1. Rename SolverTerminationType to TerminationType.
2. Consolidate the enum as
a. CONVERGENCE - subsumes FUNCTION_TOLERANCE, PARAMETER_TOLERANCE and GRADIENT_TOLERANCE
b. NO_CONVERGENCE
c. FAILURE - captures all kinds of failures including DID_NOT_RUN.
d. USER_SUCCESS
e. USER_FAILURE
3. Solver::Summary::error is renamed to be Solver::Summary::message, to both
reduce confusion as well as capture its true meaning.
Change-Id: I27a382e66e67f5a4750d0ee914d941f6b53c326d
I had to fix the following things to make Ceres compile in 2013:
* Not link to 'm' (GNU math library).
* Excplicitly convert an std::ostream to bool.
* Include <algorithm> for std::max.
Change-Id: I3ff65413baf8711364360d46dd71fd553fa63e72
The original visibility based preconditioning paper and
implementation only used the canonical views algorithm.
This algorithm for large dense graphs can be particularly
expensive. As its worst case complexity is cubic in size
of the graph.
Further, for many uses the SCHUR_JACOBI preconditioner
was both effective enough while being cheap. It however
suffers from a fatal flaw. If the camera parameter blocks
are split between two or more parameter blocks, e.g,
extrinsics and intrinsics. The preconditioner because
it is block diagonal will not capture the interactions
between them.
Using CLUSTER_JACOBI or CLUSTER_TRIDIAGONAL will fix
this problem but as mentioned above this can be quite
expensive depending on the problem.
This change extends the visibility based preconditioner
to allow for multiple clustering algorithms. And adds
a simple thresholded single linkage clustering algorithm
which allows you to construct versions of CLUSTER_JACOBI
and CLUSTER_TRIDIAGONAL preconditioners that are cheap
to construct and are more effective than SCHUR_JACOBI.
Currently the constants controlling the threshold above
which edges are considered in the single linkage algorithm
are not exposed. This would be done in a future change.
Change-Id: I7ddc36790943f24b19c7f08b10694ae9a822f5c9
- Any pure-C program #including <math.h> will need to link against
libm, some compilers will let an indirect link slide (via Ceres in
this case) but some won't.
Change-Id: I6890702fa0d2c3fbb747f0f81fc3fa3631839de4
- Adding FindPackage scripts for all of Ceres dependencies.
- Moving depend.cmake contents to CeresConfig.cmake and cleaning up
search for Ceres & required dependencies, no longer push Ceres
options into client.
- Fixing uninstall to remove ceres include root directory.
- Fixing main CMakeLists to install miniglog header if enabled.
- Making miniglog library shared/static with Ceres library.
Change-Id: If926bebd11720230c5136597ccba672394ed9777
1. When a LAPACK implementation is present, then
DENSE_QR, DENSE_NORMAL_CHOLESKY and DENSE_SCHUR
can use it for doing dense linear algebra operations.
2. The user can switch dense linear algebra libraries
by setting Solver::Options::dense_linear_algebra_library_type.
3. Solver::Options::sparse_linear_algebra_library is now
Solver::Options::sparse_linear_algebra_library_type to be consistent
with all the other enums in Solver::Options.
4. Updated documentation as well as Solver::Summary::FullReport
to reflect these changes.
Change-Id: I5ab930bc15e90906b648bc399b551e6bd5d6498f
This extends the C API to support loss functions. Both
user-supplied cost functions as well as the stock Ceres cost
functions (Cauchy, Huber, etc) are supported. In addition, this
adds a simple unit test for the C API.
Supporting loss functions required changing the signature of the
ceres_add_residual_block() function to also take a thunk for the
loss function.
Change-Id: Iefa58cf709adbb8f24588e5eb6aed9aef46b6d73
fix compilation error on Ubuntu 12.0
In file included from /usr/include/fcntl.h:252:0,
from /home/ajg23/src/ceres-solver/examples/libmv_bundle_adjuster.cc:91:
/home/ajg23/src/ceres-solver/examples/libmv_bundle_adjuster.cc: In member function ‘T {anonymous}::EndianAwareFileReader::Read() const [with T = unsigned char]’:
/home/ajg23/src/ceres-solver/examples/libmv_bundle_adjuster.cc:300:5: error: ignoring return value of ‘ssize_t read(int, void*, size_t)’, declared with attribute warn_unused_result [-Werror=unused-result]
Change-Id: Ib23ca19778761bbfe0d77bcf32a2181ce6db1a12
1. Further tightening of the Covariance documentation.
2. Documented minimizer progress output.
3. Lint cleanup from William Rucklidge.
4. Updated version history.
Change-Id: I8bc28484675d4edf89a7c050b6379dbac6c39e91
Add example application which is based on bundle
adjustment code from Libmv library, which is heavily
used in Blender.
Apart from bundle adjustment code this commit also
contains real-life optimization problems from VFX
pipeline. This files are created from production
files of Tears of Steel movie.
New code is placed to examples, and could be used
either as an example implementation of BA or for
timing investigation of problems appearing in VFX.
Problems for this application are placed to
data/libmv-ba-problems.
Usage:
./libmv_bundle_adjuster --input=/path/to/problem_file.bin
There's also optional flag --refine_intrinsics which
declares explicitly whether intrinscis shall be
refined or not. If this flag is not passed, refinement
will happen for problems stored in image space.
Structure of problem files is described in header
comment of libmv_bundle_adjuster.cc.
