From 41672dff8cc894cdcb4e6ce3ed6bc0bfd74b3aaa Mon Sep 17 00:00:00 2001 From: Sameer Agarwal Date: Thu, 28 Sep 2023 09:49:03 -0700 Subject: [PATCH] Add end-to-end BA tests for SCHUR_POWER_SERIES_EXPANSION Also tighten the value of eta to make the iterative schur solvers work better. This is the default value used in bundle_adjuster.cc Fixes https://github.com/ceres-solver/ceres-solver/issues/864 Change-Id: I48258fbbe256d6e932aaea0078b566fcd63de2fb Change-Id: Ia5ad252cae31f415a47495fb8769421ade355bc9 --- .../ceres/generate_bundle_adjustment_tests.py | 3 + .../CMakeLists.txt | 6 +- .../ba_denseschur_cuda_auto_test.cc | 1 + .../ba_denseschur_cuda_auto_threads_test.cc | 1 + .../ba_denseschur_cuda_user_test.cc | 1 + .../ba_denseschur_cuda_user_threads_test.cc | 1 + .../ba_denseschur_eigen_auto_test.cc | 1 + .../ba_denseschur_eigen_auto_threads_test.cc | 1 + .../ba_denseschur_eigen_user_test.cc | 1 + .../ba_denseschur_eigen_user_threads_test.cc | 1 + .../ba_denseschur_lapack_auto_test.cc | 1 + .../ba_denseschur_lapack_auto_threads_test.cc | 1 + .../ba_denseschur_lapack_user_test.cc | 1 + .../ba_denseschur_lapack_user_threads_test.cc | 1 + ..._acceleratesparse_clustjacobi_auto_test.cc | 1 + ...atesparse_clustjacobi_auto_threads_test.cc | 1 + ..._acceleratesparse_clustjacobi_user_test.cc | 1 + ...atesparse_clustjacobi_user_threads_test.cc | 1 + ...hur_acceleratesparse_clusttri_auto_test.cc | 1 + ...leratesparse_clusttri_auto_threads_test.cc | 1 + ...hur_acceleratesparse_clusttri_user_test.cc | 1 + ...leratesparse_clusttri_user_threads_test.cc | 1 + ...schur_eigensparse_clustjacobi_auto_test.cc | 1 + ...gensparse_clustjacobi_auto_threads_test.cc | 1 + ...schur_eigensparse_clustjacobi_user_test.cc | 1 + ...gensparse_clustjacobi_user_threads_test.cc | 1 + ...terschur_eigensparse_clusttri_auto_test.cc | 1 + ..._eigensparse_clusttri_auto_threads_test.cc | 1 + ...terschur_eigensparse_clusttri_user_test.cc | 1 + ..._eigensparse_clusttri_user_threads_test.cc | 1 + .../ba_iterschur_jacobi_auto_test.cc | 1 + .../ba_iterschur_jacobi_auto_threads_test.cc | 1 + .../ba_iterschur_jacobi_user_test.cc | 1 + .../ba_iterschur_jacobi_user_threads_test.cc | 1 + .../ba_iterschur_schurjacobi_auto_test.cc | 1 + ...iterschur_schurjacobi_auto_threads_test.cc | 1 + .../ba_iterschur_schurjacobi_user_test.cc | 1 + ...iterschur_schurjacobi_user_threads_test.cc | 1 + .../ba_iterschur_spse_auto_test.cc | 60 +++++++++++++++++++ .../ba_iterschur_spse_auto_threads_test.cc | 60 +++++++++++++++++++ .../ba_iterschur_spse_user_test.cc | 60 +++++++++++++++++++ .../ba_iterschur_spse_user_threads_test.cc | 60 +++++++++++++++++++ ...schur_suitesparse_clustjacobi_auto_test.cc | 1 + ...itesparse_clustjacobi_auto_threads_test.cc | 1 + ...schur_suitesparse_clustjacobi_user_test.cc | 1 + ...itesparse_clustjacobi_user_threads_test.cc | 1 + ...terschur_suitesparse_clusttri_auto_test.cc | 1 + ..._suitesparse_clusttri_auto_threads_test.cc | 1 + ...terschur_suitesparse_clusttri_user_test.cc | 1 + ..._suitesparse_clusttri_user_threads_test.cc | 1 + ...arsecholesky_acceleratesparse_auto_test.cc | 1 + ...esky_acceleratesparse_auto_threads_test.cc | 1 + ...arsecholesky_acceleratesparse_user_test.cc | 1 + ...esky_acceleratesparse_user_threads_test.cc | 1 + ...ba_sparsecholesky_eigensparse_auto_test.cc | 1 + ...echolesky_eigensparse_auto_threads_test.cc | 1 + ...ba_sparsecholesky_eigensparse_user_test.cc | 1 + ...echolesky_eigensparse_user_threads_test.cc | 1 + ...ba_sparsecholesky_suitesparse_auto_test.cc | 1 + ...echolesky_suitesparse_auto_threads_test.cc | 1 + ...ba_sparsecholesky_suitesparse_user_test.cc | 1 + ...echolesky_suitesparse_user_threads_test.cc | 1 + ..._sparseschur_acceleratesparse_auto_test.cc | 1 + ...chur_acceleratesparse_auto_threads_test.cc | 1 + ..._sparseschur_acceleratesparse_user_test.cc | 1 + ...chur_acceleratesparse_user_threads_test.cc | 1 + .../ba_sparseschur_eigensparse_auto_test.cc | 1 + ...arseschur_eigensparse_auto_threads_test.cc | 1 + .../ba_sparseschur_eigensparse_user_test.cc | 1 + ...arseschur_eigensparse_user_threads_test.cc | 1 + .../ba_sparseschur_suitesparse_auto_test.cc | 1 + ...arseschur_suitesparse_auto_threads_test.cc | 1 + .../ba_sparseschur_suitesparse_user_test.cc | 1 + ...arseschur_suitesparse_user_threads_test.cc | 1 + 74 files changed, 316 insertions(+), 1 deletion(-) create mode 100644 internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_spse_auto_test.cc create mode 100644 internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_spse_auto_threads_test.cc create mode 100644 internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_spse_user_test.cc create mode 100644 internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_spse_user_threads_test.cc diff --git a/internal/ceres/generate_bundle_adjustment_tests.py b/internal/ceres/generate_bundle_adjustment_tests.py index bed96d1f2..0da88531d 100644 --- a/internal/ceres/generate_bundle_adjustment_tests.py +++ b/internal/ceres/generate_bundle_adjustment_tests.py @@ -62,6 +62,7 @@ ITERATIVE_SOLVER_CONFIGS = [ # Linear solver Sparse backend Preconditioner ('ITERATIVE_SCHUR', 'NO_SPARSE', 'JACOBI'), ('ITERATIVE_SCHUR', 'NO_SPARSE', 'SCHUR_JACOBI'), + ('ITERATIVE_SCHUR', 'NO_SPARSE', 'SCHUR_POWER_SERIES_EXPANSION'), ('ITERATIVE_SCHUR', 'SUITE_SPARSE', 'CLUSTER_JACOBI'), ('ITERATIVE_SCHUR', 'EIGEN_SPARSE', 'CLUSTER_JACOBI'), ('ITERATIVE_SCHUR', 'ACCELERATE_SPARSE','CLUSTER_JACOBI'), @@ -87,6 +88,7 @@ FILENAME_SHORTENING_MAP = dict( SCHUR_JACOBI='schurjacobi', CLUSTER_JACOBI='clustjacobi', CLUSTER_TRIDIAGONAL='clusttri', + SCHUR_POWER_SERIES_EXPANSION='spse', kAutomaticOrdering='auto', kUserOrdering='user', ) @@ -140,6 +142,7 @@ TEST_F(BundleAdjustmentTest, %(test_class_name)s) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = %(num_threads)s; options->linear_solver_type = %(linear_solver)s; options->dense_linear_algebra_library_type = %(dense_backend)s; diff --git a/internal/ceres/generated_bundle_adjustment_tests/CMakeLists.txt b/internal/ceres/generated_bundle_adjustment_tests/CMakeLists.txt index 73fe3f5ed..5f4f65e93 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/CMakeLists.txt +++ b/internal/ceres/generated_bundle_adjustment_tests/CMakeLists.txt @@ -1,5 +1,5 @@ # Ceres Solver - A fast non-linear least squares minimizer -# Copyright 2022 Google Inc. All rights reserved. +# Copyright 2023 Google Inc. All rights reserved. # http://ceres-solver.org/ # # Redistribution and use in source and binary forms, with or without @@ -46,6 +46,7 @@ ceres_test(ba_sparseschur_eigensparse_auto) ceres_test(ba_sparseschur_acceleratesparse_auto) ceres_test(ba_iterschur_jacobi_auto) ceres_test(ba_iterschur_schurjacobi_auto) +ceres_test(ba_iterschur_spse_auto) ceres_test(ba_iterschur_suitesparse_clustjacobi_auto) ceres_test(ba_iterschur_eigensparse_clustjacobi_auto) ceres_test(ba_iterschur_acceleratesparse_clustjacobi_auto) @@ -63,6 +64,7 @@ ceres_test(ba_sparseschur_eigensparse_auto_threads) ceres_test(ba_sparseschur_acceleratesparse_auto_threads) ceres_test(ba_iterschur_jacobi_auto_threads) ceres_test(ba_iterschur_schurjacobi_auto_threads) +ceres_test(ba_iterschur_spse_auto_threads) ceres_test(ba_iterschur_suitesparse_clustjacobi_auto_threads) ceres_test(ba_iterschur_eigensparse_clustjacobi_auto_threads) ceres_test(ba_iterschur_acceleratesparse_clustjacobi_auto_threads) @@ -80,6 +82,7 @@ ceres_test(ba_sparseschur_eigensparse_user) ceres_test(ba_sparseschur_acceleratesparse_user) ceres_test(ba_iterschur_jacobi_user) ceres_test(ba_iterschur_schurjacobi_user) +ceres_test(ba_iterschur_spse_user) ceres_test(ba_iterschur_suitesparse_clustjacobi_user) ceres_test(ba_iterschur_eigensparse_clustjacobi_user) ceres_test(ba_iterschur_acceleratesparse_clustjacobi_user) @@ -97,6 +100,7 @@ ceres_test(ba_sparseschur_eigensparse_user_threads) ceres_test(ba_sparseschur_acceleratesparse_user_threads) ceres_test(ba_iterschur_jacobi_user_threads) ceres_test(ba_iterschur_schurjacobi_user_threads) +ceres_test(ba_iterschur_spse_user_threads) ceres_test(ba_iterschur_suitesparse_clustjacobi_user_threads) ceres_test(ba_iterschur_eigensparse_clustjacobi_user_threads) ceres_test(ba_iterschur_acceleratesparse_clustjacobi_user_threads) diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_cuda_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_cuda_auto_test.cc index beaa35020..1c9124dc6 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_cuda_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_cuda_auto_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, DenseSchur_Cuda_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = DENSE_SCHUR; options->dense_linear_algebra_library_type = CUDA; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_cuda_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_cuda_auto_threads_test.cc index 091a37af9..3a533946a 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_cuda_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_cuda_auto_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, DenseSchur_Cuda_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = DENSE_SCHUR; options->dense_linear_algebra_library_type = CUDA; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_cuda_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_cuda_user_test.cc index 67d0725c1..5887fe7b7 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_cuda_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_cuda_user_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, DenseSchur_Cuda_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = DENSE_SCHUR; options->dense_linear_algebra_library_type = CUDA; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_cuda_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_cuda_user_threads_test.cc index e0975db73..d264f7f3a 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_cuda_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_cuda_user_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, DenseSchur_Cuda_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = DENSE_SCHUR; options->dense_linear_algebra_library_type = CUDA; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_eigen_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_eigen_auto_test.cc index dd7d96c78..18d08ec71 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_eigen_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_eigen_auto_test.cc @@ -44,6 +44,7 @@ TEST_F(BundleAdjustmentTest, DenseSchur_Eigen_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = DENSE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_eigen_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_eigen_auto_threads_test.cc index 3fd89ef0f..7fcd8c41e 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_eigen_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_eigen_auto_threads_test.cc @@ -44,6 +44,7 @@ TEST_F(BundleAdjustmentTest, DenseSchur_Eigen_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = DENSE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_eigen_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_eigen_user_test.cc index bd7122f06..55626a329 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_eigen_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_eigen_user_test.cc @@ -44,6 +44,7 @@ TEST_F(BundleAdjustmentTest, DenseSchur_Eigen_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = DENSE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_eigen_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_eigen_user_threads_test.cc index aa43e30d4..7028f1cd1 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_eigen_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_eigen_user_threads_test.cc @@ -44,6 +44,7 @@ TEST_F(BundleAdjustmentTest, DenseSchur_Eigen_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = DENSE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_lapack_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_lapack_auto_test.cc index 444d15a18..e8d6d20c1 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_lapack_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_lapack_auto_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, DenseSchur_Lapack_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = DENSE_SCHUR; options->dense_linear_algebra_library_type = LAPACK; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_lapack_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_lapack_auto_threads_test.cc index c095d0d6c..e5eecfdae 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_lapack_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_lapack_auto_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, DenseSchur_Lapack_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = DENSE_SCHUR; options->dense_linear_algebra_library_type = LAPACK; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_lapack_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_lapack_user_test.cc index f9e4faedd..9b7d19030 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_lapack_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_lapack_user_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, DenseSchur_Lapack_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = DENSE_SCHUR; options->dense_linear_algebra_library_type = LAPACK; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_lapack_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_lapack_user_threads_test.cc index 3448ec78c..ce95521f3 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_lapack_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_denseschur_lapack_user_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, DenseSchur_Lapack_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = DENSE_SCHUR; options->dense_linear_algebra_library_type = LAPACK; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clustjacobi_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clustjacobi_auto_test.cc index 3346841f0..bfb8e6210 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clustjacobi_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clustjacobi_auto_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_AccelerateSparse_ClusterJacobi_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clustjacobi_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clustjacobi_auto_threads_test.cc index e132e0ada..0faafabdb 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clustjacobi_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clustjacobi_auto_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_AccelerateSparse_ClusterJacobi_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clustjacobi_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clustjacobi_user_test.cc index 60d6e4bc6..1280be8e7 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clustjacobi_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clustjacobi_user_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_AccelerateSparse_ClusterJacobi_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clustjacobi_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clustjacobi_user_threads_test.cc index 3897463d1..da574ccac 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clustjacobi_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clustjacobi_user_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_AccelerateSparse_ClusterJacobi_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clusttri_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clusttri_auto_test.cc index e852024a3..22518c8e7 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clusttri_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clusttri_auto_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_AccelerateSparse_ClusterTridiagonal_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clusttri_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clusttri_auto_threads_test.cc index 02fc69378..28d656a37 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clusttri_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clusttri_auto_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_AccelerateSparse_ClusterTridiagonal_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clusttri_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clusttri_user_test.cc index e47fa1079..29bfab1eb 