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
Previously, MSVC warning C4996 was suppressed unconditionally in the
entire code base which made it difficult identifying and fixing specific
problems, particularly those in the public interface.
Prefer now to disable warnings at the specific location they occur. This
approach, however, reveals an inconsistency in how Ceres handles POSIX
functions which are declared deprecated by MSVC. Specifically, Bessel
functions use the underscore form whereas the read function does not. To
simplify the logic, we revert to POSIX compatible functions.
C++23 also deprecates std::numeric_limits<T>::has_denorm which MSVC
warns about. Here, we disable the deprecation warning locally to avoid
the warning leaking into the user code.
Fixes#1013
Change-Id: Ida8457cc8dd8770b4384a7c49d16f213b02cdec4
This is needed to add a layer of indirection which will allow
us to use gflags in the public version and absl inside Google.
Change-Id: I32f3da23200a01c9b658bbf8aaa66cb8fddc2cc3
This is mostly just applying the existing clang format config, except:
- Use NOLINT on overlong comment lines.
- Wrap some sections in 'clang-format off' / 'clang format on'.
- Manually split or join some multi-line strings.
Change-Id: Ia1a40eeb92112e12c3a169309afe087af55b2f4f
Add Ownership semantics to the AutoDiffCostFunction
This allows several benefits, such as pointer ordering always being the
same for numerical repeatability (due to blocks being ordered by
pointer address), memory adjacency for better cache performance, and
reduced allocator pressure / overhead.
This is then made use of in libmv by preallocating the errors and
cost functions into vectors
Change-Id: Ia5b97e7249b55a463264b6e26f7a02291927c9f2
Binary operations between Jets and doubles are well defined
and should not require an explicit conversion to Jets to work.
This was an oversight earlier and lead to overzealous conversions
all over our in our example code.
Change-Id: I1799770818e136edfc0a5802d86037ce9aec4923
- If compiling without glog (but with gflags) on OSX, unistd.h is
required for close() et al, when using glog this was pulled in
indirectly.
Change-Id: I8f0807d98479e386921fb48da30683d027d4bc61
- At version 2.1, gflags changed from using the google namespace, to
using gflags by default. However, it can be configured at build time
to be something else (which would be google for legacy compatibility
unless you were evil).
- Ceres previously assumed that gflags was in the google namespace.
- Now, FindGFlags.cmake extracts the namespace when gflags.h is found
and saves it in GFLAGS_NAMESPACE.
- When building the tests and examples that require gflags,
CERES_GFLAGS_NAMESPACE is defined to be the detected namespace, and
all tests/examples now use CERES_GFLAGS_NAMESPACE:: instead of
google:: when calling gflags functions.
Change-Id: Ia333df7a7e2f08ba9f26bbd339c3a785b88f04c4
fix compilation error on Ubuntu 12.0
In file included from /usr/include/fcntl.h:252:0,
from /home/ajg23/src/ceres-solver/examples/libmv_bundle_adjuster.cc:91:
/home/ajg23/src/ceres-solver/examples/libmv_bundle_adjuster.cc: In member function ‘T {anonymous}::EndianAwareFileReader::Read() const [with T = unsigned char]’:
/home/ajg23/src/ceres-solver/examples/libmv_bundle_adjuster.cc:300:5: error: ignoring return value of ‘ssize_t read(int, void*, size_t)’, declared with attribute warn_unused_result [-Werror=unused-result]
Change-Id: Ib23ca19778761bbfe0d77bcf32a2181ce6db1a12
1. Further tightening of the Covariance documentation.
2. Documented minimizer progress output.
3. Lint cleanup from William Rucklidge.
4. Updated version history.
Change-Id: I8bc28484675d4edf89a7c050b6379dbac6c39e91
Add example application which is based on bundle
adjustment code from Libmv library, which is heavily
used in Blender.
Apart from bundle adjustment code this commit also
contains real-life optimization problems from VFX
pipeline. This files are created from production
files of Tears of Steel movie.
New code is placed to examples, and could be used
either as an example implementation of BA or for
timing investigation of problems appearing in VFX.
Problems for this application are placed to
data/libmv-ba-problems.
Usage:
./libmv_bundle_adjuster --input=/path/to/problem_file.bin
There's also optional flag --refine_intrinsics which
declares explicitly whether intrinscis shall be
refined or not. If this flag is not passed, refinement
will happen for problems stored in image space.
Structure of problem files is described in header
comment of libmv_bundle_adjuster.cc.
Change-Id: I51202848c75dcd7612b707609e5ff3708e01b625
Sameer Agarwal