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
* Added CudaCgnrSolver, a new CUDA-accelerated CGNR.
* To use CudaCgnrSolver, the user must select CGNR as the linear_solver
and CUDA_SPARSE as the sparse_linear_algebra_library.
* Updated ConjugateGradientSolver to work with an array of pointers to
scratch to support CudaVectors as scratch.
* Moved CUDA initialization to run in Solver::Solve as needed.
Some performance comparisons on an Ubuntu 20.04 desktop with an
Intel i9-9940X CPU @ 3.30GHz, and an nVidia Quadro RTX 6000,
all configurations run with 24 threads, and 10 iterations.
=================================================
CGNR + CUDA_SPARSE + IDENTITY Preconditioner
problem-1778-993923-pre.txt
=================================================
Cost:
Initial 2.563973e+08
Final 1.724755e+06
Change 2.546725e+08
Minimizer iterations 11
Successful steps 7
Unsuccessful steps 4
Time (in seconds):
Preprocessor 4.020158
Residual only evaluation 1.567092 (10)
Jacobian & residual evaluation 7.847130 (7)
Linear solver 31.688898 (10)
Minimizer 46.834987
Postprocessor 0.353974
Total 51.209120
=================================================
SPARSE_SCHUR (CPU) + SUITE_SPARSE + AMD
problem-1778-993923-pre.txt
=================================================
Cost:
Initial 2.563973e+08
Final 1.651617e+06
Change 2.547457e+08
Minimizer iterations 11
Successful steps 11
Unsuccessful steps 0
Time (in seconds):
Preprocessor 35.812003
Residual only evaluation 1.658980 (10)
Jacobian & residual evaluation 12.218799 (11)
Linear solver 76.409992 (10)
Minimizer 98.809773
Postprocessor 0.372712
Total 134.994489
=================================================
ITERATIVE_SCHUR (CPU) + JACOBI Preconditioner
problem-1778-993923-pre.txt
=================================================
Cost:
Initial 2.563973e+08
Final 1.684447e+06
Change 2.547128e+08
Minimizer iterations 11
Successful steps 8
Unsuccessful steps 3
Time (in seconds):
Preprocessor 15.331614
Residual only evaluation 1.606114 (10)
Jacobian & residual evaluation 8.502166 (8)
Linear solver 351.910080 (10)
Minimizer 368.797327
Postprocessor 0.363536
Total 384.492478
=================================================
CGNR + CUDA_SPARSE + IDENTITY Preconditioner
problem-13682-4456117-pre.txt
=================================================
Cost:
Initial 1.126372e+09
Final 2.269329e+07
Change 1.103678e+09
Minimizer iterations 11
Successful steps 7
Unsuccessful steps 4
Time (in seconds):
Preprocessor 19.140087
Residual only evaluation 8.721920 (10)
Jacobian & residual evaluation 41.955923 (7)
Linear solver 214.121861 (10)
Minimizer 296.636890
Postprocessor 1.971827
Total 317.748804
Change-Id: I3a09f31aa6903f661e91f595afd39d427583e856
covariance.h was using SUITE_SPARSE even when SUITESPARSE
was disabled because it did not have config.h included in it
so it did not see that CERES_NO_SUITESPARSE was defined.
Add more config.h includes to files that are using these
configuration macros.
Change-Id: I6b1d2c2bd9e559de40a6332cd6be85ad4da3377b
Applied changes correspond to clang-tidy fixes
stemming from the modernize-use-equals-default check.
Change-Id: I254b0908a76d464131564b637cd0e42a6b03fb5a
- 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
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
This code was currently buried under a bool inside SparseNormalCholeskySolver.
Pulling this out in its own solver makes the code simpler more readable
and more performant in the case of SuiteSparse.
Change-Id: I72379ca9ca162abbb83c12f7ee8ff92bc71e772c
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
Up till now ITERATIVE_SCHUR evaluates matrix-vector products
between the Schur complement and a vector implicitly by exploiting
the algebraic expression for the Schur complement.
