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8 Commits

Author SHA1 Message Date
Nikolaus Demmel d3f66d77f4 fix formatting generated files (best effort) 
- update file generator scripts / templates so generated files adhere
  to clang-format
- A few exceptions are not fixed, where the file generation results in
  lines of different width. To properly fix this would make the code
  more complicated and it's not that important for generated files
  anyway.
- note that generated files are excluded in ./scripts/format_all.sh

Change-Id: I4f42c83d1fec01242eada5e7ce6c1a5192234d37
 2020-09-28 02:24:43 +02:00
Nikolaus Demmel 7b8f675bfd fix formatting for (non-generated) internal source files 
- Change formatting standard to Cpp11. Main difference is not having
  the space between two closing >> for nested templates. We don't
  choose c++14, because older versions of clang-format (version 9
  and earlier) don't know this value yet, and it doesn't make a
  difference in the formatting.
- Apply clang-format to all (non generated) internal source files.
- Manually fix some code sections (clang-format on/off) and c-strings
- Exclude some embedded external files with very different formatting
  (gtest/gmock)
- Add script to format all source files

Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d
 2020-09-21 02:52:07 +02:00
Alex Stewart 8f41ca6abc Add Apple's Accelerate framework as a sparse linear algebra library. 
- Currently DynamicSparseNormalCholeskySolver is unsupported for
  Accelerate.

Change-Id: I03b5a86bb22fef249c4aecd48947a613e8eff7a5
 2018-06-29 09:43:03 +01:00
Sameer Agarwal e9397ad352 Enable visibility based preconditioners for CX_SPARSE and EIGEN_SPARSE 
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
 2018-05-09 13:57:12 -07:00
Sameer Agarwal 865952821f Fix a use after free bug in the tests. 
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
 2018-04-20 11:02:48 -07:00
Sameer Agarwal 4556eb9810 Simplify integration tests. 
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
 2018-04-18 17:37:20 -07:00
Keir Mierle 0a30117489 Add parallel bundle tests to CMake build 
This converts the bundle_adjustment_test to the parallel
version with multiple binaries, as is already in place for
the Bazel build. Additionally, since there is no longer a
need for it, this deletes bundle_adjustment_test.cc.

The test suite now runs on my 6 year old desktop in ~60 seconds!

Change-Id: Ib4a59f8749e823f697e6da5d303977d284303ae3
 2018-03-02 19:38:32 +00:00
Keir Mierle 8549c88d7c Split bundle adjustment tests into individual binaries 
The bundle adjustment test is extremely slow to
run (especially in debug or fastbuild), and since
it is in one binary, there is no way to get CMake
or Bazel to parallelize the test execution.

This change divides the test into a single binary
for each configuration, making parallelized
execution possible.

In this patch, only the Bazel build is updated to
use the new test. The old test still exists to
retain parity with the CMake build. A followup
change will complete the process of adding
equivalent test execution to the CMake build.

Example build output:

