- 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
- Raised as issue #551
- Also adds C++20 to the set of ALLOWED_CXX_STANDARDS, although this
will require a version of CMake >= 3.12.
Change-Id: I0f13c72e93a35391fd2d18590b4243a329a2322c
- This results in the same performance as the original solution of
increasing -inline-threshold, but this approach is more viable to
incorporate in a large code base as its effects are more targeted.
Change-Id: Id798dbca7d3050de0ea847a5ecc69484ac78a2cf
A recent change made this function templated and MSVC 16 has trouble
doing automatic argument deduction, so the type of the template is
simplified and all callsites are explicitly annotated with the type
of the arguments.
Change-Id: I83cd0269e6e82c4a8f4e391f5fc03b92c942f74d
This CL adds a local parameterization for a n-dimensional
line, which is represented as an origin point and a direction.
The line direction is updated in the same way as a
homogeneous vector and the origin point is updated
perpendicular to the line direction.
Change-Id: I733f395e5cc4250abf9778c26fe0a5ae1de6b624
Inlining the Jet initialzation is mandatory for good performance
in autodiff, because all the constants in the dual part can be
propagated into the cost functor.
This patch unrolls the initialization loop with templates and adds
EIGEN_ALWAYS_INLINE to the constructors.
Change-Id: Ic89d645984f3e1df6c63948236da823ba60d9620
The class ArraySelector is now used in autodiff to store the
parameters and residuals. This reduces overhead of FixedArray
for fixed-sized residuals and allows more optimizations due
to inlining and unrolling.
Change-Id: Ibadc5644e64d672f7a555e250fb1f8da262f9d4f
The compile-time constant kNumResiduals is now passed to the
autodiff functions as a template parameter. This will be used
by future patches to optimize autodiff performance.
Change-Id: Ia2b2cc99b88752e8f12f4ce2542b1963bda552f5
This CL improves the build experience with MSVC:
- It adds the build flag '/bigobj' otherwise the build of
the unit test fails.
- It adds the flag '/wd4267' to suppress signed / unsigned int
conversions (size_t to int).
- It removes the use of std::aligned_storage from FixedArray.
This has been done from the Abseil Team and is in the
absl::FixedArray. Those changes has been ported to ceres.
This fixes the alignemnt for older MSVC versions due to a
bug in the implementation of std::aligned_storage, and
prevents the use of the macro '_ENABLE_EXTENDED_ALIGNED_STORAGE'
for newer MSVC versions, which is problematic as it could affect
user code.
- Fix of the fixed array unit test. Due to the use of std::tuple
instead of absl::tuple in ceres::internal::FixedArray, the
unit test needs to reflect that change as well.
- Replaces 'add_definitions' with 'add_compile_options' for
compiler flags as suggested by the cmake documentation.
Change-Id: I63f08cd6c0a8db8c9931289b909b4deafd75b039
User defined cost functors have to include this new header
instead of internal/expression_ref.h. This hides some
complexity of ExpressionRef and reduces compile time outside
of code generation mode.
This patch also removes the dependency ExpressionRef->Jet.
Change-Id: Ie3f93648775e14881dc5cfab213bbc983c6cfeee
The move constructor of ExpressionRef now implements the copy
elision, which was incorrectly done by the copy constructor.
This patch also updates the CMakeList to only add the
Expression tests for gcc. This is currently required, because
the AutoDiffCodeGen system relies on implementation defined
behaviour. (Evalution order + copy elision)
Change-Id: Ib17aeb22bd4d81de6d838b55c1b6497fb3740d0e
Currently there is a bug in the copy constructor of ExpressionRef.
Fixing this bug, will create new expressions each time a copy is
executed. To reduce the amount of copy expression we pass
ExpressionRef by const reference now.
Change-Id: I0f81fb3d08aa4c66b9191f3138650f17023af67e
This functions allows the insertion of new expression anywhere into
the graph. All references are updated. This will be used by semantic
expression testing and by the optimizer.
