* Make sphinx_rtd_theme a find module component to avoid hard-wiring it
into the module and allowing to report the theme in case it is missing
using the standard CMake package mechanism.
* Adjust find module cache variables names case to match the find module
name.
* Also report sphinx-build version for completeness.
* Invoke the find module only once. Calling find_package on the same
module is not needed.
Change-Id: I9d1bf0fcc0d44b9b37e624128812f348c5442ada
Given we no longer support Ubuntu 18.04 due to packaged GCC lacking
C++17 support we can bump the minimum required CMake version to the one
provided by Ubuntu 20.04 which is CMake 3.16. Consequently, this allows
to drop some of the legacy CMake logic.
Change-Id: I1f05d4c5681d10aa7faa0800ef4a803be2f5b7dd
This avoids the following CMake error when exporting Ceres build
directory to local CMake package registry:
export called with target "ceres" which requires target
"ceres_cuda_kernels" that is not in any export set.
Fixes#966
Change-Id: I5a75191fc414a3f138b19cb9d5850f7330f2d24a
Without this we start getting errors related to FindSphinx.cmake
I am not sure yet, what version of cmake we can assume in the wild
but the current minimum version supports the old behaviour and this
policy seems relatively recent (CMake version 3.27) so we should
have this workaround till we update our minimum required version.
Fixes https://github.com/ceres-solver/ceres-solver/issues/1002
Change-Id: I1beaac9ee27bc9ff85b64f53f72606a0424f2391
- In the top-level CMakeLists.txt, certain flags are passed to
disable warnings and increase the maximum size of an object file.
nvcc cannot handle these flags so we tell CMake to only use them
for C++ code (and not CUDA code).
- In internal/ceres/CMakeLists.txt, CMake is originally told to link
the import library cudart.lib when linking CUDA code. By default,
it seems that Visual Studio will link the static library
cudart_static.lib when linking CUDA code. So we avoid linking with
cudart.lib to avoid linking the same library twice.
Change-Id: I1fbf0d7e76d57b4338708757b27f5074722608cb
Since c++11, we can depend on C++ threads always being available.
With the recent work on the performance of CXX threading, the
additional complexity of maintaining multiple backends for some
minor performance delta is not worth it
https://github.com/ceres-solver/ceres-solver/issues/886
Change-Id: Idee480b22a498daec9c4366da8589aa58eaf36a1
- Enables relocatable installs if the CUDA libraries are not installed
in a location on the LD_LIBRARY_PATH.
- Also bump the minimum CMake version to 3.11 to reflect the issue
reported in #903.
Change-Id: I333882b7238c76104d739c7054f29cc35cc4e919
* Renamed several interfaces to CudaBuffer for clarity and consistency.
* Added unit tests for custom Cuda kernels.
* Set specific CUDA architectures if the CMake version supports it.
Change-Id: I269fb1089b80b25e17bca772ef8d70e7894214b8
- Also fixes behaviour of EIGENMETIS option to match that of the other
CMake dependency options, and ensure that its value aligns exactly
with whether Eigen support for METIS will be compiled into Ceres.
Change-Id: Ifbf6f5d82b9ba89a156673eb6042519a985e6b04
* Split `CERES_NO_METIS` into two defines: `CERES_NO_PARTITION` and
`CERES_NO_METIS`. The former refers to METIS support in SuiteSparse,
the latter to the Eigen's MetisSupport module. This enables the use of
sparse matrix reordering independent from SuiteSparse.
* Run Linux, macOS, and macOS Github workflows with METIS enabled
SuiteSparse.
Fixes#808
Change-Id: I5076b7e1268d32cc3e7e56650edcbaf7fb3b59ce
Eigen provides all the functionality that we need from CXSparse
with a more liberal license.
I will update the documentation in a follow up CL.
Change-Id: I0b9fd8be3c27754cc2986cc0e06595c8b3fdec0b
With this change we can drop the complicated/conditional handling
around CAMD and assume that it is always available.
Change-Id: I93e1da676fb75817f79824b8b2b6549d03f278b0
These changes allow the use of a SuiteSparse CMake package from
https://github.com/sergiud/SuiteSparse that allows native compilation of
SuiteSparse using CMake on a variety of platforms Packages generated
using official SuiteSparse makefiles can still be used without
modifications. The find module remains agnostic to specific CMake
package implementation.
CMake packages have the advantage that they are self-contained and
relocatable. The latter is particularly useful in cross-compilation
scenarios.
Fixes#728
Change-Id: I089d5c6f87c05b1530a5ab9a36dff2fcbe82d13d
Disable the definition of `min`/`max` macros by defining `NOMINMAX`
and prevent macro substitution in the public interface.
Also, quiet floating-point comparisons are defined as template functions
by the MSVC STL which causes compilation errors due to ambiguities in
resolving the template parameter types.