% bazel test -c opt :all
INFO: Analysed 123 targets (15 packages loaded).
INFO: Found 2 targets and 121 test targets...
INFO: From Compiling external/com_github_google_glog/src/logging.cc:
external/com_github_google_glog/src/logging.cc: In static member function 'static void google::LogMessage::Fail()':
external/com_github_google_glog/src/logging.cc:1518:1: warning: 'noreturn' function does return
 }
 ^
INFO: Elapsed time: 98.056s, Critical Path: 23.80s
INFO: Build completed successfully, 976 total actions
//:array_utils_test                                                      PASSED in 0.1s
//:autodiff_cost_function_test                                           PASSED in 0.2s
//:autodiff_local_parameterization_test                                  PASSED in 0.2s
//:autodiff_test                                                         PASSED in 0.1s
//:ba_denseschur_auto_test                                               PASSED in 5.3s
//:ba_denseschur_auto_threads_test                                       PASSED in 0.1s
//:ba_denseschur_user_test                                               PASSED in 5.3s
//:ba_denseschur_user_threads_test                                       PASSED in 0.1s
//:ba_iterschur_jacobi_auto_test                                         PASSED in 6.2s
//:ba_iterschur_jacobi_auto_threads_test                                 PASSED in 0.1s
//:ba_iterschur_jacobi_user_test                                         PASSED in 6.0s
//:ba_iterschur_jacobi_user_threads_test                                 PASSED in 0.2s
//:ba_iterschur_schurjacobi_auto_test                                    PASSED in 6.1s
//:ba_iterschur_schurjacobi_auto_threads_test                            PASSED in 0.2s
//:ba_iterschur_schurjacobi_user_test                                    PASSED in 5.7s
//:ba_iterschur_schurjacobi_user_threads_test                            PASSED in 0.1s
//:ba_iterschur_suitesparse_clustjacobi_auto_test                        PASSED in 0.1s
//:ba_iterschur_suitesparse_clustjacobi_auto_threads_test                PASSED in 0.1s
//:ba_iterschur_suitesparse_clustjacobi_user_test                        PASSED in 0.1s
//:ba_iterschur_suitesparse_clustjacobi_user_threads_test                PASSED in 0.1s
//:ba_iterschur_suitesparse_clusttri_auto_test                           PASSED in 0.1s
//:ba_iterschur_suitesparse_clusttri_auto_threads_test                   PASSED in 0.1s
//:ba_iterschur_suitesparse_clusttri_user_test                           PASSED in 0.1s
//:ba_iterschur_suitesparse_clusttri_user_threads_test                   PASSED in 0.1s
//:ba_sparsecholesky_cxsparse_auto_test                                  PASSED in 0.2s
//:ba_sparsecholesky_cxsparse_auto_threads_test                          PASSED in 0.2s
//:ba_sparsecholesky_cxsparse_user_test                                  PASSED in 0.1s
//:ba_sparsecholesky_cxsparse_user_threads_test                          PASSED in 0.1s
//:ba_sparsecholesky_eigensparse_auto_test                               PASSED in 0.1s
//:ba_sparsecholesky_eigensparse_auto_threads_test                       PASSED in 0.1s
//:ba_sparsecholesky_eigensparse_user_test                               PASSED in 0.2s
//:ba_sparsecholesky_eigensparse_user_threads_test                       PASSED in 0.1s
//:ba_sparsecholesky_suitesparse_auto_test                               PASSED in 0.1s
//:ba_sparsecholesky_suitesparse_auto_threads_test                       PASSED in 0.3s
//:ba_sparsecholesky_suitesparse_user_test                               PASSED in 0.1s
//:ba_sparsecholesky_suitesparse_user_threads_test                       PASSED in 0.2s
//:ba_sparseschur_cxsparse_auto_test                                     PASSED in 0.1s
//:ba_sparseschur_cxsparse_auto_threads_test                             PASSED in 0.2s
//:ba_sparseschur_cxsparse_user_test                                     PASSED in 0.1s
//:ba_sparseschur_cxsparse_user_threads_test                             PASSED in 0.2s
//:ba_sparseschur_eigensparse_auto_test                                  PASSED in 0.2s
//:ba_sparseschur_eigensparse_auto_threads_test                          PASSED in 0.2s
//:ba_sparseschur_eigensparse_user_test                                  PASSED in 0.1s
//:ba_sparseschur_eigensparse_user_threads_test                          PASSED in 0.2s
//:ba_sparseschur_suitesparse_auto_test                                  PASSED in 0.3s
//:ba_sparseschur_suitesparse_auto_threads_test                          PASSED in 0.2s
//:ba_sparseschur_suitesparse_user_test                                  PASSED in 0.2s
//:ba_sparseschur_suitesparse_user_threads_test                          PASSED in 0.2s
//:block_jacobi_preconditioner_test                                      PASSED in 0.1s
//:block_random_access_dense_matrix_test                                 PASSED in 0.2s
//:block_random_access_diagonal_matrix_test                              PASSED in 0.4s
//:block_random_access_sparse_matrix_test                                PASSED in 0.2s
//:block_sparse_matrix_test                                              PASSED in 0.2s
//:c_api_test                                                            PASSED in 0.2s
//:canonical_views_clustering_test                                       PASSED in 0.4s
//:compressed_col_sparse_matrix_utils_test                               PASSED in 0.3s
//:compressed_row_sparse_matrix_test                                     PASSED in 0.3s
//:conditioned_cost_function_test                                        PASSED in 0.2s
//:conjugate_gradients_solver_test                                       PASSED in 0.2s
