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
If arguments are passed to a cost function that can be used to construct
the functor, the latter will be instantiated by the cost function using
std::make_unique to ensure exception safety. This not only avoids static
analysis warnings caused by calling new but also spelling the cost
functor type name multiple times.
Also expand deduction guides for instantiating
Dynamic(Auto|Numeric)DiffCostFunction from std::unique_ptr enabled
constructor overloads.
Finally, make CostFunction default move constructible and assignable but
only through derived classes. This in turn allows derived classes to be
movable without relying on custom implementations of corresponding
operators.
Change-Id: Idee8b9871d862bc9f9f8b5a8d0bedc52863e93c0
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
Currently, the logic for exporting symbols is rather complicated: when
tests are enabled internal symbols are exported in addition to the
public symbols. Such logic causes several problems. (1) Test binaries
link against a Ceres build that is different from the final release
since fewer optimizations are applied if more symbols are exported. (2)
Also, some toolchains hide symbols by default breaking the existing
logic eventually causing linker errors.
Since internal symbols are not intended to be used outside of the
project, we can compile them into object files and use exactly the same
binary code both for the final build and the tests without relying on
conditionals.
By default, all symbols are now hidden unless annotated as public.
Internal symbols are explicitly marked as not being exported in case
users chose not to hide symbols by default.
Change-Id: I589dd10be2f6f438508783cf99d141af0120057b
- ensure all public headers files adhere to clang-format
- preserve one-per-line for enums by adding trailing comma
- preserve include order for en/disable_warning.h
Change-Id: I78dbd0527a294ab2ec5f074fb426e48b20c393e6
- Removes all workarounds for pre-C++14 versions
- Removes '11' qualifier from C++ threading option and associated
defines.
- Fix missing inclusion of 'Multithreading' in reported Ceres components
when C++ threading model is enabled.
- Update Sphinx documentation to specify C++14 as minimum requirement.
Change-Id: I706c8b367b3221e3c4d1a0aaf669a8f9c911e438
Now that we are using c++11, it is safer to use override in subclasses
instead of virtual.
This CL does it for the interface, a follow up CL will do it for
other parts of the code base.
Change-Id: Ice8d0f4355cb700019d7a9c1566fbff0099e97d6
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 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
This adds a new wrapper class called DynamicCostFunctionToFunctor
that closes a gap in the current API: the existing
CostFunctionToFunctor can only be used with a SizedCostFunction, where
the number and sizes of all parameter vectors are known at compile-time.
The DynamicCostFunctionToFunctor allows you to wrap a generic
CostFunction into a templated functor which can then be used in a
DynamicAutoDiffCostFunction.
Also updates the existing CostFunctionToFunctor class to internally use
DynamicCostFunctionToFunctor.
Change-Id: I088adc3271c58d2519126c27037c3576965a36d6
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
The code itself was perfectly capable of handling residuals, but there
was an overly strict runtime check that had to be removed.
Thanks to Domink Reitzle for reporting this.
Change-Id: I6a6d000a7c5203dd5945a61b4caeda1b8aeb09c9
CostFunction now uses int32 instead of int16
to store the size of its parameter blocks.
This is an API breaking change.
Change-Id: I032ea583bc7ea4b3009be25d23a3be143749c73e
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
Sameer Agarwal