This PR changes the interface of sized_cost_fucntion,
autodiff_cost_function and numeric_diff_costfunction from using ten
hardcoded parameter blocks to a variable number of parameter blocks
using variadic templates.
Trailing parameter blocks of size zero are now considered as error.
Change-Id: I37b9a0a420ef0eda6476a46672bbf6bd57e19760
Introduce IsSetConstantByUser method which indicates whether
the user set the parameter block constant or not.
Changed the definition of IsConstant() to indicate if the
parameter block is effectively constant or not, which is
now the uniion of two conditions - the user set it to be constant
or the local tangent space is of size zero. Currently
this change has no effect as we do not allow local parameterizations
with zero tangent space size, but thats an inconsistency we are
working on fixing.
A variety of code cleans up to parameter_block.h
1. Remove an old TODO comment which is not really actionable.
2. Remove Init() method.
3. NULL -> nullptr
4. memcpy -> std::copy
Change-Id: I12973ee0f053fa22f09908cf36e9aa57d9d8dd74
The class parameter dims is a helper class that holds the parameter
dimensions. The parameter dimensions are either dynamic or the
sizes are known at compile time. It is used to pass parameter block
dimensions around (e.g. between functions or classes).
Also the dimensions of the parameter blocks are checked at compile
time and must be greater than zero. This means trailing zero parameter
blocks will result in a compile error.
Change-Id: I4decf2f09e63fdb0fd652022b2be2a1cfd9c4478
This patch removes the use of trailing zeros in cost functions used in
unit tests as this will be an error once the sized cost function is
implemented using variadic templates.
Change-Id: I3e8a31b310ba7299fc6b1f012f540a3118cc7661
This PR adds integer sequence and two algorithms (sum and exclusive
scan). Those will be needed to implement a sized cost function using
variadic templates.
Change-Id: I8e98d7c11fac94286fe9c364633406e59438f059
A variety of small cleanups to the local parameterization
implementation and tests to improve readability.
Change-Id: I5457206129cb3c301999d2f88912ba8300a2c934
Enable use of dynamic number of residuals for autodiff.
Implemented with "Substitution failure is not an error" similar
to tiny_solver.h .
Move test from tiny_solver_test.cc to
tiny_solver_autodiff_function_test.cc .
Use cpplint.py from C++ Google Style Guide for formatting.
Change-Id: I2e1a159d17118552943c6ac7a833c5bbd0c927ec
When Jacobian is needed, a different function is called internally. Thus we have to recheck the residual.
Change-Id: I83044b3668479fc21b6612662271e872addf6f48
- Previously we were only bounding num_threads_used based on whether
CERES_NO_THREADS was defined, meaning that we could erroneously report
a value larger than the number of threads actually used.
Change-Id: I7373c0c968f9be268c8b7ab0b9561ae31700fda6
- Required to propagate the threading flags to example targets that
depend upon Ceres and do not directly specify threads as a dependency
to support some *nix builds.
Change-Id: I1c229bd0241da55a203c2b1f8fc28ea43c312e69
This header defined integral types in the pre-C++11 days, and can
be replaced with <cstdint> and the types defined therein.
Also remove a shallow (and incorrect) typedef in include/ceres/types.h
https://github.com/ceres-solver/ceres-solver/issues/409
Change-Id: I398c652f74d24bbeea459672508bf28f591b100f
When Solver::Options::check_gradients is true, Ceres internally
creates a new ProblemImpl object which wraps each CostFunction
in the user's problem with a GradientCheckingCostFunction.
Doing this also requires creating new ParameterBlock objects,
and when support for upper and lower bounds was added to Ceres,
CreateGradientCheckingProblemImpl should also have been updated
to create a problem with the same parameter bounds. As a result,
if check_gradients is enabled for a bounded problem, it constructs
an unconstrained problem and solves it.
This CL fixes this, by introducing Problem::GetParameterLowerBound,
and Problem::GetParameterUpperBound and using them to create a bounded
problem when checking gradients.
Thanks to @pbeeson for not only reporting this problem, but also
providing a small standalone reproduction which made debugging this
possible.
https://github.com/ceres-solver/ceres-solver/issues/379
Change-Id: Id18eb858a7009bf4fa452a21b925922d13f3249f
When using the SchurEliminator to compute a preconditioner, there
is no rhs. This CL removes that limitation and simplifies the
call sites in the two preconditioners.
https://github.com/ceres-solver/ceres-solver/issues/271
Change-Id: I05b8518fdc9f0d1a6d88ae76d3a7e8e838e7204a
All three errors are of the form where, the vector storing
the columns array for a CompressedRowSparseMatrix is being
accessed out of bounds. But in each case, the access is innocuous
because there are other tests which prevent it from being used.
However, if one compiles with debug mode on, the bounds checking
in the underlying std::vector triggers an error.
More details:
1. FromTripletSparseMatrix tried accessing the col vector of
a matrix with zero rows, but the following code was a no-op
because there was nothing to copy.
Adding an early return which deals with this case fixes this.
2. RightMultiply and SquaredColumnNorm had the following loop
while (r > cols_[idx] && idx < idx_end) {
++idx;
}
where cols_ was being accessed out of bounds, before idx < idx_end
was being checked. Swapping the order of the comparisons fixes this
error.
