1. Move common test infrastructure into test_util.
2. system_test now only contains powells function.
3. Add bundle_adjustment_test.
Instead of a single function which computes everything,
there is now a test for each solver configuration which
uses the reference solution computed by the fixture.
Change-Id: I16a9a9a83a845a7aaf28762bcecf1a8ff5aee805
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
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
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With this change, these naked pointers have been replaced by a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
1. Rename SolverTerminationType to TerminationType.
2. Consolidate the enum as
a. CONVERGENCE - subsumes FUNCTION_TOLERANCE, PARAMETER_TOLERANCE and GRADIENT_TOLERANCE
b. NO_CONVERGENCE
c. FAILURE - captures all kinds of failures including DID_NOT_RUN.
d. USER_SUCCESS
e. USER_FAILURE
3. Solver::Summary::error is renamed to be Solver::Summary::message, to both
reduce confusion as well as capture its true meaning.
Change-Id: I27a382e66e67f5a4750d0ee914d941f6b53c326d
1. When a LAPACK implementation is present, then
DENSE_QR, DENSE_NORMAL_CHOLESKY and DENSE_SCHUR
can use it for doing dense linear algebra operations.
2. The user can switch dense linear algebra libraries
by setting Solver::Options::dense_linear_algebra_library_type.
3. Solver::Options::sparse_linear_algebra_library is now
Solver::Options::sparse_linear_algebra_library_type to be consistent
with all the other enums in Solver::Options.
4. Updated documentation as well as Solver::Summary::FullReport
to reflect these changes.
Change-Id: I5ab930bc15e90906b648bc399b551e6bd5d6498f
1. Added a Preconditioner interface.
2. SCHUR_JACOBI is now its own class and is independent of
SuiteSparse.
Change-Id: Id912ab19cf3736e61d1b90ddaf5bfba33e877ec4
Remove the old ordering API, and modify solver_impl.cc
to use the new API everywhere.
In the process also clean up the linear solver instantion
logic in solver_impl.cc a bit too.
Change-Id: Ia66898abc7f622070b184b21fce8cc6140c4cebf
For problems with a small number of variables, but a large
number of residuals, it is sometimes beneficial to use the
Cholesky factorization on the normal equations, instead of
the dense QR factorization of the Jacobian, even though it
is numerically the better thing to do.
Change-Id: I3506b006195754018deec964e6e190b7e8c9ac8f
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
User callbacks got broken at some point due to the extra
layer of copying from Solver::Options to Minimizer::Options.
This copies the user callbacks when initializing
Minimizer::Options from Solver::Options, and adds a test to
this effect.
This also fixes a bug where the state updating callback was
not called before the user callbacks. This also adds a test
to solver_impl_test to ensure the state updating callbacks
work as expected.
Thanks to Luis Alberto Zarrabeitia for the report.
Issue: 46
Change-Id: I2b36415c89dafaa5c84ecaa727a325df122e1092
SPARSE_NORMAL_CHOLESKY with CXSparse on the fairly small
bundle adjustment problem used in system_test is too expensive
to be useful as a test. It takes up too much memory and time
making the test fail on client computers < 4G of RAM.
These tests have been deleted.
Change-Id: Id015671536afd7013f5b7d19c39d64c2748884ad
1. Added support for CXSparse - SparseNormalCholesky and
SchurComplementSolver support SuiteSparse and CXSparse now.
I am not sure I will add suport for visibility based
preconditioning using CXSparse. Its not a high priority.
2. New enum SparseLinearAlgebraLibraryType which allows the user
to indicate which sparse linear algebra library should be used.
3. Updated tests for SolverImpl and system_test.
4. Build system changes to automatically detect CXSparse and
link to it by default -- just like SuiteSparse.
5. Minor bug fixes dealing in the cmake files and VBP.
6. Changed the order of the system test.
7. Deduped the unsymmetric linear solver test.
Change-Id: I33252a103c87b722ecb7ed7b5f0ae7fd91249244
- Rename BlockDiagonalPreconditioner to BlockJacobiPreconditioner
- Include the diagonal in the block jacobi preconditioner.
- Better flag help for eta.
- Enable test for CGNR
- Rename CONJUGATE_GRADIENTS to CGNR.
- etc.
Sameer Agarwal