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clusttri_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clusttri_user_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_AccelerateSparse_ClusterTridiagonal_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clusttri_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clusttri_user_threads_test.cc index 433339d9f..dd9074892 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clusttri_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_acceleratesparse_clusttri_user_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_AccelerateSparse_ClusterTridiagonal_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clustjacobi_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clustjacobi_auto_test.cc index dc700b328..e1e36e7b8 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clustjacobi_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clustjacobi_auto_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_EigenSparse_ClusterJacobi_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clustjacobi_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clustjacobi_auto_threads_test.cc index 496cabebf..418ff6732 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clustjacobi_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clustjacobi_auto_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_EigenSparse_ClusterJacobi_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clustjacobi_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clustjacobi_user_test.cc index 11a8fbb79..d98eaff4c 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clustjacobi_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clustjacobi_user_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_EigenSparse_ClusterJacobi_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clustjacobi_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clustjacobi_user_threads_test.cc index 5646f4b9f..27b28604d 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clustjacobi_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clustjacobi_user_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_EigenSparse_ClusterJacobi_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clusttri_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clusttri_auto_test.cc index 3fd723023..cbed4d895 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clusttri_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clusttri_auto_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_EigenSparse_ClusterTridiagonal_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clusttri_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clusttri_auto_threads_test.cc index e86d1092f..25ec9c00a 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clusttri_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clusttri_auto_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_EigenSparse_ClusterTridiagonal_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clusttri_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clusttri_user_test.cc index b378ec44f..d0eb07b34 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clusttri_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clusttri_user_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_EigenSparse_ClusterTridiagonal_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clusttri_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clusttri_user_threads_test.cc index 9d5933e95..eac83d855 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clusttri_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_eigensparse_clusttri_user_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_EigenSparse_ClusterTridiagonal_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_jacobi_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_jacobi_auto_test.cc index 34b8fb19a..c1602404f 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_jacobi_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_jacobi_auto_test.cc @@ -44,6 +44,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_Jacobi_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_jacobi_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_jacobi_auto_threads_test.cc index 37c252fd1..59f05522b 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_jacobi_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_jacobi_auto_threads_test.cc @@ -44,6 +44,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_Jacobi_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_jacobi_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_jacobi_user_test.cc index de185a475..b3c278cb6 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_jacobi_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_jacobi_user_test.cc @@ -44,6 +44,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_Jacobi_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_jacobi_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_jacobi_user_threads_test.cc index df38fa6f7..5b70d79b7 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_jacobi_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_jacobi_user_threads_test.cc @@ -44,6 +44,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_Jacobi_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_schurjacobi_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_schurjacobi_auto_test.cc index ddaf1e8bb..df4e4d3f9 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_schurjacobi_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_schurjacobi_auto_test.cc @@ -44,6 +44,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_SchurJacobi_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_schurjacobi_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_schurjacobi_auto_threads_test.cc index 648462608..6bd503e15 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_schurjacobi_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_schurjacobi_auto_threads_test.cc @@ -44,6 +44,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_SchurJacobi_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_schurjacobi_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_schurjacobi_user_test.cc index e196b5e91..9a8d60e97 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_schurjacobi_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_schurjacobi_user_test.cc @@ -44,6 +44,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_SchurJacobi_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_schurjacobi_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_schurjacobi_user_threads_test.cc index 5a078c1d8..076681529 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_schurjacobi_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_schurjacobi_user_threads_test.cc @@ -44,6 +44,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_SchurJacobi_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_spse_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_spse_auto_test.cc new file mode 100644 index 000000000..90975fd0a --- /dev/null +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_spse_auto_test.cc @@ -0,0 +1,60 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2023 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// ======================================== +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// ======================================== +// +// This file is generated using generate_bundle_adjustment_tests.py. + +#include "ceres/internal/config.h" +#include "bundle_adjustment_test_util.h" + +namespace ceres::internal { + +TEST_F(BundleAdjustmentTest, + IterativeSchur_SchurPowerSeriesExpansion_AutomaticOrdering) { // NOLINT + BundleAdjustmentProblem bundle_adjustment_problem; + Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; + options->num_threads = 1; + options->linear_solver_type = ITERATIVE_SCHUR; + options->dense_linear_algebra_library_type = EIGEN; + options->sparse_linear_algebra_library_type = NO_SPARSE; + options->preconditioner_type = SCHUR_POWER_SERIES_EXPANSION; + if (kAutomaticOrdering) { + options->linear_solver_ordering = nullptr; + } + Problem* problem = bundle_adjustment_problem.mutable_problem(); + RunSolverForConfigAndExpectResidualsMatch(*options, problem); +} + +} // namespace ceres::internal diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_spse_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_spse_auto_threads_test.cc new file mode 100644 index 000000000..bfa341979 --- /dev/null +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_spse_auto_threads_test.cc @@ -0,0 +1,60 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2023 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// ======================================== +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// ======================================== +// +// This file is generated using generate_bundle_adjustment_tests.py. + +#include "ceres/internal/config.h" +#include "bundle_adjustment_test_util.h" + +namespace ceres::internal { + +TEST_F(BundleAdjustmentTest, + IterativeSchur_SchurPowerSeriesExpansion_AutomaticOrdering_Threads) { // NOLINT + BundleAdjustmentProblem bundle_adjustment_problem; + Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; + options->num_threads = 4; + options->linear_solver_type = ITERATIVE_SCHUR; + options->dense_linear_algebra_library_type = EIGEN; + options->sparse_linear_algebra_library_type = NO_SPARSE; + options->preconditioner_type = SCHUR_POWER_SERIES_EXPANSION; + if (kAutomaticOrdering) { + options->linear_solver_ordering = nullptr; + } + Problem* problem = bundle_adjustment_problem.mutable_problem(); + RunSolverForConfigAndExpectResidualsMatch(*options, problem); +} + +} // namespace ceres::internal diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_spse_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_spse_user_test.cc new file mode 100644 index 000000000..d39890e0b --- /dev/null +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_spse_user_test.cc @@ -0,0 +1,60 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2023 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// ======================================== +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// ======================================== +// +// This file is generated using generate_bundle_adjustment_tests.py. + +#include "ceres/internal/config.h" +#include "bundle_adjustment_test_util.h" + +namespace ceres::internal { + +TEST_F(BundleAdjustmentTest, + IterativeSchur_SchurPowerSeriesExpansion_UserOrdering) { // NOLINT + BundleAdjustmentProblem bundle_adjustment_problem; + Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; + options->num_threads = 1; + options->linear_solver_type = ITERATIVE_SCHUR; + options->dense_linear_algebra_library_type = EIGEN; + options->sparse_linear_algebra_library_type = NO_SPARSE; + options->preconditioner_type = SCHUR_POWER_SERIES_EXPANSION; + if (kUserOrdering) { + options->linear_solver_ordering = nullptr; + } + Problem* problem = bundle_adjustment_problem.mutable_problem(); + RunSolverForConfigAndExpectResidualsMatch(*options, problem); +} + +} // namespace