This PR changes the implementation of the current fixed array to the
abseil one, which has proper allocator support.
Some minor changes are made to make the fixed array implementation
self-contained (no dependent to abseil):
- No address sanitizer support (red zones, etc.)
- Remove of noexecpt specified for copy and move constructor.
- Remove of 'at' function as Ceres does not use exceptions.
- Use std::tuple instead of absl::CompressedTuple as it uses the abseil
utility header which includes a whole bunch of other headers.
Change-Id: I43445b42c37f944509b5353a587d0efce74cbccf
This is to FirstOrderFunction, what AutoDiffCostFunction is to CostFunction.
This allows users of GradientSolver to be able to define objective functions
without requiring them to define the derivatives.
The implementation uses the same Jet objects for computing the gradient as
is used by AutoDiffCostFunction.
Change-Id: Ide6e60532a3adab9be9899ba9b368dc267fd2dbb
This CL changes the implementation of AddResidualBlock() in
ceres::Problem using variadic templates. Also one new overload for
AddResidualBlock() is added using a double** and the number of
parameter blocks.
Change-Id: I007a82a06897335a117213a0d12fedb4a77076a0
This CL fixes a regression bug in numeric differentiation where the
differentiation is called even if the parameter block is hold constant.
This resulted into a write to a nullptr.
A unit test is added for Jacobian evaluation of constant parameters.
Change-Id: Ia0f7c6cc7ef18f0f2cd6d758a839729b8ff606a0
This CL simplifies the implementation of cost function to functor using
variadic templates. The cost functor can now be called with an
arbitrary number of parameter pointers.
Change-Id: I0d9df2e9055a4842f40c232d4474508f010089a4
This PR changes the interface of sized_cost_fucntion,
autodiff_cost_function and numeric_diff_costfunction from using ten
hardcoded parameter blocks to a variable number of parameter blocks
using variadic templates.
Trailing parameter blocks of size zero are now considered as error.
Change-Id: I37b9a0a420ef0eda6476a46672bbf6bd57e19760
The class parameter dims is a helper class that holds the parameter
dimensions. The parameter dimensions are either dynamic or the
sizes are known at compile time. It is used to pass parameter block
dimensions around (e.g. between functions or classes).
Also the dimensions of the parameter blocks are checked at compile
time and must be greater than zero. This means trailing zero parameter
blocks will result in a compile error.
Change-Id: I4decf2f09e63fdb0fd652022b2be2a1cfd9c4478
This PR adds integer sequence and two algorithms (sum and exclusive
scan). Those will be needed to implement a sized cost function using
variadic templates.
Change-Id: I8e98d7c11fac94286fe9c364633406e59438f059
All Init() function overloads are replaced by a perfect forwarding Init
function using variadic templates.
Change-Id: I42d0e236d274174982a4e56c0d73ec2776ed96f8
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
The example code for ceres::Jet is incorrect since it misses at which point
the derivate is computed.
Change-Id: Ic3f2ee061a2b69f0a402ca1a01297ddda1f153cd
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
When Solver::Options::check_gradients is true, Ceres internally
creates a new ProblemImpl object which wraps each CostFunction
in the user's problem with a GradientCheckingCostFunction.
Doing this also requires creating new ParameterBlock objects,
and when support for upper and lower bounds was added to Ceres,
CreateGradientCheckingProblemImpl should also have been updated
to create a problem with the same parameter bounds. As a result,
if check_gradients is enabled for a bounded problem, it constructs
an unconstrained problem and solves it.
This CL fixes this, by introducing Problem::GetParameterLowerBound,
and Problem::GetParameterUpperBound and using them to create a bounded
problem when checking gradients.
Thanks to @pbeeson for not only reporting this problem, but also
providing a small standalone reproduction which made debugging this
possible.
https://github.com/ceres-solver/ceres-solver/issues/379
Change-Id: Id18eb858a7009bf4fa452a21b925922d13f3249f
- In light of the C++11 threads threading option this is no longer
necessary for cross-platform threading support and did not offer a
noticeable performance gain over either the C++11 threads
implementation or OpenMP.
Change-Id: Icb588d520888c19a1775171795b55bcaffb3d256
1. Use using directive to pull functions from the std:: namespace
instead of defining a forwarding function.
