1 files changed, 24 insertions, 6 deletions
diff --git a/internal/ceres/linear_solver.cc b/internal/ceres/linear_solver.cc
index 08c3ba1..e983e2c 100644
--- a/internal/ceres/linear_solver.cc
+++ b/internal/ceres/linear_solver.cc
@@ -45,6 +45,30 @@ namespace internal {
 LinearSolver::~LinearSolver() {
 }
 
+LinearSolverType LinearSolver::LinearSolverForZeroEBlocks(
+    LinearSolverType linear_solver_type) {
+  if (!IsSchurType(linear_solver_type)) {
+    return linear_solver_type;
+  }
+
+  if (linear_solver_type == SPARSE_SCHUR) {
+    return SPARSE_NORMAL_CHOLESKY;
+  }
+
+  if (linear_solver_type == DENSE_SCHUR) {
+    // TODO(sameeragarwal): This is probably not a great choice.
+    // Ideally, we should have a DENSE_NORMAL_CHOLESKY, that can take
+    // a BlockSparseMatrix as input.
+    return DENSE_QR;
+  }
+
+  if (linear_solver_type == ITERATIVE_SCHUR) {
+    return CGNR;
+  }
+
+  return linear_solver_type;
+}
+
 LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) {
   switch (options.type) {
     case CGNR:
@@ -52,9 +76,6 @@ LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) {
 
     case SPARSE_NORMAL_CHOLESKY:
 #if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
-      LOG(WARNING) << "SPARSE_NORMAL_CHOLESKY is not available. Please "
-                   << "build Ceres with SuiteSparse or CXSparse. "
-                   << "Returning NULL.";
       return NULL;
 #else
       return new SparseNormalCholeskySolver(options);
@@ -62,9 +83,6 @@ LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) {
 
     case SPARSE_SCHUR:
 #if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
-      LOG(WARNING) << "SPARSE_SCHUR is not available. Please "
-                   << "build Ceres with SuiteSparse or CXSparse. "
-                   << "Returning NULL.";
       return NULL;
 #else
       return new SparseSchurComplementSolver(options);