@richmattes reported this error.
https://github.com/ceres-solver/ceres-solver/issues/383
Change-Id: I2dbc90ef24ecaffc6f46f1622339d6053b43db45
- 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
- Now that we require CMake >= 3.x, we can roll the definition of the
include directories for clients linking against Ceres into the
exported Ceres CMake target via target_include_directories().
- This removes the requirement for CERES_INCLUDE_DIRS.
Change-Id: Ibe3bbf796339871d66138fc9520053d1766f09a8
- Previously we had separate variables for each of the threading
backends, each of which were made mutually exclusive via
cmake_dependent_option(). This has unfortunate side-effects when
trying to disable options if they are not currently enabled, in which
case they are not defined.
- As all the threading options are mutually exclusive, this replaces
all threading option variables with a single variable: CERES_THREADS,
which is constrained to take the value of only the available threading
backends.
Change-Id: I0822eefbac9a30772907b7732add365b37cc8ca0
SuiteSparseQR sets permutation to NULL when the permutation is the
identity. Thus, instead of checking that permutation is not NULL, we
handle that case when building the inverse_permutation.
Change-Id: Ib0fcdf3462da765ac0d4b7aee47a1dff7b3a6c53
std::random_shuffle() is deprecated since C++14 and was removed in
C++17. At least MSVC with C++17 fails to compile this code, I assume
other compilers fail as well.
In a Github discussion (#373) Sameer Agarwal states this line can
likely be dropped and asks for a PR/CL.
https://github.com/ceres-solver/ceres-solver/issues/373
Change-Id: I78e04f36cba398769b8f90916edbdaf33884e7e1
CLUSTER_JACOBI and CLUSTER_TRIDIAGONAL preconditioners require a sparse
Cholesky factorization library. Previously this code was hard coded to
use SuiteSparse. Once SparseCholesky abstraction was introduced, it
became possible to use it with Eigen or CXSParse.
Unfortunately the old code path that was enforcing the requirement
of SuiteSparse was not removed.
This change does the following:
1. Remove the SUITE_SPARSE restriction on CLUSTER_TRIDIAGONAL and
CLUSTER_JACOBI
2. Redo the checking code to be ifdef free and more general.
3. Add bundle adjustment tests to test these configurations.
Thanks to Bjorn Piltz for catching and reporting this bug.
Change-Id: I637791f6f8149694b6aa75f6a4b6417398cb9590
- When Ceres was configured without any multithreading enabled (actually
the default) it would fail to build due to undefined symbols for
ParallelFor() as there was no implementation for that case.
- This adds a trivial single-threaded implementation for that case,
taken from the C++11 threads implementation.
Change-Id: Ib3cfd620842b09f1acafe95b8b0ba3aee4587581
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
Also removed Solver::Summary::num_linear_solver_threads_given
and Solver::Summary::num_linear_solver_threads_used.
Change-Id: I559145ae2e7af597ea06ec03d386645a3a892e9f
- As OPENMP, TBB & CXX11_THREADS are mutually exclusive, and their
implementations are wholly contained within enclosing #ifdefs if the
requisite option is not enabled then the source file is 'empty'.
- This triggers 'xxx.cc has no symbol' warnings when compiling
Ceres statically, as such we now only include these files if they are
not going to be empty.
Change-Id: I5390251b44c5770bbdd4ccb1bc916dbe3b1814a9
The way the SystemTest fixture works is that it takes
a "FooProblem" object as a type, which contains a ceres::Problem
and a ceres::Solver::Options object.
The Options object also contains a linear_solver_ordering which
contains double* which refer to memory that is allocated when
a problem object is created.
So it is important that the lifetime of the ceres::Problem object
and the ceres::Solver::Options object be tied together. But we were
violating this by creating a FooProblem object on the stack, grabbing
its Options struct and passing it to the SystemTest fixture, which
would then create another instance of FooProblem, grab its Problem
object and copy the modified options struct into it.
In the case where a user provided ordering was being used,
this ordering would now be referring to memory allocated by the first
FooProblem object, which would cause Ceres's internal ApplyOrdering
function to fail.
The fix is ofcourse to Problem and Options object that are born
together.
Change-Id: I07c377a9d5fcabbb6c7ca8aa3460206ce045ffa9
1. Remove SolverConfig, this was a wrapper
around Solver::Options. As we experiment
with more Solver::Options, it became a hurdle.
2. Updated generate_bundle_adjustment_tests.py to use
Solver::Options directly.
3. Update system_test to use Solver::Options.
NOTE: generate_bundle_adjustment_tests.py changes are a bit
gunky, but I tried to minimize the changes in this CL
as I am going to introduce new test cases and that
is going to significantly change this file.
Change-Id: I34a2f51824b04ef368a5bbe54fbd7b281381909e
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
Change the loop structure of IterativeRefiner to
unconditionally refine for max_num_iterations.
This is done for two reasons.
1. We expect to use this refinement for a small number of iterations
where the convergence test is useless.
2. Eliminating the convergence test means we can restructure the loop
and save on a sparse matrix-vector multiply, saving precious
compute.
Change-Id: I6347f453a5d19d234af2a2eb1bce811048963e06
Johannes Beck