- update links to cmake docs to version 3.5
- highlight difference between dependencies with and without custom
find modules
- point out removal of CERES_INCLUDE_DIRS
- point out that TBB might be linked if SuiteSparseQR is found
- added 'Migration' section
- fixed typos
Change-Id: Icbcc0e723d11f12246fb3cf09b9d7c6206195a82
Linux:
- Remove workaround for Ubuntu 14.04, which is EOL. libsuitesparse-dev
seems to come with a shared library on 16.04 and later, so linking
to a shared build of ceres doesn't seem to be an issue any more.
- Add missing libgflags-dev.
macOS:
- OS X is now called macOS.
- Update homebrew link.
- Mac homebrew the preferred method of installation.
- Fix OpenMP instructions.
- Remove reference to homebrew/science. Everything is in core.
- Add missing gflags.
Change-Id: I633b3c7ea84a87886bfd823f8187fdd0a84737c9
1. Add a move constructor to NumericDiffCostFunction, DynamicAutoDiffCostfunction
and DynamicNumericDiffCostFunction.
2. Add optional ownership of the underlying functor.
3. Update docs to reflect this as well as the variadic templates that allow an
arbitrary number of parameter blocks.
Change-Id: I57bbb51fb9e75f36ec2a661b603beda270f30a19
Add Ownership semantics to the AutoDiffCostFunction
This allows several benefits, such as pointer ordering always being the
same for numerical repeatability (due to blocks being ordered by
pointer address), memory adjacency for better cache performance, and
reduced allocator pressure / overhead.
This is then made use of in libmv by preallocating the errors and
cost functions into vectors
Change-Id: Ia5b97e7249b55a463264b6e26f7a02291927c9f2
- 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
Simplify the semantics for Problem::EvaluateResidualBlock to
not ignore the presence of EvaluationCallback and add another method
EvaluateResidualBlockAssumingParametersUnchanged to handle the case
where the user has an EvaluationCallback but knows that the parameter
blocks do not change between calls.
Updated the documentation for the methods and EvaluationCallback to
reflect these semantics.
Also added tests for Evaluation related methods calling i
EvaluationCallback when its present.
https://github.com/ceres-solver/ceres-solver/issues/483
Change-Id: If0a0c95c2f1f92e9183a90df240104a69a71c46d
- 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
Re-organize the section, add some more references and details for
existing preconditioners and add documentation for the SUBSET
precondition.
https://github.com/ceres-solver/ceres-solver/issues/490
Change-Id: I93d0af819c160f5e4ce48b18202f629ddb92ca7b
1. The MathJax font configuration is moved into conf.py and removed
from make_docs.py along with better font sizing.
2. Remove the bread crumb replacement as it is not working anymore.
3. Fix a parsing error in nnls_modeling.rst which the new version of
sphinx barfed on.
Change-Id: Ia3c2e732323a8b5cabafe851ac5ca0f0c82da071
Fix typos in docs/source/features.rst and examples/helloworld.cc. Alter a NULL to nullptr in include/ceres/autodiff_cost_function.h
Change-Id: Ibcf00b6ef665ad6be9af14b3add2dd4f3852e7e6
- 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
Local parameterizations with zero tangent/local size will cause the
corresponding parameter block to be treated as constant.
https://github.com/ceres-solver/ceres-solver/issues/347
Change-Id: I554a2acc420f5dd9d0cc7f97b691877eb057b2c0
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
In the docs, `Solver::Options::gradient_check_relative_precision` is
documented to have a default precision of 1e08. That is incorrect, it
should be 1e-8.
Change-Id: Ib6b29e356738de4b555c77f7ffd1224d0cae4b6a
https://github.com/ceres-solver/ceres-solver/issues/270
Detailed list of changes:
1. Add SUBSET to the PreconditionerType enum.
2. Add Solver::Options::residual_blocks_for_subset_preconditioner
3. Integrate SubsetPreconditioner into the CGNR solver.
4. Add the reordering logic needed for this to TrustRegionPreprocessor.
5. Expect CreateJacobianBlockTranspose to take the starting row block
so that we can work with subparts of the Jacobian matrix.