Change-Id: Ieafcfec7672f6328106dc0511c85d6fb5bd64d97
- Add operator== for comparing Expressions and ExpressionGraphs.
- Remove the broken Jet-test for now. (Will be added again later)
Change-Id: I3ee1599e8a0b50fa61c16f30812c78db7333f273
Due to the removed definition, calling this method will result
in a compile-time error instead of a run-time error.
Change-Id: Iac2514c05d79a66fcbad124587d08eb9309aa6a5
- Remove TERNARY (replaced by function call)
- Combine PARAMETER and RUNTIME_CONSTANT into INPUT_ASSIGNMENT
Change-Id: Id35fb45da08a9f80c1ac0dab7008deb0b3922835
- Add missing copy constructor
- Add make functions for input/output expressions
- Add missing ExpressionRef overload for MakeRuntimeConstant
- Add ExpressionRef overloads for common functions (cos,exp,...)
- Make ExpressionRef constructor from double implicit
- Add simple test for using ExpressionRef in Jets.
- Rename expression test macro
Change-Id: I071dc6717e4034a281662021998a91e80636da27
- Expression types for if/else blocks
- CERES_IF/ELSE macros
- Multiple assignment to the same variable
Change-Id: If529516f243f31823d1ef7b8827bb6f2390e418d
This patch adds the 'Expression' class, which is a fundamental
building block of automatic code generation. The expressions can
be used as scalar types for cost functors as well as Jets.
Dynamic branching is not yet supported.
Change-Id: I8c61bee5c307e0eec20fd39382683ea90f720dff
For proper alignment on the heap Eigen needs to have a custom
allocator. There are two forms, new and in-place new. To make sure
that memory is aligned using new, one needs to overload new by
adding EIGEN_MAKE_ALIGNED_OPERATOR_NEW to any struct which contains a
fixed size Eigen type either through inheritance or as a direct or
indirect member. For the in-place new one need to use the
Eigen::aligned_allocator (e.g. for std::vector, std::list,
FixedArray, etc.). For more details see:
https://eigen.tuxfamily.org/dox/group__DenseMatrixManipulation__Alignement.html
This CL adds EIGEN_MAKE_ALIGNED_OPERATOR_NEW to all structs, which
contain fixed-size Eigen types and uses the Eigen::aligned_allocator
for containers which stores structs of fixed-size Eigen types.
Change-Id: I06c6c4fc74a6835918d5d1c571b7814a14c029d8
This PR changes the implementation of the current fixed array to the
abseil one, which has proper allocator support.
Some minor changes are made to make the fixed array implementation
self-contained (no dependent to abseil):
- No address sanitizer support (red zones, etc.)
- Remove of noexecpt specified for copy and move constructor.
- Remove of 'at' function as Ceres does not use exceptions.
- Use std::tuple instead of absl::CompressedTuple as it uses the abseil
utility header which includes a whole bunch of other headers.
Change-Id: I43445b42c37f944509b5353a587d0efce74cbccf
This is to FirstOrderFunction, what AutoDiffCostFunction is to CostFunction.
This allows users of GradientSolver to be able to define objective functions
without requiring them to define the derivatives.
The implementation uses the same Jet objects for computing the gradient as
is used by AutoDiffCostFunction.
Change-Id: Ide6e60532a3adab9be9899ba9b368dc267fd2dbb
This CL fixes a regression bug in numeric differentiation where the
differentiation is called even if the parameter block is hold constant.
This resulted into a write to a nullptr.
A unit test is added for Jacobian evaluation of constant parameters.
Change-Id: Ia0f7c6cc7ef18f0f2cd6d758a839729b8ff606a0
This PR changes the interface of sized_cost_fucntion,
autodiff_cost_function and numeric_diff_costfunction from using ten
hardcoded parameter blocks to a variable number of parameter blocks
using variadic templates.
