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
Do not define trivial constructors or destructors unless necessary
(e.g., for implementing pimpl) following the rule of zero. Define
virtual base class destructors out-of-line to avoid emitting vtables in
every translation unit.
Change-Id: Iea2d8978e62a8ee5a97b86cbb4e858d56e0fb274
virtual can be ambiguous. Applied changes correspond to clang-tidy fixes
stemming from the modernize-use-override check.
Change-Id: I973afd4680a5df587419777504aeb94467196b89
1. Add EigenDenseQR & tests.
This implementation now uses an in place decomposition,
which means that we are not allocating, deallocating
memory every call.
2. Add LAPACKDenseQR and tests.
The LAPACK implementation instead of using dgels which is a
routine which does the factorization and solve in one
call, now uses dgeqrf for factorization and then
dormqr and dtrtrs for solving. This allows us to
have a factorize and solve interface like DenseCholesky.
And opens the door to iterative refinement and mixed
precision solves.
3. The refactor also allows us to simplify the interface to
DenseSparseMatrix considerably. The internals of this
class were complicated because we had the AppendDiagonal
and RemoveDiagonal methods and we did not want to allocate
deallocate memory every call. But since we pay the cost
of the copy anyways, we can just hold that buffer
in DenseQRSolver.
4. Delete lapack.cc/h
5. The net result is that everything seems to be a bit faster.
For LAPACK we are not doing some of the scaling work that
dgels was doing. For Eigen I think it maybe the inplace
decomposition.
Benchmark Time CPU Time Old Time New CPU Old CPU New
----------------------------------------------------------------------------------------------------------------------------------------------------------
BM_DenseSolver<ceres::EIGEN, ceres::DENSE_QR>/1/1 -0.1154 -0.1159 692 612 691 611
BM_DenseSolver<ceres::EIGEN, ceres::DENSE_QR>/2/1 -0.1601 -0.1553 717 603 712 601
BM_DenseSolver<ceres::EIGEN, ceres::DENSE_QR>/3/1 -0.1673 -0.1575 733 610 724 610
BM_DenseSolver<ceres::EIGEN, ceres::DENSE_QR>/6/2 -0.1008 -0.1003 886 797 884 796
BM_DenseSolver<ceres::EIGEN, ceres::DENSE_QR>/10/3 -0.1489 -0.1514 1283 1092 1281 1087
BM_DenseSolver<ceres::EIGEN, ceres::DENSE_QR>/12/4 -0.1040 -0.1104 1556 1394 1553 1381
BM_DenseSolver<ceres::EIGEN, ceres::DENSE_QR>/20/5 -0.0007 -0.0097 1911 1910 1908 1890
BM_DenseSolver<ceres::EIGEN, ceres::DENSE_QR>/40/5 -0.1033 -0.1022 2981 2673 2957 2655
BM_DenseSolver<ceres::EIGEN, ceres::DENSE_QR>/100/10 -0.0147 +0.0015 9275 9138 9026 9040
BM_DenseSolver<ceres::EIGEN, ceres::DENSE_QR>/200/10 -0.1408 -0.1284 15093 12968 14778 12880
BM_DenseSolver<ceres::EIGEN, ceres::DENSE_QR>/200/20 -0.0310 -0.0355 38973 37765 38837 37460
BM_DenseSolver<ceres::LAPACK, ceres::DENSE_QR>/1/1 -0.1228 -0.1256 736 646 731 640
BM_DenseSolver<ceres::LAPACK, ceres::DENSE_QR>/2/1 -0.1401 -0.1396 740 636 735 633
BM_DenseSolver<ceres::LAPACK, ceres::DENSE_QR>/3/1 -0.1731 -0.1695 744 615 738 613
BM_DenseSolver<ceres::LAPACK, ceres::DENSE_QR>/6/2 -0.1399 -0.1408 1121 965 1113 956
BM_DenseSolver<ceres::LAPACK, ceres::DENSE_QR>/10/3 -0.1110 -0.1145 1571 1397 1560 1382
BM_DenseSolver<ceres::LAPACK, ceres::DENSE_QR>/12/4 -0.1411 -0.1417 2006 1722 1993 1710
BM_DenseSolver<ceres::LAPACK, ceres::DENSE_QR>/20/5 -0.1740 -0.1729 2741 2264 2724 2253
BM_DenseSolver<ceres::LAPACK, ceres::DENSE_QR>/40/5 -0.0966 -0.1123 3462 3128 3425 3040
BM_DenseSolver<ceres::LAPACK, ceres::DENSE_QR>/100/10 -0.0387 -0.0998 10365 9964 10339 9307
BM_DenseSolver<ceres::LAPACK, ceres::DENSE_QR>/200/10 -0.2044 -0.2049 16031 12754 15998 12720
BM_DenseSolver<ceres::LAPACK, ceres::DENSE_QR>/200/20 -0.2391 -0.2386 35777 27223 35716 27193
Change-Id: I782f0d7664efe1435eebda92ddf47a0fe66c9c72
- 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
1. Replace CERES_DISALLOW_* with explicitly deleted constructors.
2. Replace use of CERES_ARRAY_SIZE and stack allocated arrays
with std::vector.
3. Move CERES_ALIGN_* macros into manual_constructor.h, which is
the one place they are used and will be deprecated along with that
file.
4. Introduce isnan,isnormal,isinf and isfinite for Jets.
5. Replace IsNormal,IsFinite,IsNaN and IsInfinite with corresponding
c++11 function calls.
Change-Id: I04f33a221aae77d247602150988b6d4aa4efeeab
Since Ceres is moving to using GitHub for issues, and the Google
Code URL in the current copyright header will soon become invalid,
update all the headers.
Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
1. Introduce new typdefs in eigen.h to allow for column
major matrices.
2. Clean up old unused typedefs, and the aligned typedefs
since they do not actually add any real performance.
3. Made eigen.h conform to the google style guide by removing
the using directives. They were polluting the ceres namespace.
4. Made the template specialization generator work again.
Change-Id: Ic2268c784534b737ebd6e1a043e2a327adaeca37
1. Make the mechanism for writing problems to disk, generic and
controllable using an enum DumpType visible in the API.
2. Instead of single file containing protocol buffers, now matrices can
be written in a matlab/octave friendly format. This is now the default.
3. The support for writing problems to disk is moved into
linear_least_squares_problem.cc/h
4. SparseMatrix now has a ToTextFile virtual method which is
implemented by each of its subclasses to write a (i,j,s) triplets.
5. Minor changes to simple_bundle_adjuster to enable logging at startup.
Sergiu Deitsch