Fixes#668Fixes#716Fixes#718
Change-Id: I5fe7832a6a3a7ad0421a2557527528c34b88e9c7
Remove logic invoked based on obsolete variable definitions. Use new
(explicit) target_link_libraries syntax to link binaries against
dependencies. Do not rely on prior knowledge about the compiler for
specifying flags and system libraries but instead directly test their
presence to be more robust.
Change-Id: I76e0d10fae6eba4b343048e4404f0a9b08c7cb6c
Current language standard selection mechanism is quite convoluted and
the logic for propagating a specific C++ language standard (which cannot
be fully enforced anyway) is unnecessarily complicated. Instead
communicate the minimum required C++ standard and let CMake handle the
requirement. This allows the compiler and consumers to use newer
language revisions if available. The language standard used to compile
Ceres solver can still be set via `CMAKE_CXX_STANDARD`.
Move to CMake 3.10 which is supported by Ubuntu 18.04 LTS and simplify
the corresponding language features request.
Change-Id: Ib1f95e2bc5f06bf1275a62565d303eb0f114d127
Current language standard selection mechanism is quite convoluted and
the logic for propagating a specific C++ language standard (which cannot
be fully enforced anyway) is unnecessarily complicated. Instead
communicate the minimum required C++ standard and let CMake handle the
requirement. This allows the compiler and consumers to use newer
language revisions if available. The language standard used to compile
Ceres solver can still be set via `CMAKE_CXX_STANDARD`.
Move to CMake 3.10 which is supported by Ubuntu 18.04 LTS and simplify
the corresponding language features request.
Change-Id: Id3526c69990315289e7ea0fbcdeaa6af79d24d03
1. Add CUDADenseQR & tests.
CUDADenseQR uses the cuSolverDN LAPACK implementation
of QR factorization. A key limitation, however, is that
this solver does not perform singularity checking --
this is because cuSolverDN does not have a trtrs
implementation; we instead use cuBLAS' trsv for
backsubstitution.
2. All CPU -> GPU memory transfers are now async, and both
CUDADenseQR and CUDADenseCholesky explicitly manage their
own streams for async operations.
3. Simplified CUDADenseCholesky to only use the legacy 32-bit
cuSolverDN API.
Change-Id: I2a9b7b65469658ddfe33b5b2a3892c8744d6e437
Currently, the logic for exporting symbols is rather complicated: when
tests are enabled internal symbols are exported in addition to the
public symbols. Such logic causes several problems. (1) Test binaries
link against a Ceres build that is different from the final release
since fewer optimizations are applied if more symbols are exported. (2)
Also, some toolchains hide symbols by default breaking the existing
logic eventually causing linker errors.
Since internal symbols are not intended to be used outside of the
project, we can compile them into object files and use exactly the same
binary code both for the final build and the tests without relying on
conditionals.
By default, all symbols are now hidden unless annotated as public.
Internal symbols are explicitly marked as not being exported in case
users chose not to hide symbols by default.
Change-Id: I589dd10be2f6f438508783cf99d141af0120057b
Add [[deprecate]] notices to everything LocalParameterization
related.
Make sure that Ceres can be compiled without triggering
deprecation warnings.
Update the documentation:
a. Add deprecation notices.
b. Document interaction between LocalParameterization and Manifold
coexisting in the Problem.
c. Add documentation for Manifold(s)
Change-Id: Ie4ad48963c83fded86e533c8c60561af402fbaff
1. Add CUDADenseCholesky64Bit, CUDADenseCholesky32Bit, & tests.
CUDADenseCholesky32Bit uses the legacy versions of potrf/potrs
in cuSolverDN, while CUDADenseCholesky64Bit uses the new 64-bit
versions available since Cuda 11.1. The legacy versions are
provided since some platforms such as the Nvidia Jetsons only
support Cuda 10.2.
2. Expose CUDA as a new option under DenseLinearAlgebraLibraryType.
The relevant option to string and string to option helper functions
are modified accordingly.
3. Add cuda as a dense_linear_algebra_library option in bundle_adjuster
to demonstrate the use of the new CUDA option.
Change-Id: I23615e1d301df5185ed646b3e33ee802508dae86
Manifolds are now part of the public API and co-exist
with LocalParameterizations.
1. Add Manifolds to the Problem API.
a. AddParameterBlock(double*, int, Manifold*)
b. SetParameterization(double*, Manifold*)
b. GetManifold(const double*)
c. HasManifold(const double*)
2. Internally Ceres now only uses Manifolds. When the user uses
a LocalParameterization, it is wrapped in a ManifoldAdapter.
3. To preserve the API semantics while keeping the internals clean
we need a new map in ProblemImpl which stores the association
between parameter blocks and local parameterizations. This
is temporary, it will go away once this transition is complete.
4. There are NO algorithmic changes, as in we are not using
any of the expanded interface of the Manifold objects yet.
That will come later.
5. All tests that use LocalParameterization have been duplicated
to use Manifolds, and when this transition is complete the
LocalParameterization based tests will be deleted.
6. Public documentation for the API has been updated. Deprecation
notices to the documentation as well as C++ annotations will come
later.
