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
When the user provides an ordering which starts at a non-zero group id,
or has gaps in the groups, then CAMD, the algorithm used to reorder
the program can crash or return garbage results.
The solution is to map the ordering into grouping constraints, and then
to re-number the groups to be contiguous using a call to
MapValuesToContiguousRange. This was already done for CAMD based
ordering for Schur type solvers, but was not done for SPARSE_NORMAL_CHOLESKY.
Thanks to Bernhard Zeisl for not only reporting the bug but also
providing a reproduction.
Change-Id: I5cfae222d701dfdb8e1bda7f0b4670a30417aa89
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
- CreateBlockJacobian() is only ever used when Eigen >= 3.2.2 is
detected, but was previously defined whenever CERES_USE_EIGEN_SPARSE
was defined with no check on the Eigen version.
- This resulted in an unused-function compile warning that became an
error due to -Werror, preventing compilation when using Eigen < 3.2.2.
Change-Id: I24628ff329f14b087ece66bf2626bdc0de4ba224
Ordering routines for the Schur complement when using EIGEN_SPARSE.
Also integration into SchurComplementSolver.
Part of this CL is also a refactoring of the block jacobian matrix
construction.
Change-Id: I11d665cc7d4867c64190e6fed1118f4d2e13d59b
This is just the reordering routine. The integration with
SparseNormalCholesky shall happen in a subsequent CL.
Change-Id: I39ddc32aa66b11c368faf75404850fa0ae0d2b3a
Program::SetParameterOffsetsAndIndex() was being called willy nilly.
Now the invariant is that any function that actually reorders the
program, updates the offsets and indices.
Also the logic around handling EIGEN_SPARSE has been simplified in
anticipation of the block AMD code that is forthcoming.
Last but not the least, num_eliminate_blocks, which is a rather
cryptic name to begin with has been replaced by the more meaningful
size_of_first_elimination_group.
Change-Id: I77e684f699a93b53e76aa406d64f40f8704df813
1. Base class for preprocessors.
2. A preprocessor for problems that will be solved using
the trust region minimizer.
3. Added sanity tests to the program reordering options
for Schur type linear solvers.
4. Tests for the TrustRegionPreprocessor.
Change-Id: I88cd926f0053bbbf2bd6b11e03ec55b8bf473cf1
SPARSE_NORMAL_CHOLESKY and SPARSE_SCHUR can now be used
with EIGEN_SPARSE as the backend.
The performance is not as good as CXSparse. This needs to be
investigated. Is it because the quality of AMD ordering that
we are computing is not as good as the one for CXSparse? This
could be because we are working with the scalar matrix instead
of the block matrix.
Also, the upper/lower triangular story is not completely clear.
Both of these issues will be benchmarked and tackled in the
near future.
Also included in this change is a bunch of cleanup to the
SparseNormalCholeskySolver and SparseSchurComplementSolver
classes around the use of the of defines used to conditionally
compile out parts of the code.
The system_test has been updated to test EIGEN_SPARSE also.
Change-Id: I46a57e9c4c97782696879e0b15cfc7a93fe5496a
Move all the program reordering programs into their own file.
Also split the reordering routines for SPARSE_NORMAL_CHOLESKY
into individual library dependent routines.
Also get rid of RemovedFixedBlocksFromProgram.
Change-Id: Ie969f529e6d20dded9da021b9df1a040e08287c1
Alex Stewart