This change restructures the `TinySolver` template and its associated
adapters (`AutoDiff` and `CostFunction`) to make maximum sizing
attributes first-class parameters. This enables the entire `TinySolver`
stack to be used in restricted environments (e.g., small MCUs) without
dynamic memory allocation, even when the number of residuals or
parameters is only known at runtime (`Eigen::Dynamic`).
Specifically:
- Adds `kMaxResiduals` and `kMaxParameters` template parameters to
`TinySolver`.
- Updated `TinySolverAutoDiffFunction` and
`TinySolverCostFunctionAdapter` to support optional maximum size
template parameters for their internal buffers.
- The new API maintains backward compatibility for existing users by
defaulting to the sizes defined in the `Function`'s enums.
- This structure also supports reducing code bloat by allowing
`TinySolver` to be instantiated with an abstract base class, using
dynamic dispatch for cost function evaluation.
New test cases for `TinySolver` and its adapters verify the
zero-allocation behavior and the unified API flexibility.
Change-Id: Ic6f43984d384dbe71472b31c5ebd2b538d61f19d
- Add methods to aceess the cached residuals and jacobian computed in
the optimization process in TinySolver. Usage of such methods will
retrieve the corresponding values associated with the converged
parameter.
- Reorder the Update() call to ensure that the jacobian/residuals
associated with the converged parameter are computed and cached.
Change-Id: If82e19d67d28b057833357f2c9a75b2d0fd139af
1. Add a version history
2. Update copyright years across the code base
3. Run format_all.sh
4. Update version strings from 2.1.0 to 2.2.0 in the docs and
elsewhere.
Change-Id: I46d8d479d54bd6002d532785e67342106e73c9ac
- Change formatting standard to Cpp11. Main difference is not having
the space between two closing >> for nested templates. We don't
choose c++14, because older versions of clang-format (version 9
and earlier) don't know this value yet, and it doesn't make a
difference in the formatting.
- Apply clang-format to all (non generated) internal source files.
- Manually fix some code sections (clang-format on/off) and c-strings
- Exclude some embedded external files with very different formatting
(gtest/gmock)
- Add script to format all source files
Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d
Enable use of dynamic number of residuals for autodiff.
Implemented with "Substitution failure is not an error" similar
to tiny_solver.h .
Move test from tiny_solver_test.cc to
tiny_solver_autodiff_function_test.cc .
Use cpplint.py from C++ Google Style Guide for formatting.
Change-Id: I2e1a159d17118552943c6ac7a833c5bbd0c927ec
1. Change the ordering from NUM_PARAMETERS, NUM_RESIDUALS to
NUM_RESIDUALS, NUM_PARAMETERS in docs and in code.
2. TinySolver::solve -> TinySolver::Solve
Change-Id: I4dca87b971fd9168f1200b53c362669cffc82c1b
Tiny solver is targeted towards small dense least square
solves, where the overhead of calling normal Ceres is too
high. For example, when solving for inverse camera
distortion for every pixel location in a many-megapixel
image. Anecdotally, at one point in the past, tiny solver
was ~20x faster than Ceres for the problems it's intended
for. This is due to two key aspects:
1. Memory is allocated up front: repeated solves incur no
allocation overhead beyond a few scalars on the stack.
2. The cost function is fully inlined into the solver
loop, removing even the cost function call overhead.
Tiny solver originated many years ago as part of
libmv/Blender, where it is still used for distortion solving
today, but the time has come for it to migrate into Ceres.
This commit is just the initial import into Ceres. Follow
up patches will add further cleanups, and add CostFunction
and Jet adapters to make it easier to call tiny solver
(though by using adapters, some performance advantages will
be lost).
Change-Id: I8079535cd41382b1e0ac0ca2fca141711c72b7f8
Pez Firoozfam