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This PR attempts to fix #2746 .
cudss is available in ceres since 2.3.0.
In ceres 2.2.0, CUDA_SPARSE is used for the CGNR solver instead of the SPARSE_SCHUR solver.
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Thank you @whuaegeanse. CGNR is technically not a sparse direct solver, so the current option description is not correct. I am still wondering whether CUDA_SPARSE would result in a speedup even without cudss? Is there a way to switch between the sparse direct and indirect CUDA solvers in ceres >=2.3?
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Is there a way to switch between the sparse direct and indirect CUDA solvers in ceres >=2.3?
ceres-solver still can't leverage CUDA-capable GPU in context of pcg with implicit schur complement. There is an issue available to be tracked.
@DmitriyKorchemkin did some work in that direction, although it staled a while ago.
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Thank you @S-o-T for the answer. To me the fix here looks correct. Would you be able to also confirm? Thanks.
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