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
Alessandro Gentilini pointed out that the install instructions
don't actually install the library.
Also included are some other minor changes to dependency
description.
Change-Id: I50872114bca7a9774ef66f55ba78ed9b7adad93f
- Explain the various ways to fix the problem of multiple definitions
of ERROR from glog / miniglog vs windows.h.
- Add note about use of CMAKE_LIBRARY_PATH to aid FindBLAS & FindLAPACK.
- Fix minor style typo in code-block for sample Ceres output.
Change-Id: I21742614f4c5a8fe1ac8f66811b7777a72bcc503
- Previously if miniglog was being used (on a non-Android system), we
compiled it into a separate library, against which Ceres then linked.
- This was unsatisfactory as it required miniglog being built as a
static library when building Ceres as a Windows DLL, because miniglog
did not use the dllexport/dllimport statements, whilst for other
platforms when building Ceres as a shared library, miniglog needed to
be compiled as a shared library.
- We now compile miniglog into Ceres on all platforms, not just on
Android.
- miniglog now uses the CERES_EXPORT macro to support Windows DLLs.
This means that miniglog now depends on Ceres' internal/port.h (and
thus internal/config.h) which define the CERES_EXPORT macro and
control its behaviour respectively.
- miniglog now also uses localtime_s, not localtime on Windows.
Change-Id: Ia55b9af8b4e6decf067eab92f0a5c2d14358a1e9
1. Update ceres-solver.spec with version bump
and a new package description.
2. Update the docs to refer to 1.9.0
3. Update version history.
4. Change build requirements for Android to be r9d.
Change-Id: Ibab27976b214a11549cb2688b91f791a6388b0b5
- A number of users are now successfully using the
suitesparse-metis-for-windows project to build Ceres with SuiteSparse
on Windows.
- Also fixing missing requirement for sphinx_rdm_theme if building
the Ceres docs.
Change-Id: I1a36c13166f96743557de2ac3b7c9b84531d1f24
- Previously we set CMAKE_MODULE_PATH explicitly rather than appending
to it when adding our local cmake directory.
- This meant the user could not easily pass their own directory which
would also be used. This would be useful if they had their own
custom FindBLAS / FindLAPACK scripts that they wanted to overload
the defaults shipped with CMake.
Change-Id: I0c1fda1b6fd81eab68755aa036f64af3efbb226d
- Previously we passed all compile options to Ceres via add_definitions
in CMake. This was fine for private definitions (used only by Ceres)
but required additional work for public definitions to ensure they
were correctly propagated to clients via CMake using
target_compile_definitions() (>= 2.8.11) or add_definitions().
- A drawback to these approaches is that they did not work for chained
dependencies on Ceres, as in if in the users project B <- A <- Ceres,
then although the required Ceres public compile definitions would
be used when compiling A, they would not be propagated to B.
- This patch replaces the addition of compile definitions via
add_definitions() with an autogenerated config.h header which
is installed with Ceres and defines all of the enabled Ceres compile
options.
- This removes the need for the user to propagate any compile
definitions in their projects, and additionally allows post-install
inspect of the options with which Ceres was compiled.
Change-Id: Idbdb6abdad0eb31e7540370e301afe87a07f2260
The existing introduction was a bit redundant and also
was not really an introduction. Also updated the build
instructions to reflect the new reality on Mac OSX.
Also updated the beginning of the tutorial to be a bit
gentler and updated the history to be more consistent
Change-Id: Ife38c1949252cf9f4c6301856957f2d38365f313
This reworks the Ceres Sphinx documentation such that it can
function as the main Ceres website, now hosted at
ceres-solver.org. This also changes to the theme sphinx_rtd_theme
used by Read The Docs; this theme has strong mobile support and is
well enough designed.
Change-Id: I63232d985859a6dac94ff58f08bf81eb2b9e7f99
Now that the trust region minimizer depends on the line search
minimizer, conditional compilation of the line search minimizer
will lead to build breakages, so this option is now not available.
It is not expected to have as significant impact on users as the
amount of code in the line search minimization algorithm is
rather small to begin with.
Change-Id: I2aa6b6e6e3931b6428dbda654f14faf1ac6dd130
- Adding documentation for MSVC CRT option.
- Updating documentation to reflect that LINE_SEARCH_MINIMIZER is now
ON by default.
Change-Id: I75b1b5957c3ab46f38631736ad1c65315bc92847
- Adding FindPackage scripts for all of Ceres dependencies.
- Moving depend.cmake contents to CeresConfig.cmake and cleaning up
search for Ceres & required dependencies, no longer push Ceres
options into client.
- Fixing uninstall to remove ceres include root directory.
- Fixing main CMakeLists to install miniglog header if enabled.
- Making miniglog library shared/static with Ceres library.
Change-Id: If926bebd11720230c5136597ccba672394ed9777
- Also updating EXECUTE_PROCESS() calls to compiler to handle case
when a compilation wrapper (e.g. ccache) is used.
Change-Id: I32837233a06ed1843125fb04852f82a9b8503769
- Also marking all library and include directories found via
find_library/path advanced (not directly visible in CMake GUI unless
toggled to show advanced options).
- Updating documentation to reflect SuiteSparse requirements on Ubuntu
and ability to control build options in CMake GUI.
- Splitting out all SuiteSparse related find_XX directives into a
FindSuiteSparse script.
Change-Id: I0d69e02392ec547a7c365ba3e06f2ebc61cacf16
1. Update AutoDiffCostFunction template parameters to be consistent
with NumericDiffCostFunction.
2. Update the documentation for NumericDiffCostFunction and
AutoDiffCostFunction.
Change-Id: I113038abb5bedebb0f6f326f2a4ac31480d785fc
OpenBLAS has subtle issues releated to threading. It
conflicts with the use of threads in the other parts of
the application.
Careful users can still use it by disabling threads via
an environment variable, but by default we want to use
a BLAS/LAPACK that does not suffer from these problems.
Change-Id: I8c1c0ed0b526453564c5f9ea69b646fac32fe027
1. Multithread the inversion of J'J.
2. Simplify the dense rank truncation loop.
3. Minor correction to building documentation.
Change-Id: Ide932811c0f28dc6c253809339fb2caa083865b5
1. Add -DLINE_SEARCH_MINIMIZER to CMake to make the line search
minimizer optional.
2. Better handling of -DSUITESPARSE/-DCXSPARSE in top level cmake
file.
3. Disable code which will never be used if SuiteSparse and/or
CXSparse is not available.
4. Update build docs.
5. Update jni/Android.mk
6. Minor lint cleanup from William Rucklidge.
Change-Id: If60460a858000df82faed7a6bb056dd2bfdde562
A live version of the doc can be found at
http://homes.cs.washington.edu/~sagarwal/ceres-solver/
As it stands, the documentation has better hyperlinking
and coverage than the latex documentation now.
Change-Id: I7ede3aa83b9b9ef25104caf331e5727b4f5beae5
Martin Baeuml