1. Update version history.
2. Minor changes to the tutorial to reflect the bounds constrained
problem.
3. Added static factory methods to the SnavelyReprojectionError.
4. Removed relative gradient tolerance from types.h as it is
not true anymore.
Change-Id: I8de386e5278a008c84ef2d3290d2c4351417a9f1
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
1. Move LinearSolverTerminationType to ceres::internal.
2. Add FATAL_ERROR as a new enum to LinearSolverTerminationType.
3. Pipe SuiteSparse errors via a LinearSolverTerminationType so
to distinguish between fatal and non-fatal errors.
4. Update levenberg marquardt and dogleg strategies to deal
with FATAL_ERROR.
5. Update trust_region_minimizer to terminate when FATAL_ERROR
is encountered.
6. Remove SuiteSparse::SolveCholesky as it screws up the error
handling.
7. Fix all clients calling SuiteSparse to handle the result of
SuiteSparse::Cholesky correctly.
8. Remove fatal failures in SuiteSparse when symbolic factorization
fails.
9. Fix all clients of SuiteSparse to deal with null symbolic factors.
This is a temporary fix to deal with some production problems. A more
extensive cleanup and testing regime will be put in place in a
subsequent CL.
Change-Id: I1f60d539799dd95db7ecc340911e261fa4824f92
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
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
1. Added a Preconditioner interface.
2. SCHUR_JACOBI is now its own class and is independent of
SuiteSparse.
Change-Id: Id912ab19cf3736e61d1b90ddaf5bfba33e877ec4
The interface for NumericDiffCostFunction and AutoDiffCostFunction
are not comparable. They both accept variadic functors.
The change is backward compatible, as it still supports numeric
differentiation of CostFunction objects.
Some refactoring of documentation and code in auto_diff_cost_function
and its relatives was also done to make things consistent.
Change-Id: Ib5f230a1d4a85738eb187803b9c1cd7166bb3b92
1. Add a line search based minimization loop.
2. Currently this loop supports steepest descent and three
kinds of non-linear conjugate gradient algorithms.
3. Update SolverImpl to talk to LineSearchMinimizer.
4. Update IterationCallback to carry information about
line search.
5. Update LineSearch to take the initial point as input,
saving on one function evaluation.
6. Updates to the external API.
Change-Id: I901a0e89fc948451ab34c743e70f3dec57c9405e
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
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
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
1. A new dogleg trust region strategy.
2. Consistent naming of all variables taking and reporting
time. Also all are doubles now.
3. Enum to stringification routines.
4. bundle_adjuster.cc accepts max solver time and trust_region_strategy.
5. Time accounting is pushed into solver_impl.cc and there is now
postprocessing time accounted for explicitly.
6. IterationCallback now has cumulative time.
7. LoggingCallback logs per iteration and cumulative time.
8. TrustRegionStrategy now allows for Invalid steps to be indicated
explicitly.
9. Trust region minimizer actually terminates on max_solver_time.
Change-Id: I7e3b82c8beebc17b6b355ea46ddd280754a2d8b2
1. New TrustRegionMinimizer and basic tests for it.
2. New TrustRegionStrategy interface.
3. New LevenbergMarquardtStrategy and tests for it.
4. Updates to SolverImpl to reflect this.
5. Changes to Solver::Options and IterationSummary related to this.
6. Deleted levenberg_marquardt.cc/h/_test.cc
Change-Id: I6c1d1a7c774f014856f9f26263a830aa886e1400
1. Added support for CXSparse - SparseNormalCholesky and
SchurComplementSolver support SuiteSparse and CXSparse now.
I am not sure I will add suport for visibility based
preconditioning using CXSparse. Its not a high priority.
2. New enum SparseLinearAlgebraLibraryType which allows the user
to indicate which sparse linear algebra library should be used.
3. Updated tests for SolverImpl and system_test.
4. Build system changes to automatically detect CXSparse and
link to it by default -- just like SuiteSparse.
5. Minor bug fixes dealing in the cmake files and VBP.
6. Changed the order of the system test.
7. Deduped the unsymmetric linear solver test.
Change-Id: I33252a103c87b722ecb7ed7b5f0ae7fd91249244
This commit modifies the only function in autodiff that takes a
templated number of outputs (i.e. residuals) and makes that
template parameter a normal parameter. With that change, it
is a trivial matter to support a dynamic number of residuals.
The API for dynamic residuals is to pass a fake number of
residuals as the second template argument to
AutoDiffCostFunction, and to pass the real number of
parameters as a second constructor argument.
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.
- Rename BlockDiagonalPreconditioner to BlockJacobiPreconditioner
- Include the diagonal in the block jacobi preconditioner.
- Better flag help for eta.
- Enable test for CGNR
- Rename CONJUGATE_GRADIENTS to CGNR.
- etc.
Björn Piltz