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
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
Benchmark for evaluation of residuals and evaluation of both residuals
and jacobian.
For each input file (in BAL format) specified on the command line two
sets of benchmarks are created for different number of threads.
BAL data is preloaded before starting benchmark.
Usage:
./bin/evaluation_benchmark [flags] input_1.txt ... input_N.txt
Change-Id: I543df65f483e3b186f52785b68bd5e2b3e3552a3
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
This change is needed because compiler attributes and c++
annotations like [[deprecated]] do not mix well and we need that
for our public API.
https://github.com/ceres-solver/ceres-solver/issues/749
Change-Id: I79eda795f2912f9af9ab36ee24b8428b47104743
Add [[deprecate]] notices to everything LocalParameterization
related.
Make sure that Ceres can be compiled without triggering
deprecation warnings.
Update the documentation:
a. Add deprecation notices.
b. Document interaction between LocalParameterization and Manifold
coexisting in the Problem.
c. Add documentation for Manifold(s)
Change-Id: Ie4ad48963c83fded86e533c8c60561af402fbaff
Manifolds are now part of the public API and co-exist
with LocalParameterizations.
1. Add Manifolds to the Problem API.
a. AddParameterBlock(double*, int, Manifold*)
b. SetParameterization(double*, Manifold*)
b. GetManifold(const double*)
c. HasManifold(const double*)
2. Internally Ceres now only uses Manifolds. When the user uses
a LocalParameterization, it is wrapped in a ManifoldAdapter.
3. To preserve the API semantics while keeping the internals clean
we need a new map in ProblemImpl which stores the association
between parameter blocks and local parameterizations. This
is temporary, it will go away once this transition is complete.
4. There are NO algorithmic changes, as in we are not using
any of the expanded interface of the Manifold objects yet.
That will come later.
5. All tests that use LocalParameterization have been duplicated
to use Manifolds, and when this transition is complete the
LocalParameterization based tests will be deleted.
6. Public documentation for the API has been updated. Deprecation
notices to the documentation as well as C++ annotations will come
later.
7. Similar changes have been made to GradientProblem.
Change-Id: I8e03c8ced6e141876ef3eca5740c113afa788f0c
This will help the transition from LocalParameterization to Manifolds,
since most uses of Problem::GetParameterization is to just check
whether a parameter block has a local parameterization associated
with it or not.
Change-Id: Ib3539f377eaed853d7542c9844ec1487aa0fb4d6
- 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
Simplify the semantics for Problem::EvaluateResidualBlock to
not ignore the presence of EvaluationCallback and add another method
EvaluateResidualBlockAssumingParametersUnchanged to handle the case
where the user has an EvaluationCallback but knows that the parameter
blocks do not change between calls.
Updated the documentation for the methods and EvaluationCallback to
reflect these semantics.
Also added tests for Evaluation related methods calling i
EvaluationCallback when its present.
https://github.com/ceres-solver/ceres-solver/issues/483
Change-Id: If0a0c95c2f1f92e9183a90df240104a69a71c46d
Local parameterizations with zero tangent/local size will cause the
corresponding parameter block to be treated as constant.
https://github.com/ceres-solver/ceres-solver/issues/347
Change-Id: I554a2acc420f5dd9d0cc7f97b691877eb057b2c0
- As Problem contains a unique_ptr<ProblemImpl> and as defaulted
methods are declared inline where ProblemImpl's implementation is not
available use of '= default' will generate compile errors on strict
compilers.
- This CL moves the definition of defaulted methods to the
implementation.
Change-Id: I7d79757cf684378fadef8e6f4000c84387018cdb
Some methods in Problem do not modify the parameter block
and those methods now allow the user to call them with const double*.
The methods are
RemoveParameterBlock
SetParameterBlockConstant
IsParameterBlockConstant
GetParameterization
GetParameterLowerBound
GetParameterUpperBound
https://github.com/ceres-solver/ceres-solver/issues/479
Change-Id: I59dcb77134f59576dd498bd732e29aae9abd28b1
This method gives the user the ability to evaluate a given residual
block.
A couple of minor cleanups.
Problem::problem_impl_ -> Problem::impl_
NULL -> nullptr
https://github.com/ceres-solver/ceres-solver/issues/417
Change-Id: I6dd94762c475fa264c387b8c93d516f6e06fe832
This CL changes the implementation of AddResidualBlock() in
ceres::Problem using variadic templates. Also one new overload for
AddResidualBlock() is added using a double** and the number of
parameter blocks.