ceres::internal diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_spse_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_spse_user_threads_test.cc new file mode 100644 index 000000000..ab24bbcb6 --- /dev/null +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_spse_user_threads_test.cc @@ -0,0 +1,60 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2023 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// ======================================== +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// ======================================== +// +// This file is generated using generate_bundle_adjustment_tests.py. + +#include "ceres/internal/config.h" +#include "bundle_adjustment_test_util.h" + +namespace ceres::internal { + +TEST_F(BundleAdjustmentTest, + IterativeSchur_SchurPowerSeriesExpansion_UserOrdering_Threads) { // NOLINT + BundleAdjustmentProblem bundle_adjustment_problem; + Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; + options->num_threads = 4; + options->linear_solver_type = ITERATIVE_SCHUR; + options->dense_linear_algebra_library_type = EIGEN; + options->sparse_linear_algebra_library_type = NO_SPARSE; + options->preconditioner_type = SCHUR_POWER_SERIES_EXPANSION; + if (kUserOrdering) { + options->linear_solver_ordering = nullptr; + } + Problem* problem = bundle_adjustment_problem.mutable_problem(); + RunSolverForConfigAndExpectResidualsMatch(*options, problem); +} + +} // namespace ceres::internal diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clustjacobi_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clustjacobi_auto_test.cc index 3b39c1ee8..7f31d7aec 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clustjacobi_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clustjacobi_auto_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_SuiteSparse_ClusterJacobi_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clustjacobi_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clustjacobi_auto_threads_test.cc index 6bb9fe532..1041c656d 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clustjacobi_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clustjacobi_auto_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_SuiteSparse_ClusterJacobi_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clustjacobi_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clustjacobi_user_test.cc index 9590671c6..0b2ad8b69 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clustjacobi_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clustjacobi_user_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_SuiteSparse_ClusterJacobi_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clustjacobi_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clustjacobi_user_threads_test.cc index 4b23d5462..aa0a5cc4f 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clustjacobi_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clustjacobi_user_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_SuiteSparse_ClusterJacobi_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clusttri_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clusttri_auto_test.cc index 78faa74c0..e66d3c0ce 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clusttri_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clusttri_auto_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_SuiteSparse_ClusterTridiagonal_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clusttri_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clusttri_auto_threads_test.cc index e9b10359b..a5a96ae3f 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clusttri_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clusttri_auto_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_SuiteSparse_ClusterTridiagonal_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clusttri_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clusttri_user_test.cc index ee65f557f..a0ff62bec 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clusttri_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clusttri_user_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_SuiteSparse_ClusterTridiagonal_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clusttri_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clusttri_user_threads_test.cc index 3c19079a9..d4bbb9844 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clusttri_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_iterschur_suitesparse_clusttri_user_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, IterativeSchur_SuiteSparse_ClusterTridiagonal_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = ITERATIVE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_acceleratesparse_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_acceleratesparse_auto_test.cc index 793c971c3..aedd97146 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_acceleratesparse_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_acceleratesparse_auto_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseNormalCholesky_AccelerateSparse_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = SPARSE_NORMAL_CHOLESKY; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_acceleratesparse_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_acceleratesparse_auto_threads_test.cc index 37318b7bd..7acfb1078 