2. Remove Eigen 2.0 related definitions.
Change-Id: If5f24ef740c17bc4db300fa04f4a2e8f809970d2
Also removed Solver::Summary::num_linear_solver_threads_given
and Solver::Summary::num_linear_solver_threads_used.
Change-Id: I559145ae2e7af597ea06ec03d386645a3a892e9f
Due to the large amount of changes made as part of
the C++11 migration, it makes sense to have a
large version bump.
Change-Id: I2d81828e2d8e23f0829070726e7b3ec31d7f1724
This was currently buried in port.h. Since there is exactly one use
of the max_align_t handling, it is better from a readability
and cleanliness perspective to have this in jet.h.
Change-Id: I2f3dde75df7c333bd95393b9e4fc4cd5160d6afb
1. Replace CERES_DISALLOW_* with explicitly deleted constructors.
2. Replace use of CERES_ARRAY_SIZE and stack allocated arrays
with std::vector.
3. Move CERES_ALIGN_* macros into manual_constructor.h, which is
the one place they are used and will be deprecated along with that
file.
4. Introduce isnan,isnormal,isinf and isfinite for Jets.
5. Replace IsNormal,IsFinite,IsNaN and IsInfinite with corresponding
c++11 function calls.
Change-Id: I04f33a221aae77d247602150988b6d4aa4efeeab
1. Add Solver::Options::use_mixed_precision_solves,
and Solver::Options::max_num_refinement_iterations.
2. Make SparseCholesky::Create return a unique_ptr.
3. SparseCholesky::Create now takes LinearSolver::Options
as an argument.
4. IterativeRefiner's constructor does not require num_cols
as an argument.
5. SparseNormalCholeskySolver now uses a separate rhs vector.
This basic implementation results in a 10% reduction in solver time
and 30% reduction in linear solver memory usage.
Change-Id: I6830f32cae2febf082d2733262eb2c9f0482b0ea
Migrate all Option and Summary structs to use
inline member initialization syntax.
This reduces the amount of code, and collocates the
default values with the documentation for the corresponding
member variable.
Change-Id: I8e6b9ee3b31464699d678667f6166ace5fc137c9
This adds a callback mechanism to for users to get notified just
before jacobian and residual evaluations. This will enable
aggressive caching and sharing of compute between cost functions.
Change-Id: I67993726920218edf71ab9ae70c34c204756c71a
1. Solver::Options::num_threads now controls parallelism in Ceres
Solver. The user specified value of
Solver::Options::num_linear_solver_threads is ignored.
2. If the user specifies Solver::Options::num_linear_solver_threads
and it is different from Solver::Options::num_threads,
a warning is printed.
3. Solver::Summary:num_linear_solver_threads_given and
Solver::Summary::num_linear_solver_threads_used are also
deprecated and are always set to Solver::Summary::num_threads_given
and Solver::Summary::num_threads_used.
Change-Id: I20b9336d9336e400e6f0a15b63857c0c43eb271c
Fixes a bug introduced in 12280 that incorrectly used xor for multiple
values.
Tested it manually by verifying it would fail for 2, 3, or 4 of them
defined.
Change-Id: I90c2662f4744aceaf0119dbbe072beced3f67c9a
Implements ParallelFor using the C++11 based ThreadPool. The C++11
parallel for is 50-70% faster than single threaded, and 20-30% slower
than TBB.
Tested by compiling with OpenMP, TBB, and C++11 Threading support and
ran the unit tests. Ran bazel as well.
Change-Id: I7fd6c9037ff9f200ce6999b5f39918995bb6b8ea
A Ceres Context holds common global state that can be re-used within
Ceres. The Context current contains a thread pool if compiling with
C++11 threading support. Threads are expensive to create and destroy so
it is good to maintain across multiple Ceres solves.
Tested by compiling with and without TBB support and ran unit tests. Ran
bazel as well.
Change-Id: I82f598dfae642aa0e81a6039dc174608a5e8dbfb
1. Replace two maps by 1.
2. Update number of calls and the time for the call at the cost
of a single map lookup.
3. Add Solver::Summary::num_linear_solves.
Fixes https://github.com/ceres-solver/ceres-solver/issues/340
Change-Id: I71eb9be7fb363a8cb066591c4c1761f256c81677
Johannes Beck