Linking currently fails in Visual Studio due to a missing library
"gomp.lib". This is not needed in Visual Studio. OpenMP works
without it.
Change-Id: I39e204a8dd4f1b7425df7d4b222d86a8bb961432
The overload for pointers in hash tables was applied in normal
usage of schur_ordering.cc. However, the tests did not include the
overload since they only included collections_port.h. As a result,
the routines in schur_ordering.cc were using a different hash
function than that inside the tests.
The fix is to remove the specialization. If this breaks one of the
compiler configurations, we will find a workaround at that time.
Change-Id: Idbf60415d5e2aec0c865b514ad0c577d21b91405
On certain NDK build configurations, one of the innermost
parts of the Schur eliminator would get compiled
incorrectly. The compiler changed a -= to a +=.
The normal Ceres unit tests caught the problem; however,
since it is not possible to build the tests with the NDK
(only with the standalone toolchain) this was difficult to
track down. Finding the issue involved pasting the schur
eliminator unit test inside of solver_impl.cc and other such
hacks.
Change-Id: Ie91bb545d74fe39f0c8cbd1a6eb69ee4d8b25fb2
Eigen3 does not allow column vectors to be stored in row-major
format. NumericDiffCostFunction by default stores its Jacobian
matrices in row-major format. This works fine if the residual
contains more than one variable. But if the residual block
depends on one variable and has more than one residuals, the
resulting Jacobian matrix is a column matrix in row-major format
resulting in a compile time error.
The fix is to check the template parameters and switch to column-major
storage as needed.
Thanks to Lena Gieseke for reporting this.
Change-Id: Icc51c5b38e1f3609e0e1ecb3c4e4a02aecd72c3b
This way, setting the lower and upper bound both to 1.0, one can disable
the automatic trust region scaling.
Change-Id: Ifa317a6911b813a89c1cf7fdfde25af603705319
Headers are installed in ${CMAKE_INSTALL_PREFIX}/include/ceres
Libraries are installed in ${CMAKE_INSTALL_PREFIX}/lib
pdf is installed in ${CMAKE_INSTALL_PREFIX}/share/ceres/docs
Change-Id: Ic175f2c2f5fa86820a1e8c64c2ed171f4a302a68
If the source directory is a clone, at CMake time the commit-msg hook gets
downloaded and installed in the right location.
Change-Id: I5fee17d050ca22d8b92a49fdcc2a1cd6659f209b
Currently the examples are always built. For external projects, it is useful
not to compile the examples.
Change-Id: I41d3bde19c7e742818e60f78222d39c43992ca8b
For problems with a small number of variables, but a large
number of residuals, it is sometimes beneficial to use the
Cholesky factorization on the normal equations, instead of
the dense QR factorization of the Jacobian, even though it
is numerically the better thing to do.
Change-Id: I3506b006195754018deec964e6e190b7e8c9ac8f
Gather
* all executables in ${CMAKE_BINARY_DIR}/bin
* all libraries (static and dynamic) in ${CMAKE_BINARY_DIR}/lib
Change-Id: Ibc2fa1adfb6f0aea65d66d570259b79546bf3b07
SuiteSparse 4 requires linking to libsuitesparseconfig.a.
Both SuiteSparse 3 and SuiteSparse 4 require an additional header
(either UFconfig.h or SuiteSparse_config.h) that is not found if it is
in a separate path. Therefore, add explicit checks.
Change-Id: I699902b5db4f1b7f17134b5a54f9aa681445e294
In the TrustRegionMinimizer, the step is currently implicitly negated.
This is done so that the linearized residual is |r - J*step|^2, which
corresponds to J*step = r, so neither J nor r have to be modified.
However, it leads to the rather unintuitive situation that the strategy
returns a step in positive gradient direction, which you would expect to
increase the function value. One way is to rename the "step" parameter in
the strategy to "negative_step" and document it.
This patch instead moves the negation inside the strategy, just around
the linear solver call, so that it is done in a local context and easier
to document.
Change-Id: Idb258149a01f61c64e22128ea221c5a30cd89c89
This adds a Android.mk build that builds a Ceres static library
suitable for embetting in larger Android applications. This is
useful when needing to build Ceres without GPL'd components, since
the standalone toolchain (needed for the CMake Android build) does
not work with STLPort.
Change-Id: I8d857237f6f82658741017d161b2e31d9a20e5a7
In StepAccepted, reuse_ was not cleared if the improvement was not good
enough. This is obviously wrong as the step was taken nevertheless and
the computed entities may be completely different at the new iterate.
Change-Id: I4bf3441f71550a0595dd8c5565aedd38d03e8b2f
In the Levenberg-Marquardt algorithm, the diagonal of J^T J is used to
regularize the problem. This corresponds to an elliptical trust region
|| D step || <= r, where D = sqrt(diag(J^T J)).
This commit adds the same elliptical trust region to the dogleg
strategy. The trust region problem becomes
min. x^T H x + g^T x
s.t. || D x || <= r
By substituting y = D x, it becomes
min. y^T D^-1 H D^-1 y + g^T D^-1 y
s.t. || y || <= r
which is the traditional spherical trust region problem.
This commit changes the DoglegStrategy so that the Gauss-Newton point,
the gradient, and the Cauchy point are scaled correctly (without
modifying the Jacobian directly). Then the dogleg step is computed the
same way as before, and finally the step is rescaled to obtain
x = D^-1 y.
Change-Id: Iea25a9113ecba911b746e269bc6e6fe51cb59003
Petter Strandmark