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
Given we no longer support Ubuntu 18.04 due to packaged GCC lacking
C++17 support we can bump the minimum required CMake version to the one
provided by Ubuntu 20.04 which is CMake 3.16. Consequently, this allows
to drop some of the legacy CMake logic.
Change-Id: I1f05d4c5681d10aa7faa0800ef4a803be2f5b7dd
With this change we can drop the complicated/conditional handling
around CAMD and assume that it is always available.
Change-Id: I93e1da676fb75817f79824b8b2b6549d03f278b0
These changes allow the use of a SuiteSparse CMake package from
https://github.com/sergiud/SuiteSparse that allows native compilation of
SuiteSparse using CMake on a variety of platforms Packages generated
using official SuiteSparse makefiles can still be used without
modifications. The find module remains agnostic to specific CMake
package implementation.
CMake packages have the advantage that they are self-contained and
relocatable. The latter is particularly useful in cross-compilation
scenarios.
Fixes#728
Change-Id: I089d5c6f87c05b1530a5ab9a36dff2fcbe82d13d
1. Fix a stupid error in types.cc
2. Update documentation for Solver::Options::dense_linear_algebra_library_type
3. Add a note to installation.rst to update the installation docs.
4. Mention GPU acceleration in features.rst
Change-Id: Id63202ff090e23bbb211d2ee458559fb8046281d
- Also adds documentation of mixed precision solves to Sphinx docs.
- Fix reference to Sphinx theme used (RTD not better).
- Fix NOTE syntax in use_explicit_schur_complement Sphinx docs.
Change-Id: I7bdac0f07eb737f49b05e3fcaa3eebd087355d2d
- update links to cmake docs to version 3.5
- highlight difference between dependencies with and without custom
find modules
- point out removal of CERES_INCLUDE_DIRS
- point out that TBB might be linked if SuiteSparseQR is found
- added 'Migration' section
- fixed typos
Change-Id: Icbcc0e723d11f12246fb3cf09b9d7c6206195a82
Linux:
- Remove workaround for Ubuntu 14.04, which is EOL. libsuitesparse-dev
seems to come with a shared library on 16.04 and later, so linking
to a shared build of ceres doesn't seem to be an issue any more.
- Add missing libgflags-dev.
macOS:
- OS X is now called macOS.
- Update homebrew link.
- Mac homebrew the preferred method of installation.
- Fix OpenMP instructions.
- Remove reference to homebrew/science. Everything is in core.
- Add missing gflags.
Change-Id: I633b3c7ea84a87886bfd823f8187fdd0a84737c9
- Ceres will fail to configure if Eigen3::Eigen target is not found, and
the minimum required Eigen version specified (3.3) exports Eigen as
a CMake package and this is reflected in the default Ubuntu 18.04
packages.
- This permits users to specify their own Eigen3 detection should they
choose to do so, but they must do so via an imported target.
Change-Id: I5edff117c8001770004f49012ac1ae63b66ec9c1
- As our minimum required version of gflags (2.2) exports itself as
a CMake package and this is the case for the default 18.04 package
we can use the gflags target directly.
- Replaces forced use of CONFIG in find_package(gflags) with a check
that the gflags imported target exists to avoid ambiguity with
libgflags if installed in a default location. This permits users to
override the gflags detection should they so choose, provided that
they do so via an imported target.
- Also removes some previously removed legacy GLAGS_ vars from the
installation docs.
Change-Id: I015f5a751e5b22f956bbf9df692e63a6825c9f0d
- 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
- This reflects modern CMake style, and also provides a measure of
protection against missing find_package() imports in downstream
clients resulting in linker errors when 'ceres' matches the compiled
library and not the imported target.
- The original 'ceres' target remains, as a local imported interface
target created by CeresConfig for backwards compatibility.
Change-Id: Ie9ed8de9b7059bc0cae1ae5002bb94d8fe617188
CMake support in Android is now standard and the CMake file
has fuller richer functionality than the Android.mk file ever did.
https://github.com/ceres-solver/ceres-solver/issues/364
Change-Id: Ib79bcc19dd47495a81a5d07fafdf06eb8005984e
- 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
- Now that we require CMake >= 3.x, we can roll the definition of the
include directories for clients linking against Ceres into the
exported Ceres CMake target via target_include_directories().
- This removes the requirement for CERES_INCLUDE_DIRS.
Change-Id: Ibe3bbf796339871d66138fc9520053d1766f09a8
- Previously we had separate variables for each of the threading
backends, each of which were made mutually exclusive via
cmake_dependent_option(). This has unfortunate side-effects when
trying to disable options if they are not currently enabled, in which
case they are not defined.
- As all the threading options are mutually exclusive, this replaces
all threading option variables with a single variable: CERES_THREADS,
which is constrained to take the value of only the available threading
backends.
