Allows `make install` to work correctly on e.g. 64-bit systems where the
native libraries are installed to /usr/lib64
Change-Id: I71b4fae7b459c003cb5fac981278c668f2e29779
Tested on RHEL6.1 (with epel repository for dependencies).
make_release checks that that the version string in the .spec file is in
sync with the rest of the project and reminds the user to bump the
release string if necessary and to build/upload the RPM package.
Change-Id: I5f454f2a7301d1e0e120cb3c0e13a68d03bca917
In some cases there were missing includes of own
header files from implementation files.
In other cases moved function which are only used
within single file into an anonymous namespace.
Change-Id: I2c6b411bcfbc521e2a5f21265dc8e009a548b1c8
GG_LONGLONG and GG_ULONGLONG shall use LL and ULL suffixes,
since MinGW is actuall a GCC compiler.
Solved by checking whether compilation happens with MinGW
or not using standard MinGW's __MINGW32__ and __MINGW64__
definitions.
Change-Id: I789b34f6342a56ba42f4b280f7242700022ab7a1
On Windows, including the "windows.h" header defines an enormous number of
symbols; some of which are macros with common names. In particular, "ERROR" and
"min" and "max" get defined. This causes clashes when user code references
these names in a context other than the intended use in windows.h.
To deal with this, the Microsoft engineers added the ability to control the
definition of these symbols by adding extra defines. In particular, including
windows.h in the following way
#define NOGDI
#define NOMINMAX
will reduce the number of macros defined. This way they will not conflict with
other uses in Ceres. For example, numeric_limits<double>::max() is impossible
to call without defining NOMINMAX.
Change-Id: I166f5d3bb6dc0e2e4b2ebf800fb19e49206f7874
This patch introduces a matrix wrapper (MatrixAdapter) that allows to
transparently pass pointers to row-major or column-major matrices
to the conversion functions.
Change-Id: I7f1683a8722088cffcc542f593ce7eb46fca109b
This adds support for removing parameter and residual blocks.
There are two modes of operation: in the first, removals of
paremeter blocks are expensive, since each remove requires
scanning all residual blocks to find ones that depend on the
removed parameter. In the other, extra memory is sacrificed to
maintain a list of the residuals a parameter block depends on,
removing the need to scan. In both cases, removing residual blocks
is fast.
As a caveat, any removals destroys the ordering of the parameters,
so the residuals or jacobian returned from Solver::Solve() is
meaningless. There is some debate on the best way to handle this;
the details remain for a future change.
This also adds some overhead, even in the case that fast removals
are not requested:
- 1 int32 to each residual, to track its position in the program.
- 1 pointer to each parameter, to store the dependent residuals.
Change-Id: I71dcac8656679329a15ee7fc12c0df07030c12af
1. Added a Preconditioner interface.
2. SCHUR_JACOBI is now its own class and is independent of
SuiteSparse.
Change-Id: Id912ab19cf3736e61d1b90ddaf5bfba33e877ec4
Commit f102a68e41 seems to have introduced
a bug in both solver_impl.cc and solver_impl_test.cc
solver_impl_test showed 3 errors, where two were due to ceres NOT
failing when the test expected that, and one was due to the initial cost
being wrong (-1 instead of 0.5)
Ceres now does not attempt to evaluate the initial cost if
options.return_initial_xxx is not set. It therefore did not fail in
the tests.
It also seems that the CERES_EVALUATE macro erroneously always sets
final_cost, even when called with 'initial' as argument.
Change-Id: Ia3c3eeb476e7023a3f80b201124010d6c67e9824
1. Quicker starting point.
2. Better discussion of derivatives.
3. Better hyperlinking to code and class documentation.
4. New robust estimation example.
5. Better naming of example code.
6. Removed dependency on gflags in all the core examples covered
in the tutorial.
Change-Id: Ibf3c7fe946fa2b4d22f8916a9366df267d34ca26
More small changes to the docs.
1. Better landing page.
2. Minor tweaks to the side bar.
3. Reference to more example code.
4. Local MathJax references.
Change-Id: I39b9436dc2803732a875bbbee7f15802c4934031
1. Add an ExecutionSummary object to record execution
information about Ceres objects.
2. Add an EventLogger object to log events in a function call.
3. Add a ScopedExecutionTimer object to log times in ExecutionSummary.
4. Instrument ProgramEvaluator and all the linear solvers
to report their timing statistics.
5. Connect the timing statistics to Summary::FullReport.
6. Add high precision timer on unix systems using
gettimeofday() call.
7. Various minor clean ups all around.
Change-Id: I5e09804b730b09535484124be7dbc1c58eccd1d4
A live version of the doc can be found at
http://homes.cs.washington.edu/~sagarwal/ceres-solver/
As it stands, the documentation has better hyperlinking
and coverage than the latex documentation now.
Change-Id: I7ede3aa83b9b9ef25104caf331e5727b4f5beae5
report execution statistics of all kinds.
Currently a single map which maps arbitrary strings to doubles is supported,
which allows for precise timing information to be communicated.
Change-Id: Ibd930aca5c9e6cae89bcfeffe9b13e2887644881
A wrapper class that takes a variadic functor evaluating a
function, numerically differentiates it and makes it available as a
templated functor so that it can be easily used as part of Ceres'
automatic differentiation framework.
The tests for NumericDiffCostFunction and NumericDiffFunctor have
a lot of stuff that is common, so refactor them to reduce code.
Change-Id: I83b01e58b05e575fb2530d15cbd611928298646a
The interface for NumericDiffCostFunction and AutoDiffCostFunction
are not comparable. They both accept variadic functors.
The change is backward compatible, as it still supports numeric
differentiation of CostFunction objects.
Some refactoring of documentation and code in auto_diff_cost_function
and its relatives was also done to make things consistent.
Change-Id: Ib5f230a1d4a85738eb187803b9c1cd7166bb3b92
CostFunctionToFunctor wraps a CostFunction, and makes it available
as a templated functor that can be called from other templated
functors. This is useful for when one wants to mix automatic,
numeric and analytic differentiated functions.
Also a bug fix in autodiff.h
Change-Id: If8ba281a89fda976ef2ce10a5844a74c4ac7b84a
Add a specialization for the common case where the residual block
outputs exactly one residual.
The matrix routines used by Corrector can be then specialized to
a scalar and be made considerably faster.
For denoising upto 400% speedup is observed.
Change-Id: I8e3f24b8ba41caa8e62ad97c5f5e96ab6ea47150
1. New LineSearchDirection interface, factory and instances.
2. Cleanup of LineSearchMinimizer to use the State and Direction objects.
3. LBFGS -> LowRankInverseHessian.
4. Refactoring of the RunCallbacks function and share it across
LineSearchMinimizer and TrustRegionMinimizer.
Change-Id: I19354afc6f5d6567b28918710c2012dc30ef8f32
Sameer Agarwal