In Jet types, there is an attempt to set the derivative to 0.
However, if the derivative is not directly a scalar but a Jet<Jet>,
this cannot be constructed directly from a 0 literal. This is solved
by using the default constructor for the scalar type instead of 0.
The typical use case for this is adding constraints to the second
derivative of a curve in an Autodiff cost function.
Change-Id: Id480096632a731f312be12e294b3d6e244211529
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
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
The example code for ceres::Jet is incorrect since it misses at which point
the derivate is computed.
Change-Id: Ic3f2ee061a2b69f0a402ca1a01297ddda1f153cd
1. Use using directive to pull functions from the std:: namespace
instead of defining a forwarding function.
2. Remove Eigen 2.0 related definitions.
Change-Id: If5f24ef740c17bc4db300fa04f4a2e8f809970d2
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
Would result in compilation error
include/ceres/jet.h:296:59: error: requested alignment is not a positive power of 2
alignas(kAlignment) Eigen::Matrix<T, N, 1, kAlignOrNot> v;
because CERES_JET_ALIGN_BYTES = EIGEN_MAX_ALIGN_BYTES = 0 in that case.
Change-Id: I247653d3b7555e80891d3fb78676acfa302a9e1d
- ScalarBinaryOpTraits was introduced in Eigen 3.3, and thus breaks
compilation of Ceres for Eigen versions < 3.3.
- Reported as issue #252 by AustinDeric:
https://github.com/ceres-solver/ceres-solver/issues/252
Change-Id: Ie9b7dace17709c348b18b297f2d5306b054ce4b0
This commit extends the use of Jets with Eigen matrices and arrays
by enabling the use of binary operators (such as scalar addition,
multiplication, as well as matrix multiplication) when one Eigen
matrix/array is of type Jet and the other is a scalar type. This
should increase performance since Jet types have optimized
scalar-to-jet binary operations.
Change-Id: Ia756064845d845cefcf0abb16d366331d2824b52
- MSVC deprecated the standard POSIX names for Bessel functions in
favour of underscore prefixed versions.
- Previously we were checking for the presence of the newer underscore
functions via a macro, which fails as the functions are not defined
as macros.
- Now we check via a check_cxx_source_compiles() if the newer underscore
prefixed versions exist when compiling on MSVC and use a new Ceres
configuration #define to switch on their presence in jet.h
Change-Id: I430880bde2981d12f4d03dbc94d903b9842e887e
- 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
- alignas(0) should be ignored, however it results in a build error on
GCC, so instead default to the alignment of double in Jets if
we cannot align to 16-byte boundaries on the platform, but are
compiling with C++11.
Change-Id: I2e54c69516ea2e1447a8bdc138b2dd70050c6dad
- As per Andrew Hunter’s comments in the commit which added Jet
alignment when using C++11 here:
https://ceres-solver-review.googlesource.com/#/c/7100, there is wide
lattitude in the standard about what the maximum supported alignment
can be.
- Previously, we were forcing the alignment to 1, if the value of
alignof(std::max_align_t), which we use as a proxy for the maximum
supported alignment on the platform, was < 16.
- An alignment of 1 is not valid for Jets, as it would weaken the
natural alignment of the types within a Jet, which would typically be
4 (32-bit systems) or 8 (64-bit systems), thus resulting in a compiler
error.
- This was reported as issue 235 for Clang 3.8 on i386:
https://github.com/ceres-solver/ceres-solver/issues/235.
Change-Id: Ie39e5499c64f9231f29ebf4392992b5c9ce2e385
1. Use AVX if EIGEN_VECTORIZE_AVX is defined.
2. Make the cost of division same as the cost of multiplication.
These are updates to the original numtraits update needed for eigen 3.3
that Shaheen Gandhi sent out.
Change-Id: Ic1e3ed7d05a659c7badc79a894679b2dd61c51b9
- Microsoft deprecated the POSIX Bessel functions: j[0,1,n]() in favour
of _j[0,1,n](), it appears since at least MSVC 2005:
https://msdn.microsoft.com/en-us/library/ms235384(v=vs.100).aspx.
- As this occurs in jet.h (templated public header), although Ceres
suppresses the warning when it itself is built (to suppress a warning
about the insecurity of using std::copy), it will crop up again in
client code (without this fix) unless it is explicitly suppressed
there also.
- Raised as Issue #190:
https://github.com/ceres-solver/ceres-solver/issues/190.
Change-Id: If7ac5dbb856748f9900be93ec0452a40c0b00524
I169b637a1e2a106956b536c41d6a514a266e7cc0 marked Jets (in C++11) as
aligned to 16 bytes, and enabled Eigen vectorization. However, to
implement this, we added Eigen includes to port.h.
Turns out this broke some other tricks Ceres uses (redefining Eigen
constants for better performance), so we don't want to do that. Move
most of the implementation to jet.h where it is safe.
Change-Id: I47c6fc4180db1ff674bc660723dd5a2b84254e0d
We currently don't align the infinitesimal part of a Jet to a 16-byte
boundary (and thus force Eigen to avoid using SSE ops)--as a member of a
larger struct, we couldn't guarantee Jets would be allocated on
appropriately-aligned boundaries. However, C++11 adds better support
for requesting alignment: we can use it to guarantee the members will be
properly aligned, and tell Eigen to vectorize.
There is a significant gotcha here: the standard gives wide latitude to
implementations as to which alignments they choose to support. If we
ask for 16 and the system only supports 8, we may have misaligned
Jets. So we test (using alignof(std::max_align_t)) that the current
system supports 16-byte aligned values; if not, we fall back to the
current solution.
Two other small notes:
- This is obviously gated on C++11 support, and
thus we put the logic in port.h and export some useful #defines.
- GCC 4.8.x has a
bug (https://gcc.gnu.org/bugzilla/show_bug.cgi?id=56019) that has
max_align_t in the wrong namespace. This will not be a problem with a
modern GCC, but add a small workaround since many systems still ship 4.8.
This results (on a x86 workstation) in a 60% speedup in Jacobian
evaluation on bin/simple_bundle_adjuster problem-16-22106-pre.txt.
Change-Id: I169b637a1e2a106956b536c41d6a514a266e7cc0
I think this is all of the cases. These cases arise because pow(a,b) is limited
to real valued results, if the argument and result were complex valued then
these cases would disappear.
NOTE: Since there is so much special casing here, it is worth checking to see
if cpow() is implemented in terms of pow(), and what might be the consequences
of using cpow() on the type std::complex<Jet<double, N> >. It is *possible*
that a separate implementation of cpow might be required also.
Also some comment fixes.
Change-Id: Ia1e38df4cdcb548f778304c2854cacba6e1556ff
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
Since we added special handling for the case for rho[2] < 0,
the bulk of CorrectJacobian is pointless in the common case.
So add a simple one dimensional loop which rescales the Jacobian.
This speeds up this method immensely.
The robustification of a Jacobian gets speeded up by > 50%.
Change-Id: I97c4e897ccbb5521c053e1fb931c5d0d32f542c7
directly from eigen expressions, instead of creating a temporary). Also
changed several variable names from temp to tmp to be consistent with
the code base.
Change-Id: I3f7b834cedca9c4af8e5e086237b40301dbde619
Julian Kent