Some of the benchmark functions use the same name as other functions
in the ceres namespace. For example Axpby defines both benchmark but
also an utility function in eigen_vector_ops.h. It seems to confuse
some compilers and leads to a compilation error rooting deeper into
the benchmark header itself: it seems that the compiler can not
deduct which of the instances of such functions to use.
Wrapping the file into an anonymous namespace solves the problem.
Alternative could be to use benchmark namespace to make thins more
explicit, for example ceres::internal::benchmark.
Tested on the following configuration:
- macOS 15.4
- Xcode 16.3
- Apple M3 CPU
- google-benchmark 1.9.2 installed via homebrew
Change-Id: Id127015dd22de99c6c3da88e71f255736e0bed82
Ceres CMake package configuration relies on several own find modules
(e.g., for SuiteSparse and METIS). To allow CMake to discover additional
find modules, the CMAKE_MODULE_PATH variable must be updated to include
the directories containing the corresponding find modules.
Previously, before updating CMAKE_MODULE_PATH, Ceres stored the
variable's initial value and then completely replaced it by the
directory containing Ceres's modules. However, a find_dependency failure
would cause an early return preventing CMAKE_MODULE_PATH to be restored.
Thus, any initial user changes to CMAKE_MODULE_PATH would be lost.
Now, instead of completely replacing the CMAKE_MODULE_PATH value we only
prepend additional directories. An early return no longer has a
destructive effect on CMAKE_MODULE_PATH. In a failure case,
CMAKE_MODULE_PATH still contains caller's initial set of directories and
an additional path prepended by Ceres.
Fixes#1024
Change-Id: I80d92a5dff9f3cff651f950c4f8d04ece008b44b
Recent TBB CMake package configurations do not define the
TBB_INTERFACE_VERSION variable. This causes the reported version to be
incomplete, i.e., the version looks as "(2022.0 / )". Use the CMake
specified package variable to report the identified version instead.
Change-Id: Ic7851c821217e20fd6673de5442808ea3d302f4a
CMake will print the following warning:
CMake Warning (dev) at CMakeLists.txt:n (target_link_libraries):
The library that is being linked to, ceres, is marked as being deprecated
by the owner. The message provided by the developer is:
The unscoped import target `ceres' is deprecated and will be removed in a
future Ceres Solver release. Please use the Ceres::ceres import target
instead.
This warning is for project developers. Use -Wno-dev to suppress it.
Change-Id: I5abc875b1f61e1f47523375d1579a188047c45d4
Stop linker emitting warnings such as
lto-wrapper: warning: using serial compilation of n LTRANS jobs
Change-Id: Ic933ef7b45955eabfa5b06e88cd195077ff9fc86
Using mold instead of GNU ld reduces the total build time by roughly
5-15 min. (depending on the load).
Change-Id: I66feab4e54c248cf92cc379d0085a93bdfdfef69
Use `pip install -r docs/requirements.txt` (e.g., in a virtual environment) to install Python dependencies required for building the documentation.
Change-Id: Ied9bd505bd6fc92f8c04f526ebd3ccacec306371
- Add methods to aceess the cached residuals and jacobian computed in
the optimization process in TinySolver. Usage of such methods will
retrieve the corresponding values associated with the converged
parameter.
- Reorder the Update() call to ensure that the jacobian/residuals
associated with the converged parameter are computed and cached.
Change-Id: If82e19d67d28b057833357f2c9a75b2d0fd139af
Fix the generated cmake-config file to look for the used Abseil-cpp
config files providing the needed targets.
When using Abseil from system (or locally installed and set via
`absl_DIR`) the used targets like `absl::log` need to be made available
in downstream projects using `ceres-solver`.
For system packages with no `absl_VERSION` info check for the required
target `absl::absl_vlog_is_on`, just like we do in `CMakeLists.txt`.
Error on installation/export of "no-absl-VERSION" as we can't check
version mismatches.
When using `abseil-cpp` as submodule the abseil-configs are added to the
install target as well. Use these config files to make the needed Abseil
targets available.
In the submodule case extract the `absl_VERSION` variable from its
`CMakeLists.txt` file for us to check against in the generated
cmake-config-file.
