* Doing 'make ceres_docs' can be used to create the documentation (if the BUILD_DOCUMENTATION=ON)
* Included the copyright boilerplate for FindSphinx.cmake
Change-Id: Iea21eba9e68384b4fe72c85fa88c76b0ba8a7a1d
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
With -DRESTRICT_SCHUR_SPECIALIZATIONS, now the various
specializations are empty, decreasing build time and
reducing the size of the static library.
Change-Id: I8ec431279741a9a83516a4167c54a364c4608143
1. Introduce new typdefs in eigen.h to allow for column
major matrices.
2. Clean up old unused typedefs, and the aligned typedefs
since they do not actually add any real performance.
3. Made eigen.h conform to the google style guide by removing
the using directives. They were polluting the ceres namespace.
4. Made the template specialization generator work again.
Change-Id: Ic2268c784534b737ebd6e1a043e2a327adaeca37
- Build error due to -Werror,-Wunused-private-field clang args.
- Raised with gtest group (as it also occurs with latest gtest:master but for a different
variable) with patch, but they don't want to fix for compatibility with legacy compilers/OS
see here: https://groups.google.com/forum/?fromgroups=#!topic/googletestframework/S1KLl2jkzws
Change-Id: I99984bcd9d07f6eb0e3fac58e27ddf0ac9e54265
1. -lpthreads was previously added to the CMAKE_CXX_FLAGS which are
not passed to the linker thus linking would fail.
2. Clang would emit a warning about -lpthreads being added to a
build instruction with -c (compile only).
This patch fixes both of these issues by adding -lpthreads to the
linker flags (and removes them from the CXX flags).
Change-Id: I5e54de3ab7eced177aa31f311926893598af5b56
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
This makes it possible to use the same spec to build on Fedora. It drops any
chance of building on RHEL5, but I doubt that was possible anyway.
Change-Id: Ia956eb6416504e520962ec2f617e03b40ca18203
Here is an example report, obtained by running:
bin/Debug/bundle_adjuster \
--input=../ceres-solver/data/problem-16-22106-pre.txt \
--linear_solver=iterative_schur \
--num_iterations=1 \
--alsologtostderr \
--use_local_parameterization \
--use_quaternions
Note that effective parameters is less than parameters by 16, which is the
number of cameras. In this case the local parameterization has a 3 dimensional
tangent space for the 4-dimensional quaternions.
Ceres Solver Report
-------------------
Original Reduced
Parameter blocks 22138 22138
Parameters 66478 66478
Effective parameters 66462 66462
Residual blocks 83718 83718
Residual 167436 167436
Minimizer TRUST_REGION
Trust Region Strategy LEVENBERG_MARQUARDT
Given Used
Linear solver ITERATIVE_SCHUR ITERATIVE_SCHUR
Preconditioner JACOBI JACOBI
Threads: 1 1
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 22106, 32
Cost:
Initial 4.185660e+06
Final 7.221647e+04
Change 4.113443e+06
Number of iterations:
Successful 1
Unsuccessful 0
Total 1
Time (in seconds):
Preprocessor 0.697
Residual Evaluations 0.063
Jacobian Evaluations 27.608
Linear Solver 13.360
Minimizer 43.973
Postprocessor 0.004
Total 44.756
Termination: NO_CONVERGENCE
Change-Id: I6b6b8ac24f71bd187e67d95651290917642be74f
Allows `make install` to work correctly on e.g. 64-bit systems where the
native libraries are installed to /usr/lib64
Change-Id: I71b4fae7b459c003cb5fac981278c668f2e29779
Tested on RHEL6.1 (with epel repository for dependencies).
make_release checks that that the version string in the .spec file is in
sync with the rest of the project and reminds the user to bump the
release string if necessary and to build/upload the RPM package.
Change-Id: I5f454f2a7301d1e0e120cb3c0e13a68d03bca917
In some cases there were missing includes of own
header files from implementation files.
In other cases moved function which are only used
within single file into an anonymous namespace.
Change-Id: I2c6b411bcfbc521e2a5f21265dc8e009a548b1c8
GG_LONGLONG and GG_ULONGLONG shall use LL and ULL suffixes,
since MinGW is actuall a GCC compiler.
Solved by checking whether compilation happens with MinGW
or not using standard MinGW's __MINGW32__ and __MINGW64__
definitions.
Change-Id: I789b34f6342a56ba42f4b280f7242700022ab7a1
On Windows, including the "windows.h" header defines an enormous number of
symbols; some of which are macros with common names. In particular, "ERROR" and
"min" and "max" get defined. This causes clashes when user code references
these names in a context other than the intended use in windows.h.
To deal with this, the Microsoft engineers added the ability to control the
definition of these symbols by adding extra defines. In particular, including
windows.h in the following way
#define NOGDI
#define NOMINMAX
will reduce the number of macros defined. This way they will not conflict with
other uses in Ceres. For example, numeric_limits<double>::max() is impossible
to call without defining NOMINMAX.
Change-Id: I166f5d3bb6dc0e2e4b2ebf800fb19e49206f7874
This patch introduces a matrix wrapper (MatrixAdapter) that allows to
transparently pass pointers to row-major or column-major matrices
to the conversion functions.
Change-Id: I7f1683a8722088cffcc542f593ce7eb46fca109b
This adds support for removing parameter and residual blocks.
There are two modes of operation: in the first, removals of
paremeter blocks are expensive, since each remove requires
scanning all residual blocks to find ones that depend on the
removed parameter. In the other, extra memory is sacrificed to
maintain a list of the residuals a parameter block depends on,
removing the need to scan. In both cases, removing residual blocks
is fast.
As a caveat, any removals destroys the ordering of the parameters,
so the residuals or jacobian returned from Solver::Solve() is
meaningless. There is some debate on the best way to handle this;
the details remain for a future change.
This also adds some overhead, even in the case that fast removals
are not requested:
- 1 int32 to each residual, to track its position in the program.
- 1 pointer to each parameter, to store the dependent residuals.
Change-Id: I71dcac8656679329a15ee7fc12c0df07030c12af
1. Added a Preconditioner interface.
2. SCHUR_JACOBI is now its own class and is independent of
SuiteSparse.
Change-Id: Id912ab19cf3736e61d1b90ddaf5bfba33e877ec4
Pablo Speciale