Trailing parameter blocks of size zero are now considered as error.
Change-Id: I37b9a0a420ef0eda6476a46672bbf6bd57e19760
The class parameter dims is a helper class that holds the parameter
dimensions. The parameter dimensions are either dynamic or the
sizes are known at compile time. It is used to pass parameter block
dimensions around (e.g. between functions or classes).
Also the dimensions of the parameter blocks are checked at compile
time and must be greater than zero. This means trailing zero parameter
blocks will result in a compile error.
Change-Id: I4decf2f09e63fdb0fd652022b2be2a1cfd9c4478
This PR adds integer sequence and two algorithms (sum and exclusive
scan). Those will be needed to implement a sized cost function using
variadic templates.
Change-Id: I8e98d7c11fac94286fe9c364633406e59438f059
All Init() function overloads are replaced by a perfect forwarding Init
function using variadic templates.
Change-Id: I42d0e236d274174982a4e56c0d73ec2776ed96f8
- 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
This was currently buried in port.h. Since there is exactly one use
of the max_align_t handling, it is better from a readability
and cleanliness perspective to have this in jet.h.
Change-Id: I2f3dde75df7c333bd95393b9e4fc4cd5160d6afb
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
Fixes a bug introduced in 12280 that incorrectly used xor for multiple
values.
Tested it manually by verifying it would fail for 2, 3, or 4 of them
defined.
Change-Id: I90c2662f4744aceaf0119dbbe072beced3f67c9a
Implements ParallelFor using the C++11 based ThreadPool. The C++11
parallel for is 50-70% faster than single threaded, and 20-30% slower
than TBB.
Tested by compiling with OpenMP, TBB, and C++11 Threading support and
ran the unit tests. Ran bazel as well.
Change-Id: I7fd6c9037ff9f200ce6999b5f39918995bb6b8ea
Most matrices in Ceres are row-major. Eigen does now
allow statically sized row-major matrices with a single
column.
This CL changes the EigenTypes struct to change the definition
of typedefs to change to ColMajor if this is the case.
This will allow Schur specializations (2,1,6) for example.
Change-Id: I24e7b62d4e1cb5660541062336225bbc9c41c6bf
ResidualBlock evaluation has logic to ensure that CostFunction
should always fill out the residual and jacobian arrays completely
by using a special value to pre-populate these arrays.
This works for CostFunctions with analytical Jacobians but not for
AutoDiffCostFunction and NumericDiffCostFunction Jacobians.
There is no way to fix this for NumericDiffCostFunctions without
introducing significant performance penalties but the residual
evaluation fails, which should be enough to catch such errors.
For AutoDiffCostFunction the way the Jets are default initialized
was sidestepping this check. So now, the Jet that is used to
capture the output residuals is now initialized with
kImpossibleValue, which will ensure that if the user forgets
to fill all output fields, it triggers an evaluation error.
This change required that ceres::internal::kImpossibleValue be moved
out of array_utils.h/cc to types.h.
Change-Id: I35bb0946cf0785a5d43c7b5459a2272848fb2a9b
- Eigen versions < 3.3 only supported SIMD instructions that required
16-byte alignment (SSE), whereas Eigen >= 3.3 also supports AVX
instructions which require 32+-byte alignment.
- Previously we only ever requested 16-byte alignment for Jets (if >=
C++11 was enabled) which resulted in Eigen assertions being triggered
on some compilers as reported as Issue #251:
https://github.com/ceres-solver/ceres-solver/issues/251.
- Now we use Eigen’s EIGEN_MAX_ALIGN_BYTES macro, defined in Eigen >=
3.3 to specify the byte alignment for Jets when C++11 is enabled for
Eigen >= 3.3. For Eigen versions < 3.3, we maintain the previous
behaviour of 16.
Change-Id: I749af7a70ae794e0c2a59301128db781e338422c
Alex Stewart