- In light of the C++11 threads threading option this is no longer
necessary for cross-platform threading support and did not offer a
noticeable performance gain over either the C++11 threads
implementation or OpenMP.
Change-Id: Icb588d520888c19a1775171795b55bcaffb3d256
1. Replace HashMap and HashSet with std::unordered_map and
std::unordered_set respectively.
2. Extract the pair hasher into a struct pair_hash.
3. Delete collections_port.h
4. Convert explicit iterator based loops to auto based
loops where sensible.
Change-Id: Ib88bcd13a7463d18435639d3b771abaa52080efb
Implements ParallelFor using the C++11 based ThreadPool. The C++11
parallel for is 50-70% faster than single threaded, and 20-30% slower
than TBB.
Tested by compiling with OpenMP, TBB, and C++11 Threading support and
ran the unit tests. Ran bazel as well.
Change-Id: I7fd6c9037ff9f200ce6999b5f39918995bb6b8ea
There are platforms where OpenMP is not available. This
patch adds support for Intel Threading Building Blocks (TBB)
as an alternative threading backend.
Change-Id: I94497d7cba0c3cfaccfc992169236f17fe948ae9
- 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
- On at least some compilers, -std=c++11 is required in order to compile
against std::shared_ptr & std::unordered_map, which resulted in our
checks failing to find them and using the TR1 versions instead, which
causes conflicts for users using C++11.
- Now, if the compiler supports it and the user enables the CXX11
option, we explicitly enable C++11 before searching for shared_ptr &
unordered_map, which means we should always find the C++11 versions
if they are available.
- As use of CXX11 results in a version of Ceres that must be used with
-std=c++11 for GCC & Clang, we roll this into the Ceres target when
the version of CMake supports this, otherwise we warn the user they
will have to do this themselves.
- CXX11 is OFF by default, to ensure that the behaviour of Ceres is
unchanged from before.
Change-Id: I157ea7a4fadc6bc02da176b8e771f1f327ccaf78
Eigen upstream was broken a little while ago, and it seemed to be
the case that we needed a fix for using the LLT factorization on
ARM.
This has been fixed and AFAIK there are no stable eigen releases
with this bug in it.
For full gore, see
http://eigen.tuxfamily.org/bz/show_bug.cgi?id=992
In light of the fix, the extra layer of indirection introduced earlier
is not needed and we are reverting to normal programming.
Change-Id: I16929d2145253b38339b573b27b6b8fabd523704
It seems that Eigen's LLT factorization is broken on ARM.
This patch enables the use of LDLT factorization instead of LLT
factorization. The switch is controlled at compile time using a
preprocessor define - CERES_USE_EIGEN_LDLT.
By default we continue to use LLT factorization though.
To make the switching easier without introducing the Cholesky factorization
based inversion and linear system solve routines have been abstracted into
two new functions.
Android.mk has been updated to enable the LDLT factorization, but
the cmake file has not been updated as I will leave it to Alex's
capable hands to do proper detection of ARM as a target platform.
Change-Id: Iffe3abd2ce894de2a388b454df3da909b482d5e5
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
The header of Summary::FullReport now looks like
Solver Summary (v 1.10.0-suitesparse-cxsparse-lapack-no_openmp)
Original Reduced
Parameter blocks 22122 22122
Parameters 66462 66462
Residual blocks 83718 83718
Residual 167436 167436
Change-Id: Id1b81bbf90ba412d19e2dd3687eeb9d372b72c1b
SPARSE_NORMAL_CHOLESKY and SPARSE_SCHUR can now be used
with EIGEN_SPARSE as the backend.
The performance is not as good as CXSparse. This needs to be
investigated. Is it because the quality of AMD ordering that
we are computing is not as good as the one for CXSparse? This
could be because we are working with the scalar matrix instead
of the block matrix.
Also, the upper/lower triangular story is not completely clear.
Both of these issues will be benchmarked and tackled in the
near future.
Also included in this change is a bunch of cleanup to the
SparseNormalCholeskySolver and SparseSchurComplementSolver
classes around the use of the of defines used to conditionally
compile out parts of the code.
The system_test has been updated to test EIGEN_SPARSE also.
Change-Id: I46a57e9c4c97782696879e0b15cfc7a93fe5496a
- 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
Alex Stewart