Change-Id: I007a82a06897335a117213a0d12fedb4a77076a0
When Solver::Options::check_gradients is true, Ceres internally
creates a new ProblemImpl object which wraps each CostFunction
in the user's problem with a GradientCheckingCostFunction.
Doing this also requires creating new ParameterBlock objects,
and when support for upper and lower bounds was added to Ceres,
CreateGradientCheckingProblemImpl should also have been updated
to create a problem with the same parameter bounds. As a result,
if check_gradients is enabled for a bounded problem, it constructs
an unconstrained problem and solves it.
This CL fixes this, by introducing Problem::GetParameterLowerBound,
and Problem::GetParameterUpperBound and using them to create a bounded
problem when checking gradients.
Thanks to @pbeeson for not only reporting this problem, but also
providing a small standalone reproduction which made debugging this
possible.
https://github.com/ceres-solver/ceres-solver/issues/379
Change-Id: Id18eb858a7009bf4fa452a21b925922d13f3249f
1. Replace CERES_DISALLOW_* with explicitly deleted constructors.
2. Replace use of CERES_ARRAY_SIZE and stack allocated arrays
with std::vector.
3. Move CERES_ALIGN_* macros into manual_constructor.h, which is
the one place they are used and will be deprecated along with that
file.
4. Introduce isnan,isnormal,isinf and isfinite for Jets.
5. Replace IsNormal,IsFinite,IsNaN and IsInfinite with corresponding
c++11 function calls.
Change-Id: I04f33a221aae77d247602150988b6d4aa4efeeab
Migrate all Option and Summary structs to use
inline member initialization syntax.
This reduces the amount of code, and collocates the
default values with the documentation for the corresponding
member variable.
Change-Id: I8e6b9ee3b31464699d678667f6166ace5fc137c9
A Ceres Context holds common global state that can be re-used within
Ceres. The Context current contains a thread pool if compiling with
C++11 threading support. Threads are expensive to create and destroy so
it is good to maintain across multiple Ceres solves.
Tested by compiling with and without TBB support and ran unit tests. Ran
bazel as well.
Change-Id: I82f598dfae642aa0e81a6039dc174608a5e8dbfb
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
Problem::GetCostFunctionForResidualBlock
Problem::GetLossFunctionForResidualBlock
are added, so that users do not have to maintain this mapping
outside the Problem.
Change-Id: I38356dfa094b2c7eec90651dafeaf3a33c5f5f56
- Breaking change: Problem::Options::enable_fast_parameter_block_removal
is now Problem::Options::enable_fast_removal, as it now controls
the behaviour for both parameter and residual blocks.
- Previously we did not check that the specified residual block to
remove in RemoveResidualBlock actually represented a valid residual
for the problem.
- This meant that Ceres would die unexpectedly if the user passed an
uninitialised residual_block, or more likely attempted to remove a
residual block that had already been removed automatically after
the user removed a parameter block upon on which it was dependent.
- RemoveResidualBlock now verifies the validity of the given
residual_block to remove. Either by checking against a hash set of
all residuals maintained in ProblemImpl iff enable_fast_removal
is enabled. Or by a full scan of the residual blocks if not.
Change-Id: I9ab178e2f68a74135f0a8e20905b16405c77a62b
These two methods allow the user to associate upper and lower bounds
with individual parameters inside parameter blocks.
Change-Id: I68dc37f20b64408da510ba06b89a4f08df54ddad
This adds three new public methods to ceres::Problem:
Problem::GetResidualBlocks()
Problem::GetParameterBlocksForResidualBlock()
Problem::GetResidualBlocksForParameterBlock()
These permit access to the underlying graph structure of the problem.
Change-Id: I55a4c7f0e5f325f140cb4830e7a7070554594650
Add a Covariance object to the API.
Given a Problem object and a set of parameter block pairs the
Covariance object computes a sparse covariance matrix corresponding
to those block pairs and provides random access to them.
Constant parameter blocks and parameter blocks with local parameterizations
are correctly handled.
Sparse and dense implementations are provided. With the dense implementation
rank deficient Jacobians can also be handled.
Parts of the code are threaded using OpenMP if available.
Change-Id: I5b49583b3d79579df3e0f334c22567acb23ed4ad
1. Add the ability to evaluate the problem without loss function.
2. Remove static Evaluator::Evaluate
3. Refactor the common code from problem_test.cc and
evaluator_test.cc into evaluator_test_utils.cc
Change-Id: I1aa841580afe91d288fbb65288b0ffdd1e43e827
Sameer Agarwal