Change-Id: I51202848c75dcd7612b707609e5ff3708e01b625
- In C you're not allowed to define variables in the middle
of the block. This was violated in curve_fitting.c by
calling ceres_init() in the beginning of main() and declaring
variables later.
- Also ifdef-ed suitesparse stuff in covariance estimation module.
This solves compilation error when you don't have suitesparse
compiled/installed.
Change-Id: I22b543c09ea01f55e127079daade99a0b781f789
This introduces a simple C API for a subset of Ceres. This opens the door to
using languages like Python to call Ceres, since it is much easier to bind to C
than it is to bind to C++. It will mean giving up the native Ceres autodiff.
The implementation in this patch does not attempt to do everything but is only
just enough to get started. Subsequent patches will increase the surface area
of Ceres that is covered by the C API.
Change-Id: Ic51804bac6865e1a2e476553248aabc91dff3409
Sparse Cholesky factorization algorithms use a fill-reducing
ordering to permute the columns of the Jacobian matrix. There
are two ways of doing this.
1. Compute the Jacobian matrix in some order and then have the
factorization algorithm permute the columns of the Jacobian.
2. Compute the Jacobian with its columns already permuted.
The first option incurs a significant memory penalty. The
factorization algorithm has to make a copy of the permuted
Jacobian matrix.
Starting with this change Ceres pre-permutes the columns of the
Jacobian matrix and generally speaking, there is no performance
penalty for doing so.
In some rare cases, it is worth using a more complicated
reordering algorithm which has slightly better runtime
performance at the expense of an extra copy of the Jacobian
matrix. Setting Solver::Options::use_postordering to true
enables this tradeoff.
This change also removes Solver::Options::use_block_amd
as an option. All matrices are ordered using their block
structure. The ability to order them by their scalar
sparsity structure has been removed.
Here is what performance on looks like on some BAL problems.
Memory
======
HEAD pre-ordering
16-22106 137957376.0 113516544.0
49-7776 56688640.0 46628864.0
245-198739 1718005760.0 1383550976.0
257-65132 387715072.0 319512576.0
356-226730 2014826496.0 1626087424.0
744-543562 4903358464.0 3957878784.0
1024-110968 968626176.0 822071296.0
Time
====
HEAD pre-ordering
16-22106 3.8 3.7
49-7776 1.9 1.8
245-198739 82.6 81.9
257-65132 14.0 13.4
356-226730 98.8 95.8
744-543562 325.2 301.6
1024-110968 42.1 37.1
Change-Id: I6b2e25f3fed7310f88905386a7898ac94d37467e
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
Add automatic recursive independent set decomposition.
Clean up the naming and the API for inner iterations.
Change-Id: I3d7d6babb9756842d7367e14b7279d2df98fb724
A non-linear generalization of Ruhe & Wedin's algorithm
for separable non-linear least squares problem. It is implemented
as coordinate descent on an independent subset of the parameter
blocks at the end of every successful Newton step. The resulting
algorithm has much improved convergence at the cost of some
execution time.
Change-Id: I8fdc5edbd0ba1e702c9658b98041b2c2ae705402
The snavely reprojection error is wrong both in the sample code and
in the documentation. It should not multiply by the focal length
before calculating the distortion.
Change-Id: I292af962e634506a7cc57af9ce72b08f81ce3425
Using Ceres in your application involves linking several dependent
libraries, depending on how you compiled Ceres. The example makes
it easier for users to leverage Ceres in their applications.
Change-Id: I6331fd9c6e36c3eac464be2a7a6b905cc76ed843
Remove the old ordering API, and modify solver_impl.cc
to use the new API everywhere.
In the process also clean up the linear solver instantion
logic in solver_impl.cc a bit too.
Change-Id: Ia66898abc7f622070b184b21fce8cc6140c4cebf
We have permission from Stefan Roth to use the coefficients from his
Matlab toolbox. They have been added as *.foe files.
Change-Id: Ice529e5cab0302b9f27648dd3c8e5ed7b9662aba
Previously, the return status was ignored, which meant that e.g. a
numerical failure (which returns 0 final error) would be counted as
correct answer (as the final error is at least as good as the certified
error).
Change-Id: Ia627d5fadf9b20100e628519af794ce0c0b195f4
More flexible testing.
Read and parse the certified cost value from the data file.
Remove the ugly hack for computing the certified cost.
Refactored the flags parsing logic
Change-Id: I8f2e6be183b758b2453302fcdc6696bfa0db5eb8
Extend nist.cc to test more nonlinear and linear solvers.
(Thanks to Markus Moll for finding the Roszman1 bug)
Change-Id: I92b4bab0771de85f7fe711fb0853f155991f4aaf
1. CostFunction returning false is handled better.
If only the cost is being evaluated, it is possible to
use the false value as an infinite value signal/outside
a region of validity. This allows a weak form of constraint
handling. Useful for example in handling infinities.
2. Changed the way how the slop around zero when model_cost
is larger than the current cost. Relative instead of absolute
tolerances are used. The same logic is propagated how the
corresponding clamping of the model_cost is done.
3. Fixed a minor indexing bug in nist.cc.
4. Some minor logging fixes to nist.cc to make it more
compatible with the rest of ceres.
Together these changes, take the successful solve count from
41/54 to 46/54 and eliminate all NUMERICAL_FAILURE problems.
Change-Id: If94170ea4731af5b243805c0200963dd31aa94a7
Sameer Agarwal