Fix an incorrect comparison between in QuaternionParameterizationTestHelper.
Reported by William Gandler.
Change-Id: If4d63a51f6a55013b4e6f0c299462c5af6e80c70
A recent change made this function templated and MSVC 16 has trouble
doing automatic argument deduction, so the type of the template is
simplified and all callsites are explicitly annotated with the type
of the arguments.
Change-Id: I83cd0269e6e82c4a8f4e391f5fc03b92c942f74d
This CL adds a local parameterization for a n-dimensional
line, which is represented as an origin point and a direction.
The line direction is updated in the same way as a
homogeneous vector and the origin point is updated
perpendicular to the line direction.
Change-Id: I733f395e5cc4250abf9778c26fe0a5ae1de6b624
The compile-time constant kNumResiduals is now passed to the
autodiff functions as a template parameter. This will be used
by future patches to optimize autodiff performance.
Change-Id: Ia2b2cc99b88752e8f12f4ce2542b1963bda552f5
This commit includes the following:
- Changes to CMake to make it safer to see which compiler flags are supported,
so this way we do not need to worry about version checks in CMake.
- Unix platforms (which includes both Linux and Apple as far as i can tell)
will now enable -Wmissing-declarations warning for the whole Ceres.
- Changes in all sources to solve missing declaration warning. In most cases
it was either matter of using static qualifier or moving functions to an
anonymous namespace.
In one case the function got removed, since it seems to be unused.
Additionally, in slam examples there was a non-inlined function implementation
in a header, which is a direct way to cause linking errors if other .cc file
will include that helper header.
- All third party sources (which is currently only gmock) has this extra
paranoid warning disabled.
This warning is important in the following cases:
- Detect helper functions which are not needed anymore.
- Avoid unnoticed pollution of namespace.
- Avoid bad level calls.
- Avoid missing updates in header files after changes in implementation file.
- Helps integrating Ceres into software where paranoid warnings are important.
Change-Id: I9b1044aced3910d8c6b2356cfe2bf57f3c8c58db
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
A variety of small cleanups to the local parameterization
implementation and tests to improve readability.
Change-Id: I5457206129cb3c301999d2f88912ba8300a2c934
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
This commit relaxes the tolerance value for comparing between the actual
local matrix and the expected local matrix. Without this fix,
EigenQuaternionParameterization.ZeroTest could fail as the difference
exactly matches the value of std::numeric_limits<double>::epsilon().
Change-Id: Ic4d3f26c0acdf5f16fead80dfdc53df9e7dabbf9
1. SubsetParameterization can now be constructed such that all
parameters are constant. This is required for it be used as part
of a ProductParameterization to hold a part of parameter block
constant. For example, a parameter block consisting of a rotation
as a quaternion and a translation vector can now have a local
parameterization where the translation part is constant and the
quaternion part has a QuaternionParameterization associated with it.
2. The check for the tangent space of a parameterization being
positive dimensional. We were not doing this check up till now
and the user could accidentally create parameterizations like this
and create a problem for themselves. This will ensure that even
though one can construct a SubsetParameterization where all
parameters are constant, you cannot actually use it as a local
parameterization for an entire parameter block. Which is how
it was before, but the check was inside the SubsetParameterization
constructor.
3. Added more tests and refactored existing tests to be more
granular.
Change-Id: Ic0184a1f30e3bd8a416b02341781a9d98e855ff7
The norm comparison in QuaternionParameterizationHelper is exact
but that leads to numerical precision problems and test failures
as reported by Nicu Stiurca.
https://github.com/ceres-solver/ceres-solver/issues/198
Change-Id: I45f42f0373770408ddeee0b4c9d162e619f8d445
Often a parameter block is the Cartesian product of a number of
manifolds. For example, a rigid transformation SE(3) = SO(3) x R^3
In such cases, where you have the local parameterization
of the individual manifolds available,
ProductParameterization can be used to construct a local
parameterization of the cartesian product.
Change-Id: I4b5bcbd2407a38739c7725b129789db5c3d65a20
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
For historical reasons we had a "using namespace std;" in port.h. This
is generally a bad idea. So removing it and along the way doing a bunch
of cpplint cleanup.
Change-Id: Ia125601a55ae62695e247fb0250df4c6f86c46c6
This is a preliminary, but full, port of Ceres to Windows.
Currently all tests compile and run, with only system_test
failing to work correctly due to a path issue.
Change-Id: I4152c1588bf51ffd7f4d9401ef9759f5d28c299c
Ceres has traditionally battled with portability issues
when trying to classify floating point values as one
type or another. For example, in C99 'isnan' is a
macro. Since it is a macro, it is impossible to
override the name in other namespaces.
Instead of trying to use preprocessor hacks to work
around the issue, define our own set of camel-case
names for use internally and by Ceres clients. For
example do this:
template<typename T>
void MyFunction(T x, T y) {
if (ceres::IsNaN(x)) {
...
}
}
instead of using "isnan" or "std::isnan". Note that
while GCC and Apple GCC both import 'isnan' into
the std namespace, it is not standard until C++11
which Ceres will not require for some years.
Change-Id: Ibcc96a8bb4ba63aa67cbbc58658b2e5671cd5824
This commit modifies the only function in autodiff that takes a
templated number of outputs (i.e. residuals) and makes that
template parameter a normal parameter. With that change, it
is a trivial matter to support a dynamic number of residuals.
The API for dynamic residuals is to pass a fake number of
residuals as the second template argument to
AutoDiffCostFunction, and to pass the real number of
parameters as a second constructor argument.
Sameer Agarwal