7. Similar changes have been made to GradientProblem.
Change-Id: I8e03c8ced6e141876ef3eca5740c113afa788f0c
Build with documentation fails if the required 'sphinx rtd theme' is
not available. Check if dependency is installed before building with
documentation.
Add Python3 as requirement for building documentation.
Change-Id: I5edc5d7374864990e625a5efb358f5a23b3c50fe
- Protect against the case when the user has multiple installs of TBB
in their search paths and the first install does not contain debug
libraries. In this case it is possible to get mismatched versions
of TBB inserted into TBB_LIBRARIES.
- Also suppresses warning about use of TBB_ROOT on modern versions of
CMake due to CMP0074.
Change-Id: I2eaafdde4a028cbf6c500c63771973d85bc4723d
- Passing HINTS disables the MODULE mode of find_package() which
precludes users from creating their own find modules to provide
Ceres' dependencies.
Change-Id: I6f2edf429331d13fe67bf61ac4b79d17579d9a57
- Ceres will fail to configure if Eigen3::Eigen target is not found, and
the minimum required Eigen version specified (3.3) exports Eigen as
a CMake package and this is reflected in the default Ubuntu 18.04
packages.
- This permits users to specify their own Eigen3 detection should they
choose to do so, but they must do so via an imported target.
Change-Id: I5edff117c8001770004f49012ac1ae63b66ec9c1
- As our minimum required version of gflags (2.2) exports itself as
a CMake package and this is the case for the default 18.04 package
we can use the gflags target directly.
- Replaces forced use of CONFIG in find_package(gflags) with a check
that the gflags imported target exists to avoid ambiguity with
libgflags if installed in a default location. This permits users to
override the gflags detection should they so choose, provided that
they do so via an imported target.
- Also removes some previously removed legacy GLAGS_ vars from the
installation docs.
Change-Id: I015f5a751e5b22f956bbf9df692e63a6825c9f0d
- Removes all workarounds for pre-C++14 versions
- Removes '11' qualifier from C++ threading option and associated
defines.
- Fix missing inclusion of 'Multithreading' in reported Ceres components
when C++ threading model is enabled.
- Update Sphinx documentation to specify C++14 as minimum requirement.
Change-Id: I706c8b367b3221e3c4d1a0aaf669a8f9c911e438
- If the version of glog detected and used to build Ceres was built with
CMake (i.e. Config mode) then we now use Config mode directly in
CeresConfig.cmake and do not install Ceres' FindGlog.cmake module.
- This has the benefit of removing any hard-coded paths from
CeresConfig.cmake provided that all dependencies were also built with
CMake.
Change-Id: I85af8a953fd6d300e8bc0cdeb0b3636fec182f68
- This reflects modern CMake style, and also provides a measure of
protection against missing find_package() imports in downstream
clients resulting in linker errors when 'ceres' matches the compiled
library and not the imported target.
- The original 'ceres' target remains, as a local imported interface
target created by CeresConfig for backwards compatibility.
Change-Id: Ie9ed8de9b7059bc0cae1ae5002bb94d8fe617188
- Raised as issue #551
- Also adds C++20 to the set of ALLOWED_CXX_STANDARDS, although this
will require a version of CMake >= 3.12.
Change-Id: I0f13c72e93a35391fd2d18590b4243a329a2322c
This patch integrates the code generation module into the build
system. All depenendcies are tracked through CMake targets.
Modifying the cost functor will automatically trigger code
re-generation.
All this functionality is defined in the CMake function
ceres_generate_cost_function_implementation_for_functor
in CeresCodeGeneration.cmake. A hello world usage example
is included in examples/CMakeLists.txt.
Change-Id: I23b8b6698d1ea51cf3d788a47afcf39f8c5ce327
This CL improves the build experience with MSVC:
- It adds the build flag '/bigobj' otherwise the build of
the unit test fails.
- It adds the flag '/wd4267' to suppress signed / unsigned int
conversions (size_t to int).
- It removes the use of std::aligned_storage from FixedArray.
This has been done from the Abseil Team and is in the
absl::FixedArray. Those changes has been ported to ceres.
This fixes the alignemnt for older MSVC versions due to a
bug in the implementation of std::aligned_storage, and
prevents the use of the macro '_ENABLE_EXTENDED_ALIGNED_STORAGE'
for newer MSVC versions, which is problematic as it could affect
user code.
- Fix of the fixed array unit test. Due to the use of std::tuple
instead of absl::tuple in ceres::internal::FixedArray, the
unit test needs to reflect that change as well.
- Replaces 'add_definitions' with 'add_compile_options' for
compiler flags as suggested by the cmake documentation.
Change-Id: I63f08cd6c0a8db8c9931289b909b4deafd75b039
Use the CMake provided module CMakePackageConfigHelpers and its function
write_basic_package_version_file() to write the CeresConfigVersion.cmake
file to be installed.
Use SameMajorVersion compatibility flag.
Change-Id: I353aa8ede1ffee34e58b41371958ed5dedca4104
Sergiu Deitsch