Change-Id: I0822eefbac9a30772907b7732add365b37cc8ca0
- As raised in issue #377, GCC_VERSION is not always defined, in which
case we were not enabling compiler optimisations.
- CMAKE_CXX_COMPILER_VERSION is the more modern, uniform method to
verify the compiler version.
- Also removes legacy Apple-GCC (i.e. Apple's fork of GCC prior to their
switch to Clang) logic, and Xcode 4.x logic (in June 2018, Xcode 9.x
is the current version).
- Also removes addition of -march=native on Linux (was not added for
OS X). If users wish to append -march=native (which will affect the
portability of the resulting output) they can do so manually as now
explained in the docs.
- Fixes check for Clang on OS X. As per CMP0025 (CMake 3.0+)
CMAKE_CXX_COMPILER_ID reports AppleClang on OS X, not Clang. Thus
using: if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") would fail for
AppleClang. Instead, MATCHES should be used instead of STREQUAL to
support both Clang & AppleClang.
Change-Id: I9647030b76f4b85a9ef2deea82d80ed79812ae33
- Removes CXX11 option, and all associate paraphernalia. Ceres now
requires a compiler with full >= C++11 support. In MSVC terms this
means >= 2013 Release 4.
- This deprecates the use of CERES_STD_UNORDERED_MAP and CERES_USE_CXX11
as they will now always be defined. They will be removed from the
source in a future CL.
- For clients with CMake >= 3.8 we propagate via the exported/installed
Ceres target the CXX version that was specified when Ceres was built.
For versions < 3.8 (but >= 3.5) we specify the CXX features currently
used in the Ceres public API.
Change-Id: I535b545b10156e4426659c270a4a0649e071df0e
- Use cmake_dependent_option() for all threading models and encode their
respective mutual exclusivity in the dependent-option s/t the job of
ensuring mutual exclusivity is performed by CMake.
- Use of cmake_dependent_option() has the downside that options are
removed from the GUI if their requirements for availability are not
met. So if CXX11 is OFF, then neither TBB nor CXX11_THREADS will
even appear as options (they will be undefined, assumed OFF).
- Perform checks for availability of C++11 if CXX11 is enabled prior to
testing other options to handle dependence of TBB & CXX11_THREADS on
CXX11 actually being present.
- Add check for availability of C++11-specific math functions used in
jet.h before reporting C++11 as found.
- Add check for <atomic> before allowing TBB or CXX11_THREADS, as both
options require it and it may not always be available even if the
other required C++11 components are.
Change-Id: Ife8cd182aeb1978539ce2c9966910ae59ebd9177
- Update FindSuiteSparse to use FindTBB.cmake to find TBB.
- Fix logic handling of TBB=ON if TBB is not found to continue with
build after disabling TBB rather than throwing a fatal error.
- Use TBB_LIBRARIES instead of TBB_tbb_LIBRARY as a Ceres dependency,
the former also includes the TBB malloc library.
- Add warning message about GPL licensing if TBB version < 2017.
- Add ‘TBB’ & ‘Mulithreading’ component options to find_package(Ceres),
where ‘Mulithreading’ is equivalent to ‘TBB’ || ‘OpenMP’.
Change-Id: Ifc7f1d01b050ba6e2097ad1913b178805df4769a
- Also enable EIGENSPARSE option by default as LGPL licensing
implications are less severe that SuiteSparse’s GPL implications which
is enabled by default.
Change-Id: Ic7e4fef5cef614d5ce719eeefcc35bf4b63b8dac
There are platforms where OpenMP is not available. This
patch adds support for Intel Threading Building Blocks (TBB)
as an alternative threading backend.
Change-Id: I94497d7cba0c3cfaccfc992169236f17fe948ae9
- Previously the LAPACK option meant would Ceres link against LAPACK,
whether directly or indirectly via SuiteSparse (if SUITESPARSE=ON),
as such if LAPACK=OFF, the use of SuiteSparse was disabled, even if
it was found.
- To support the use-case of using a limited LAPACK implementation that
satisfies SuiteSparse’s requirements, but potentially not Ceres’ we
now adopt the more conventional terminology whereby the LAPACK option
refers only to whether Ceres itself will directly call LAPACK
routines, not whether it or any of its dependencies will.
- This means that the LAPACK and SUITESPARSE options are now
independent.
- Also unnecessary calls to find_package(BLAS), as find_package(LAPACK)
already searches for BLAS, and appends the resulting libraries to
LAPACK_LIBRARIES if they are found.
Change-Id: I9cf5fa5e4cb621812f6f0526db8d16a7a39c9c8f
1. Section title changes.
2. Moving the glog discussion into installation.rst
3. Re-working the faqs into two separate chapters.
Change-Id: I95dd25bace50f0f9077ef114504999190686963e
Sameer Agarwal