1. Add abseil-cpp as a submodule. We are tracking the latest LTS
release, which is lts_2024_01_16.
2. Replace glog/gflags with absl::log and absl::flags.
3. Remove miniglog
4. Also take a whack at making the bazel build work with
abseil-cpp and gtest.
There are a number of TODOs in this CL that still need to be resolved.
Change-Id: I39355ed7d61375be4ebcbc8596d9cc70acc1c678
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
- TripletSparseMatrix in BlockRandomAccessSparseMatrix is replaced with
BlockSparseMatrix
- BlockSparseMatrix::ToCompressedRowSparseMatrix is performed in a
direct sort-less way
Change-Id: Ib951fda1b9394050e2c47a9721172c5e3c674801
1. Rename it to kRowShift.
2. Make it a static constexpr.
3. Change it to 2^32, which should allow for easier bit arithmetic
for the compiler than the previously used value of 10000000.
4. Change the name of the two associated private methods from
IntPairToLong to IntPairToInt64 and LongToIntPair to Int64ToIntPair.
Change-Id: I54d61bcf1121079b222ef518324de5cffc1be064
1. Add threading to all three subclasses of BlockRandomAccessMatrix.
i.e. BlockRandomAccessDenseMatrix, BlockRandomAccessSparseMatrix
and BlockRandomAccessDenseMatrix.
For BlockRandomAccessDenseMatrix and BlockRandomAccessSparseMatrix
this just means SetZero is parallelized. Which by itself is no
big deal, but by doing so, the constructor for all three subclasses
become uniform.
BlockRandomAccessSparseMatrix::SymmetricRightMultiplyAndAccumulate
maybe threaded in the future if needed.
BlockRandomAccessDiagonalMatrix is the biggest beneficiary. SetZero
Invert and RightMultiplyAndAccumulate are all threaded now.
2. Change the storage in BlockRandomAccessDiagonalMatrix from
TripletSparseMatrix to CompressedRowSparseMatrix. This has no
performance implications since we do not really use the capabilities
of the underlying matrix indexing representation. This is a forward
looking change when we decide to transfer this matrix to the GPU,
a CompressedRowSparseMatrix will save on a data conversion.
3. Use std::unique_ptr as needed and eliminate the need for custom
destructors.
4. Modify CompressedRowSparseMatrix::CreateBlockDiagonalMatrix to
take a nullptr as the data vector.
Fixes https://github.com/ceres-solver/ceres-solver/issues/936
Fixes https://github.com/ceres-solver/ceres-solver/issues/935
Change-Id: Ia6487f2d924fbe669835bdcc38abf2b451bda4ee
Previously some matrices used Block to keep track of
row/column block sizes and some would just use ints, and
then compute the position of each row and column from it.
By uniformly using Block everywhere, we reduce duplicate
computation and data copies.
I also cleaned up a bunch of c++17 related stuff as I edited
these files.
Change-Id: I4c86b1593fd4c91f9057fbb38314f62f303e0477
These methods were historically poorly named and every time I read code
I get confused whether they are just multiplying or multiplying and
adding. Clarifying them also gives us the changce to introduce
RightMultiply and LeftMultiply methods in the base class which will
simplify a number call sites in a subsequent CL.
Fixes https://github.com/ceres-solver/ceres-solver/issues/855
Change-Id: Ice4fb483f1acd02527a6dd753ef0c5a66037f4b0
- 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
This header defined integral types in the pre-C++11 days, and can
be replaced with <cstdint> and the types defined therein.
Also remove a shallow (and incorrect) typedef in include/ceres/types.h
https://github.com/ceres-solver/ceres-solver/issues/409
Change-Id: I398c652f74d24bbeea459672508bf28f591b100f
1. Replace HashMap and HashSet with std::unordered_map and
std::unordered_set respectively.
2. Extract the pair hasher into a struct pair_hash.
3. Delete collections_port.h
4. Convert explicit iterator based loops to auto based
loops where sensible.
Change-Id: Ib88bcd13a7463d18435639d3b771abaa52080efb
Since Ceres is moving to using GitHub for issues, and the Google
Code URL in the current copyright header will soon become invalid,
update all the headers.
Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
For historical reasons we had a "using namespace std;" in port.h. This
is generally a bad idea. So removing it and along the way doing a bunch
of cpplint cleanup.
Change-Id: Ia125601a55ae62695e247fb0250df4c6f86c46c6
This is a preliminary, but full, port of Ceres to Windows.
Currently all tests compile and run, with only system_test
failing to work correctly due to a path issue.
Change-Id: I4152c1588bf51ffd7f4d9401ef9759f5d28c299c
overflow.
Even though the return value of this function is a long int, the
computation happens with three ints, which causes an overflow before
the upgrade happens.
The fix is to upgrade the constant used int his computation to be a
long int, which causes the computation to be done in longs instead of
ints.
A test has been added to verify that the fix works.
Change-Id: Ibb0aef877125bb37ca28754cb07b8e1627fd1d5a
Sameer Agarwal