6. Extend the denoising example to use this preconditioner.
As an illustration of its performance, we consider the performance of
denoising -input ../data/ceres_noisy.pgm --foe_file ../data/5x5.foe
tl;dr
For the same cost,
SPARSE_NORMAL_CHOLESKY - 81s
CGNR + JACOBI - 718s
CGNR + SUBSET - 57s
SPARSE_NORMAL_CHOLESKY
======================
Cost:
Initial 2.317806e+05
Final 2.232323e+04
Change 2.094574e+05
Minimizer iterations 10
Successful steps 10
Unsuccessful steps 0
Time (in seconds):
Preprocessor 2.999746
Residual only evaluation 2.306811 (10)
Jacobian & residual evaluation 7.421727 (10)
Linear solver 65.517273 (10)
Minimizer 78.731011
Postprocessor 0.026079
Total 81.756836
Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 8.573046e-04 <= 1.000000e-03)
CGNR + JACOBI
=============
Cost:
Initial 2.317806e+05
Final 2.232344e+04
Change 2.094572e+05
Minimizer iterations 10
Successful steps 10
Unsuccessful steps 0
Time (in seconds):
Preprocessor 0.648814
Residual only evaluation 2.297607 (10)
Jacobian & residual evaluation 7.327886 (10)
Linear solver 699.601248 (10)
Minimizer 712.419493
Postprocessor 0.024014
Total 713.092321
Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 8.528538e-04 <= 1.000000e-03)
CGNR + SUBSET (random 20% residuals used for the preconditioner)
===============================================================
Cost:
Initial 2.317806e+05
Final 2.232327e+04
Change 2.094574e+05
Minimizer iterations 10
Successful steps 10
Unsuccessful steps 0
Time (in seconds):
Preprocessor 1.472743
Residual only evaluation 2.428315 (10)
Jacobian & residual evaluation 7.367796 (10)
Linear solver 42.585999 (10)
Minimizer 55.664459
Postprocessor 0.024098
Total 57.161301
Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 8.538277e-04 <= 1.000000e-03)
Change-Id: Ifb011408bd53edbb9439b0b7345649a38f999e18
Some methods in Problem do not modify the parameter block
and those methods now allow the user to call them with const double*.
The methods are
RemoveParameterBlock
SetParameterBlockConstant
IsParameterBlockConstant
GetParameterization
GetParameterLowerBound
GetParameterUpperBound
https://github.com/ceres-solver/ceres-solver/issues/479
Change-Id: I59dcb77134f59576dd498bd732e29aae9abd28b1
This method gives the user the ability to evaluate a given residual
block.
A couple of minor cleanups.
Problem::problem_impl_ -> Problem::impl_
NULL -> nullptr
https://github.com/ceres-solver/ceres-solver/issues/417
Change-Id: I6dd94762c475fa264c387b8c93d516f6e06fe832
There are overloaded operators supporting operations between a double and a Jet, so there
is no need to convert a double to a Jet.
Change-Id: I9cfcefb32c6b1a5ad716496b620d578871f0ff03
When Solver::Options::check_gradients is true, Ceres internally
creates a new ProblemImpl object which wraps each CostFunction
in the user's problem with a GradientCheckingCostFunction.
Doing this also requires creating new ParameterBlock objects,
and when support for upper and lower bounds was added to Ceres,
CreateGradientCheckingProblemImpl should also have been updated
to create a problem with the same parameter bounds. As a result,
if check_gradients is enabled for a bounded problem, it constructs
an unconstrained problem and solves it.
This CL fixes this, by introducing Problem::GetParameterLowerBound,
and Problem::GetParameterUpperBound and using them to create a bounded
problem when checking gradients.
Thanks to @pbeeson for not only reporting this problem, but also
providing a small standalone reproduction which made debugging this
possible.
https://github.com/ceres-solver/ceres-solver/issues/379
Change-Id: Id18eb858a7009bf4fa452a21b925922d13f3249f
CMake support in Android is now standard and the CMake file
has fuller richer functionality than the Android.mk file ever did.
https://github.com/ceres-solver/ceres-solver/issues/364
Change-Id: Ib79bcc19dd47495a81a5d07fafdf06eb8005984e
- In light of the C++11 threads threading option this is no longer
necessary for cross-platform threading support and did not offer a
noticeable performance gain over either the C++11 threads
implementation or OpenMP.
Change-Id: Icb588d520888c19a1775171795b55bcaffb3d256
- Now that we require CMake >= 3.x, we can roll the definition of the
include directories for clients linking against Ceres into the
exported Ceres CMake target via target_include_directories().
- This removes the requirement for CERES_INCLUDE_DIRS.
Change-Id: Ibe3bbf796339871d66138fc9520053d1766f09a8
Nikolaus Demmel