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_acceleratesparse_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_acceleratesparse_auto_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseNormalCholesky_AccelerateSparse_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = SPARSE_NORMAL_CHOLESKY; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_acceleratesparse_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_acceleratesparse_user_test.cc index b7710de1b..ef8578320 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_acceleratesparse_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_acceleratesparse_user_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseNormalCholesky_AccelerateSparse_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = SPARSE_NORMAL_CHOLESKY; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_acceleratesparse_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_acceleratesparse_user_threads_test.cc index db62ddd80..ed3a9a1c6 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_acceleratesparse_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_acceleratesparse_user_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseNormalCholesky_AccelerateSparse_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = SPARSE_NORMAL_CHOLESKY; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_eigensparse_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_eigensparse_auto_test.cc index 05d277700..7177c5107 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_eigensparse_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_eigensparse_auto_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseNormalCholesky_EigenSparse_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = SPARSE_NORMAL_CHOLESKY; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_eigensparse_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_eigensparse_auto_threads_test.cc index 9a0b32f6d..575ebef02 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_eigensparse_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_eigensparse_auto_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseNormalCholesky_EigenSparse_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = SPARSE_NORMAL_CHOLESKY; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_eigensparse_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_eigensparse_user_test.cc index 9d59ee38d..f53a72bec 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_eigensparse_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_eigensparse_user_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseNormalCholesky_EigenSparse_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = SPARSE_NORMAL_CHOLESKY; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_eigensparse_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_eigensparse_user_threads_test.cc index 143d6f499..59f033c98 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_eigensparse_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_eigensparse_user_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseNormalCholesky_EigenSparse_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = SPARSE_NORMAL_CHOLESKY; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_suitesparse_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_suitesparse_auto_test.cc index 1a139b9ba..aa4f28c67 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_suitesparse_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_suitesparse_auto_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseNormalCholesky_SuiteSparse_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = SPARSE_NORMAL_CHOLESKY; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_suitesparse_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_suitesparse_auto_threads_test.cc index 6ea258db5..3f0c2a9b3 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_suitesparse_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_suitesparse_auto_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseNormalCholesky_SuiteSparse_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = SPARSE_NORMAL_CHOLESKY; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_suitesparse_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_suitesparse_user_test.cc index 105d7ca70..f30254aaf 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_suitesparse_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_suitesparse_user_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseNormalCholesky_SuiteSparse_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = SPARSE_NORMAL_CHOLESKY; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_suitesparse_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_suitesparse_user_threads_test.cc index 505ab32d2..f29add5d2 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_suitesparse_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparsecholesky_suitesparse_user_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseNormalCholesky_SuiteSparse_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = SPARSE_NORMAL_CHOLESKY; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_acceleratesparse_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_acceleratesparse_auto_test.cc index 29b0c72e6..ba139e190 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_acceleratesparse_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_acceleratesparse_auto_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseSchur_AccelerateSparse_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = SPARSE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_acceleratesparse_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_acceleratesparse_auto_threads_test.cc