This cost of this evaluation scales with the number of non-zeros
in the Jacobian.
For small to medium sized problems there is a sweet spot where
computing the Schur complement is cheap enough that it is much
more efficient to explicitly compute it and use it for evaluating
the matrix-vector products.
This changes implements support for an explicit Schur complement
in ITERATIVE_SCHUR in combination with the SCHUR_JACOBI preconditioner.
API wise a new bool Solver::Options::use_explicit_schur_complement
has been added.
The implementation extends the SparseSchurComplementSolver to use
Conjugate Gradients.
Example speedup:
use_explicit_schur_complement = false
Time (in seconds):
Preprocessor 0.585
Residual evaluation 0.319
Jacobian evaluation 1.590
Linear solver 25.685
Minimizer 27.990
Postprocessor 0.010
Total 28.585
use_explicit_schur_complement = true
Time (in seconds):
Preprocessor 0.638
Residual evaluation 0.318
Jacobian evaluation 1.507
Linear solver 5.930
Minimizer 8.144
Postprocessor 0.010
Total 8.791
Which indicates an end-to-end speedup of more than 3x, with the linear
solver being sped up by > 4x.
The idea to explore this optimization was inspired by the recent paper:
Mining structure fragments for smart bundle adjustment
L. Carlone, P. Alcantarilla, H. Chiu, K. Zsolt, F. Dellaert
British Machine Vision Conference, 2014
which uses a more complicated algorithm to compute parts of the
Schur complement to speed up the matrix-vector product.
Change-Id: I95324af0ab351faa1600f5204039a1d2a64ae61d
The LinearSolver factory was creating a NULL linear solver
if only Eigen's sparse linear algebra backend was available.
Thanks to Michael Samples and Domink Reitzle for reporting this.
Change-Id: I35e3a6c0fd0da2a31934adb5dfe4cad29577cc73
Move functions that determine alternatives to Schur type linear
solver and preconditioners into the LinearSolver and Preconditioner
interfaces.
Change-Id: Iae900afb7db17cdbeb7753497005a48c3144e2d7
For problems with a small number of variables, but a large
number of residuals, it is sometimes beneficial to use the
Cholesky factorization on the normal equations, instead of
the dense QR factorization of the Jacobian, even though it
is numerically the better thing to do.
Change-Id: I3506b006195754018deec964e6e190b7e8c9ac8f
This is a preliminary, but full, port of Ceres to Windows.
Currently all tests compile and run, with only system_test
failing to work correctly due to a path issue.
Change-Id: I4152c1588bf51ffd7f4d9401ef9759f5d28c299c
1. Added support for CXSparse - SparseNormalCholesky and
SchurComplementSolver support SuiteSparse and CXSparse now.
I am not sure I will add suport for visibility based
preconditioning using CXSparse. Its not a high priority.
2. New enum SparseLinearAlgebraLibraryType which allows the user
to indicate which sparse linear algebra library should be used.
3. Updated tests for SolverImpl and system_test.
4. Build system changes to automatically detect CXSparse and
link to it by default -- just like SuiteSparse.
5. Minor bug fixes dealing in the cmake files and VBP.
6. Changed the order of the system test.
7. Deduped the unsymmetric linear solver test.
Change-Id: I33252a103c87b722ecb7ed7b5f0ae7fd91249244
- Rename BlockDiagonalPreconditioner to BlockJacobiPreconditioner
- Include the diagonal in the block jacobi preconditioner.
- Better flag help for eta.
- Enable test for CGNR
- Rename CONJUGATE_GRADIENTS to CGNR.
- etc.
This adds a new LinearOperator which implements symmetric
products of a matrix, and a new CGNR solver to leverage
CG to directly solve the normal equations. This also
includes a block diagonal preconditioner. In experiments
on problem-16, the non-preconditioned version is about
1/5 the speed of SPARSE_SCHUR, and the preconditioned
version using block cholesky is about 20% slower than
SPARSE_SCHUR.
Sameer Agarwal