeroEBlocks( } LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) { + CHECK(options.context != NULL); + switch (options.type) { case CGNR: return new CgnrSolver(options); case SPARSE_NORMAL_CHOLESKY: -#if defined(CERES_NO_SUITESPARSE) && \ - defined(CERES_NO_CXSPARSE) && \ - !defined(CERES_USE_EIGEN_SPARSE) +#if defined(CERES_NO_SPARSE) return NULL; #else + if (options.dynamic_sparsity) { + return new DynamicSparseNormalCholeskySolver(options); + } + return new SparseNormalCholeskySolver(options); #endif case SPARSE_SCHUR: -#if defined(CERES_NO_SUITESPARSE) && \ - defined(CERES_NO_CXSPARSE) && \ - !defined(CERES_USE_EIGEN_SPARSE) +#if defined(CERES_NO_SPARSE) return NULL; #else return new SparseSchurComplementSolver(options); |