index fc0c80c88..1161cb380 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_acceleratesparse_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_acceleratesparse_auto_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseSchur_AccelerateSparse_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = SPARSE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_acceleratesparse_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_acceleratesparse_user_test.cc index af56d20d0..934bad2ee 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_acceleratesparse_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_acceleratesparse_user_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseSchur_AccelerateSparse_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = SPARSE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_acceleratesparse_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_acceleratesparse_user_threads_test.cc index 67c56da9f..4606e7556 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_acceleratesparse_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_acceleratesparse_user_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseSchur_AccelerateSparse_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = SPARSE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_eigensparse_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_eigensparse_auto_test.cc index 36ea666fb..758dddbde 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_eigensparse_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_eigensparse_auto_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseSchur_EigenSparse_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = SPARSE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_eigensparse_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_eigensparse_auto_threads_test.cc index 9a64d4db1..28dcc88e6 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_eigensparse_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_eigensparse_auto_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseSchur_EigenSparse_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = SPARSE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_eigensparse_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_eigensparse_user_test.cc index 6add93860..3c66c0365 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_eigensparse_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_eigensparse_user_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseSchur_EigenSparse_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = SPARSE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_eigensparse_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_eigensparse_user_threads_test.cc index 04cc62705..f7d808145 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_eigensparse_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_eigensparse_user_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseSchur_EigenSparse_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = SPARSE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_suitesparse_auto_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_suitesparse_auto_test.cc index 3857d2d10..22b588afc 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_suitesparse_auto_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_suitesparse_auto_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseSchur_SuiteSparse_AutomaticOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = SPARSE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_suitesparse_auto_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_suitesparse_auto_threads_test.cc index f58dbd7f1..5a6995b3e 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_suitesparse_auto_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_suitesparse_auto_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseSchur_SuiteSparse_AutomaticOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = SPARSE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_suitesparse_user_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_suitesparse_user_test.cc index 00ce8fb47..18c631005 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_suitesparse_user_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_suitesparse_user_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseSchur_SuiteSparse_UserOrdering) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 1; options->linear_solver_type = SPARSE_SCHUR; options->dense_linear_algebra_library_type = EIGEN; diff --git a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_suitesparse_user_threads_test.cc b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_suitesparse_user_threads_test.cc index 532d0a4c8..5cff07d97 100644 --- a/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_suitesparse_user_threads_test.cc +++ b/internal/ceres/generated_bundle_adjustment_tests/ba_sparseschur_suitesparse_user_threads_test.cc @@ -46,6 +46,7 @@ TEST_F(BundleAdjustmentTest, SparseSchur_SuiteSparse_UserOrdering_Threads) { // NOLINT BundleAdjustmentProblem bundle_adjustment_problem; Solver::Options* options = bundle_adjustment_problem.mutable_solver_options(); + options->eta = 0.01; options->num_threads = 4; options->linear_solver_type = SPARSE_SCHUR; options->dense_linear_algebra_library_type = EIGEN;