- Previously we overwrote the default (empty) config.h in the source
tree with a configured config.h, generated using the current compile
options.
- This was undesirable as it could lead to inadvertant commits of the
generated config.h.
- This patch moves the default config.h to <src>/config/ceres/internal,
separate from the other headers, thus if Ceres is compiled without
CMake this directory will now also have to be included. This
directory is _not_ added to the CMake include directories for Ceres
(thus the default config.h is never used when compiling with CMake).
- When using CMake, the generated config.h is now placed in
<build>/config/ceres/internal, which is in turn added to the include
directories for Ceres when it is compiled, and the resulting config.h
is copied to ceres/internal when installed.
Change-Id: Ib1ba45e66e383ade2ebb08603af9165c1df616f2
- Previously we passed all compile options to Ceres via add_definitions
in CMake. This was fine for private definitions (used only by Ceres)
but required additional work for public definitions to ensure they
were correctly propagated to clients via CMake using
target_compile_definitions() (>= 2.8.11) or add_definitions().
- A drawback to these approaches is that they did not work for chained
dependencies on Ceres, as in if in the users project B <- A <- Ceres,
then although the required Ceres public compile definitions would
be used when compiling A, they would not be propagated to B.
- This patch replaces the addition of compile definitions via
add_definitions() with an autogenerated config.h header which
is installed with Ceres and defines all of the enabled Ceres compile
options.
- This removes the need for the user to propagate any compile
definitions in their projects, and additionally allows post-install
inspect of the options with which Ceres was compiled.
Change-Id: Idbdb6abdad0eb31e7540370e301afe87a07f2260
This compiler defines shared_ptr in std::tr1 namespace, but
for this <tr1/memory> is to be included. Further, this compiler
also does have <memory> header which confused previous shared
pointer check.
Simplified logic around defines now, so currently we've got:
- CERES_TR1_MEMORY_HEADER defined if <tr1/memory> is to be
used for shared_ptr, otherwise <memory> is to be used.
- CERES_TR1_SHARED_PTR defined if shared_ptr is defined in
std::tr1 namespace, otherwise it's defined in std namespace.
All the shared_ptr checks are now moved to own file FindSharedPtr
which simplifies main CMakeLists.
Change-Id: I558a74793baaa0bd088801910a356be4ef17c31b
Fix variable names in port.h and fix fpclassify when
using gnustl. This was tested by switching to gnustl
in the JNI build.
Thanks to Carlos Hernandez for suggesting the gnustl fixes.
Change-Id: I690b73caf495ccc79061f45288e416da1604cc72
By default shared_ptr is now assumed to be
in the standard <memory> header and in the
std namespace.
Previously the way the ifdefs were structured if the appropriate
variable was not defined, it would default to <t1/memory>.
The new defaults are more future proof.
Change-Id: If457806191196be2b6425b8289ea7a3488a27445
Solver::Options::linear_solver_ordering and
Solver::Options::inner_iteration_ordering
were bare pointers even though Solver::Options took ownership of these
objects.
This lead to buggy user code and the inability to copy Solver::Options
objects around.
With this change, these naked pointers have been replaced by a
shared_ptr object which will managed the lifetime of these objects. This
also leads to simplification of the lifetime handling of these objects
inside the solver.
The Android.mk and Application.mk files have also been updated
to use a newer NDK revision which ships with LLVM's libc++.
Change-Id: I25161fb3ddf737be0b3e5dfd8e7a0039b22548cd
This triggers -Wtype-limits warnings on comparisons
which are always true, since the test being done is
n >= 0, where n is of type size_t, which is always
true.
This causes problems when compiling Ceres on linux
with miniglog.
Change-Id: Ia1d1d1483e03469c71fde029b62ca6d84e9b27e0
1. Update AutoDiffCostFunction template parameters to be consistent
with NumericDiffCostFunction.
2. Update the documentation for NumericDiffCostFunction and
AutoDiffCostFunction.
Change-Id: I113038abb5bedebb0f6f326f2a4ac31480d785fc
1. Introduce new typdefs in eigen.h to allow for column
major matrices.
2. Clean up old unused typedefs, and the aligned typedefs
since they do not actually add any real performance.
3. Made eigen.h conform to the google style guide by removing
the using directives. They were polluting the ceres namespace.
4. Made the template specialization generator work again.
Change-Id: Ic2268c784534b737ebd6e1a043e2a327adaeca37
The interface for NumericDiffCostFunction and AutoDiffCostFunction
are not comparable. They both accept variadic functors.
The change is backward compatible, as it still supports numeric
differentiation of CostFunction objects.
Some refactoring of documentation and code in auto_diff_cost_function
and its relatives was also done to make things consistent.
Change-Id: Ib5f230a1d4a85738eb187803b9c1cd7166bb3b92
CostFunctionToFunctor wraps a CostFunction, and makes it available
as a templated functor that can be called from other templated
functors. This is useful for when one wants to mix automatic,
numeric and analytic differentiated functions.
Also a bug fix in autodiff.h
Change-Id: If8ba281a89fda976ef2ce10a5844a74c4ac7b84a
Supporting only 6 parameters in autodiff was enough for most
cases, but 6 was not always sufficient. This extends the
current implementation to work with up to 10 parameters.
This also increases the number of parameters supported in
SizedCostFunction to 10.
Change-Id: Ic783602f93e6ddf4af24fa34eff37c0a4b775dc1
The warnings got disabled at some point; this re-enables some of them, and
fixes some of the warnings.
Change-Id: I290a4fdfad18cea85e9177ba57744d97b6856bb2
This is a workaround for anyone building Ceres in an environment
where there is a non-standard string implementation in the global
namespace. Due to the way the standard is written, a "using
namespace X" import is not high enough precedence to resolve a
naked reference to "string". Instead, by explicitly importing
string, the lookup becomes unambiguous.
Change-Id: I8d70463de01c482796c5bc09da05b37d21e7af96
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
Added EIGEN_MAKE_ALIGNED_OPERATOR_NEW to the struct so that
the Jet members are aligned. This fixes an eigen assert in
autodiff_test reported by multiple Ceres users.
Thanks Koichi Akabe & Stephan Kassemeyer
Change-Id: Id3574e926deffa57d205dddaa9d08389b5dc33a8
1. Test that reproduces the failure on macos.
2. Move the alignment macros from manual_constructor.h
to macros.h and rename them to prevent conflicts.
3. The inline array used by FixedArray is now aligned.
4. Jet has been modified to be eigen friendly.
Change-Id: I4563847a767a92156dabab1ab420f0cdddb8ba77
This commit modifies the only function in autodiff that takes a
templated number of outputs (i.e. residuals) and makes that
template parameter a normal parameter. With that change, it
is a trivial matter to support a dynamic number of residuals.
The API for dynamic residuals is to pass a fake number of
residuals as the second template argument to
AutoDiffCostFunction, and to pass the real number of
parameters as a second constructor argument.
Björn Piltz