//:corrector_test                                                        PASSED in 0.2s
//:cost_function_to_functor_test                                         PASSED in 0.1s
//:covariance_test                                                       PASSED in 0.1s
//:cubic_interpolation_test                                              PASSED in 0.2s
//:dense_linear_solver_test                                              PASSED in 0.1s
//:dense_sparse_matrix_test                                              PASSED in 0.4s
//:detect_structure_test                                                 PASSED in 0.3s
//:dogleg_strategy_test                                                  PASSED in 0.4s
//:dynamic_autodiff_cost_function_test                                   PASSED in 0.2s
//:dynamic_compressed_row_sparse_matrix_test                             PASSED in 0.2s
//:dynamic_numeric_diff_cost_function_test                               PASSED in 0.1s
//:dynamic_sparse_normal_cholesky_solver_test                            PASSED in 0.4s
//:dynamic_sparsity_test                                                 PASSED in 0.3s
//:evaluator_test                                                        PASSED in 0.2s
//:gradient_checker_test                                                 PASSED in 0.2s
//:gradient_checking_cost_function_test                                  PASSED in 0.2s
//:gradient_problem_solver_test                                          PASSED in 0.2s
//:gradient_problem_test                                                 PASSED in 0.4s
//:graph_algorithms_test                                                 PASSED in 0.4s
//:graph_test                                                            PASSED in 0.2s
//:householder_vector_test                                               PASSED in 0.2s
//:implicit_schur_complement_test                                        PASSED in 0.2s
//:inner_product_computer_test                                           PASSED in 0.3s
//:invert_psd_matrix_test                                                PASSED in 0.1s
//:is_close_test                                                         PASSED in 0.4s
//:iterative_schur_complement_solver_test                                PASSED in 0.3s
//:jet_test                                                              PASSED in 0.3s
//:levenberg_marquardt_strategy_test                                     PASSED in 0.2s
//:line_search_minimizer_test                                            PASSED in 0.2s
//:line_search_preprocessor_test                                         PASSED in 0.1s
//:local_parameterization_test                                           PASSED in 0.1s
//:loss_function_test                                                    PASSED in 0.1s
//:minimizer_test                                                        PASSED in 0.2s
//:normal_prior_test                                                     PASSED in 0.3s
//:numeric_diff_cost_function_test                                       PASSED in 0.2s
//:ordered_groups_test                                                   PASSED in 0.2s
//:parameter_block_ordering_test                                         PASSED in 0.2s
//:parameter_block_test                                                  PASSED in 0.1s
//:partitioned_matrix_view_test                                          PASSED in 0.1s
//:polynomial_test                                                       PASSED in 0.1s
//:problem_test                                                          PASSED in 0.1s
//:program_test                                                          PASSED in 0.2s
//:reorder_program_test                                                  PASSED in 0.2s
//:residual_block_test                                                   PASSED in 0.2s
//:residual_block_utils_test                                             PASSED in 0.2s
//:rotation_test                                                         PASSED in 7.1s
//:schur_complement_solver_test                                          PASSED in 0.2s
//:schur_eliminator_test                                                 PASSED in 0.2s
//:single_linkage_clustering_test                                        PASSED in 0.2s
//:small_blas_test                                                       PASSED in 0.2s
//:solver_test                                                           PASSED in 0.2s
//:sparse_cholesky_test                                                  PASSED in 0.2s
//:sparse_normal_cholesky_solver_test                                    PASSED in 0.2s
//:system_test                                                           PASSED in 0.1s
//:tiny_solver_autodiff_function_test                                    PASSED in 0.2s
//:tiny_solver_cost_function_adapter_test                                PASSED in 0.1s
//:tiny_solver_test                                                      PASSED in 0.1s
//:triplet_sparse_matrix_test                                            PASSED in 0.2s
//:trust_region_minimizer_test                                           PASSED in 0.2s
//:trust_region_preprocessor_test                                        PASSED in 0.2s
//:visibility_based_preconditioner_test                                  PASSED in 0.1s
//:visibility_test                                                       PASSED in 0.2s

Executed 121 out of 121 tests: 121 tests pass.
There were tests whose specified size is too big. Use the --test_verbose_timeout_warnings command line option to see which ones these are.

Change-Id: I32825f1e6278ba69dc296bb2dc05fb8ebda26592
 2018-02-20 14:46:10 -08:00