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
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
Genrerate the specialization files by grouping the specializations into
five groups, cutting build time by three minutes (roughly 20%) in my
tests.
Change-Id: Ifd6a4523a47346c5e84c1cda15b7abba60d8e953
The initial reason for this is because of a previous reformatting CL
triggered a macro redefinition warning in the schur eliminator. But
actually it was worse because the reordering had caused the macro
definition to be ignored and caused a performance regression.
This simplifies the generated files, fixes some formatting errors
and recovers the performance.
Change-Id: I9dbeffc38743b3f24b25843feec2e26a73188413
- update file generator scripts / templates so generated files adhere
to clang-format
- A few exceptions are not fixed, where the file generation results in
lines of different width. To properly fix this would make the code
more complicated and it's not that important for generated files
anyway.
- note that generated files are excluded in ./scripts/format_all.sh
Change-Id: I4f42c83d1fec01242eada5e7ce6c1a5192234d37
- Change formatting standard to Cpp11. Main difference is not having
the space between two closing >> for nested templates. We don't
choose c++14, because older versions of clang-format (version 9
and earlier) don't know this value yet, and it doesn't make a
difference in the formatting.
- Apply clang-format to all (non generated) internal source files.
- Manually fix some code sections (clang-format on/off) and c-strings
- Exclude some embedded external files with very different formatting
(gtest/gmock)
- Add script to format all source files
Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d
The row, E, F block pattern 2, 4, 6 is a common one for
bundle adjustment with reprojection error (2 residuals),
homogeneous 3d points (4 params in the E-block), and camera
poses (3 rotation + 3 position = 6 params for the
F-block). This provides a major speedup for BA in the
TheiaSfM library and likely in other applications.
Change-Id: If5df8bfadc7f154856b74c3b38479c14856db47d
1. Refactor the python code that generates the template specializations
to remove code duplication.
2. Improved the logic for template specialization selection where
Eigen::Dynamic now serves as a wildcard.
3. Added schur_templates.h/cc which allows querying the set of available
template specializations without instantiating a linear solver.
4. Added Solver::Summary::schur_structre_given and
Solver::Summary::schur_structure_used and expose them in
Solver::Summary::FullReport for better performance debugging.
5. Updated the templates with newer dates and some minor comments cleanup
which lead to the the template specializations to be re-generated.
Change-Id: Iaf3c6f714353597899916c300465da01f151c3de
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
- 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
and SchurEliminator.
Also update the comment inside generate_partitioned_matrix_view_specializations.py
Change-Id: I99a7ab4256091b1da48553da3076e5996a5757ed
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
Sameer Agarwal