Fixes: https://github.com/ceres-solver/ceres-solver/issues/1089
Change-Id: I3e3d079ddf931e7fe1b57783471c32c19e4d31b6
Using preprocessor directives in a macro expansion is a (non-standard)
language extension that is not supported by MSVC.
Change-Id: I6e158b108a9c13cd277afb96cab2017ac192e3a2
Previously the find_package call was followed by a manual version
check because we were using a Major.Minor version. Just checking
for Major version works.
Change-Id: If83f8d1c6001d0ac3d53d9b24946b9168eb4932b
Previously these classes in analogy with ceres::Problem's interface
had interfaces to allow bare pointers as well as unique_ptrs. This
CL changes the API to always use unique_ptr, this is less error prone
and makes the default ownership semantics clearer.
Change-Id: I7577a90761f341c7e009c248c820f0fec2e6f32d
Add special handling when `absl_VERSION` is empty. This is
the case when the `master` branch of `abseil-cpp` was installed using
`CMake`. In that case check for VLOG availability through the CMake
target `absl::absl_vlog_is_on`.
Fixes: https://github.com/ceres-solver/ceres-solver/issues/1098
Change-Id: I3367aeb65caceb11558d8d6265dafe3ecc9a4875
1. The required version of Abseil is now 20240116.0 instead of 20240116.2.
This was an oversight. Thanks to @NeroBurner for pointing this out.
Both CMake and Bazel builds are updated.
2. Unbreak the Bazel build which had become stale.
Change-Id: I274bbad2f94f7710387f9693de9c66b035758970
Starting with SuiteSparse version 7.4.0 CHOLMOD has support for single
precision matrices. This allows us to have single precision and mixed
precision solves when using the SUITE_SPARSE backend.
This CL also fixes sparse_cholesky_test which was completely broken for
single precision testing.
Sample performance on my Mac.
/usr/bin/time -l ./bin/bundle_adjuster --input=../../Downloads/problem-3068-310854-pre.txt
<SNIP>
Cost:
Initial 9.099334e+07
Final 4.161838e+06
Change 8.683150e+07
Minimizer iterations 6
Successful steps 4
Unsuccessful steps 2
Time (in seconds):
Preprocessor 2.528222
Residual only evaluation 0.142804 (5)
Jacobian & residual evaluation 0.424014 (4)
Linear solver 54.083396 (5)
Minimizer 54.895752
Postprocessor 0.024564
Total 57.448539
Termination: NO_CONVERGENCE (Maximum number of iterations reached. Number of iterations: 5.)
59.04 real 341.24 user 5.49 sys
5776375808 maximum resident set size
<SNIP>
616329634071 instructions retired
929475980510 cycles elapsed
5375034560 peak memory footprint
/usr/bin/time -l ./bin/bundle_adjuster --input=../../Downloads/problem-3068-310854-pre.txt -mixed_precision_solves
<SNIP>
Cost:
Initial 9.099334e+07
Final 4.148930e+06
Change 8.684441e+07
Minimizer iterations 6
Successful steps 4
Unsuccessful steps 2
Time (in seconds):
Preprocessor 2.580217
Residual only evaluation 0.144098 (5)
Jacobian & residual evaluation 0.396723 (4)
Linear solver 23.636074 (5)
Minimizer 24.427163
Postprocessor 0.023790
Total 27.031170
Termination: NO_CONVERGENCE (Maximum number of iterations reached. Number of iterations: 5.)
28.58 real 128.53 user 2.37 sys
4818386944 maximum resident set size
<SNIP>
395186936091 instructions retired
368802808856 cycles elapsed
4327029824 peak memory footprint
Change-Id: I1f137b0dd12da8da7f9ced338dd8f20f4bbdf99d
The dependencies and the API have changed enough that
it is worth incrementing the version number.
Change-Id: I4e2911a91988d97f47320c56072ad1546e20030b
If the user has checked out the submodules in third_party, they will be
used, otherwise we will try and find the system installed versions of
these dependencies and use them if they are modern enough.
Change-Id: I52164bc48a6ea804b85cdda05fee9cb94632f6c0
Generator expressions were introduced in CMake version 3.24. Without
them including absl::log_flags as an internal dependency causes
linking problems on some platforms. So for platforms with an older
CMake version we make absl::log_flags a public dependency.
Change-Id: I686f41e76b0ac17a03f1cd1d614372a7f130dfd9
Sameer Agarwal