1. Add abseil-cpp as a submodule. We are tracking the latest LTS
release, which is lts_2024_01_16.
2. Replace glog/gflags with absl::log and absl::flags.
3. Remove miniglog
4. Also take a whack at making the bazel build work with
abseil-cpp and gtest.
There are a number of TODOs in this CL that still need to be resolved.
Change-Id: I39355ed7d61375be4ebcbc8596d9cc70acc1c678
1. Add a version history
2. Update copyright years across the code base
3. Run format_all.sh
4. Update version strings from 2.1.0 to 2.2.0 in the docs and
elsewhere.
Change-Id: I46d8d479d54bd6002d532785e67342106e73c9ac
Parallel left products for PartitionedMatrixView using parallel for
loops with fair partitioning.
Updates for evaluation benchmark including replacing program with a
preprocessed one
Change-Id: Ia1cc3293f106cec6b7d933675cea4e7c5a6b71e4
Benchmark for evaluation of residuals and evaluation of both residuals
and jacobian.
For each input file (in BAL format) specified on the command line two
sets of benchmarks are created for different number of threads.
BAL data is preloaded before starting benchmark.
Usage:
./bin/evaluation_benchmark [flags] input_1.txt ... input_N.txt
Change-Id: I543df65f483e3b186f52785b68bd5e2b3e3552a3
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
- 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
The bundle adjustment test is extremely slow to
run (especially in debug or fastbuild), and since
it is in one binary, there is no way to get CMake
or Bazel to parallelize the test execution.
This change divides the test into a single binary
for each configuration, making parallelized
execution possible.
In this patch, only the Bazel build is updated to
use the new test. The old test still exists to
retain parity with the CMake build. A followup
change will complete the process of adding
equivalent test execution to the CMake build.
Example build output:
% bazel test -c opt :all
INFO: Analysed 123 targets (15 packages loaded).
INFO: Found 2 targets and 121 test targets...
INFO: From Compiling external/com_github_google_glog/src/logging.cc:
external/com_github_google_glog/src/logging.cc: In static member function 'static void google::LogMessage::Fail()':
external/com_github_google_glog/src/logging.cc:1518:1: warning: 'noreturn' function does return
}
^
INFO: Elapsed time: 98.056s, Critical Path: 23.80s
INFO: Build completed successfully, 976 total actions
//:array_utils_test PASSED in 0.1s
//:autodiff_cost_function_test PASSED in 0.2s
//:autodiff_local_parameterization_test PASSED in 0.2s
//:autodiff_test PASSED in 0.1s
//:ba_denseschur_auto_test PASSED in 5.3s
//:ba_denseschur_auto_threads_test PASSED in 0.1s
//:ba_denseschur_user_test PASSED in 5.3s
//:ba_denseschur_user_threads_test PASSED in 0.1s
//:ba_iterschur_jacobi_auto_test PASSED in 6.2s
//:ba_iterschur_jacobi_auto_threads_test PASSED in 0.1s
//:ba_iterschur_jacobi_user_test PASSED in 6.0s
//:ba_iterschur_jacobi_user_threads_test PASSED in 0.2s
//:ba_iterschur_schurjacobi_auto_test PASSED in 6.1s
//:ba_iterschur_schurjacobi_auto_threads_test PASSED in 0.2s
//:ba_iterschur_schurjacobi_user_test PASSED in 5.7s
//:ba_iterschur_schurjacobi_user_threads_test PASSED in 0.1s
//:ba_iterschur_suitesparse_clustjacobi_auto_test PASSED in 0.1s
//:ba_iterschur_suitesparse_clustjacobi_auto_threads_test PASSED in 0.1s
//:ba_iterschur_suitesparse_clustjacobi_user_test PASSED in 0.1s
//:ba_iterschur_suitesparse_clustjacobi_user_threads_test PASSED in 0.1s
//:ba_iterschur_suitesparse_clusttri_auto_test PASSED in 0.1s
//:ba_iterschur_suitesparse_clusttri_auto_threads_test PASSED in 0.1s
//:ba_iterschur_suitesparse_clusttri_user_test PASSED in 0.1s
//:ba_iterschur_suitesparse_clusttri_user_threads_test PASSED in 0.1s
//:ba_sparsecholesky_cxsparse_auto_test PASSED in 0.2s
//:ba_sparsecholesky_cxsparse_auto_threads_test PASSED in 0.2s
//:ba_sparsecholesky_cxsparse_user_test PASSED in 0.1s
//:ba_sparsecholesky_cxsparse_user_threads_test PASSED in 0.1s
//:ba_sparsecholesky_eigensparse_auto_test PASSED in 0.1s
//:ba_sparsecholesky_eigensparse_auto_threads_test PASSED in 0.1s
//:ba_sparsecholesky_eigensparse_user_test PASSED in 0.2s
//:ba_sparsecholesky_eigensparse_user_threads_test PASSED in 0.1s
//:ba_sparsecholesky_suitesparse_auto_test PASSED in 0.1s
//:ba_sparsecholesky_suitesparse_auto_threads_test PASSED in 0.3s
//:ba_sparsecholesky_suitesparse_user_test PASSED in 0.1s
//:ba_sparsecholesky_suitesparse_user_threads_test PASSED in 0.2s
//:ba_sparseschur_cxsparse_auto_test PASSED in 0.1s
//:ba_sparseschur_cxsparse_auto_threads_test PASSED in 0.2s
//:ba_sparseschur_cxsparse_user_test PASSED in 0.1s
//:ba_sparseschur_cxsparse_user_threads_test PASSED in 0.2s
//:ba_sparseschur_eigensparse_auto_test PASSED in 0.2s
//:ba_sparseschur_eigensparse_auto_threads_test PASSED in 0.2s
//:ba_sparseschur_eigensparse_user_test PASSED in 0.1s
//:ba_sparseschur_eigensparse_user_threads_test PASSED in 0.2s
//:ba_sparseschur_suitesparse_auto_test PASSED in 0.3s
//:ba_sparseschur_suitesparse_auto_threads_test PASSED in 0.2s
//:ba_sparseschur_suitesparse_user_test PASSED in 0.2s
//:ba_sparseschur_suitesparse_user_threads_test PASSED in 0.2s
//:block_jacobi_preconditioner_test PASSED in 0.1s
//:block_random_access_dense_matrix_test PASSED in 0.2s
//:block_random_access_diagonal_matrix_test PASSED in 0.4s
//:block_random_access_sparse_matrix_test PASSED in 0.2s
//:block_sparse_matrix_test PASSED in 0.2s
//:c_api_test PASSED in 0.2s
//:canonical_views_clustering_test PASSED in 0.4s
//:compressed_col_sparse_matrix_utils_test PASSED in 0.3s
//:compressed_row_sparse_matrix_test PASSED in 0.3s
//:conditioned_cost_function_test PASSED in 0.2s
//:conjugate_gradients_solver_test PASSED in 0.2s
//:corrector_test PASSED in 0.2s
//:cost_function_to_functor_test PASSED in 0.1s
//:covariance_test PASSED in 0.1s
//:cubic_interpolation_test PASSED in 0.2s
//:dense_linear_solver_test PASSED in 0.1s
//:dense_sparse_matrix_test PASSED in 0.4s
//:detect_structure_test PASSED in 0.3s
//:dogleg_strategy_test PASSED in 0.4s
//:dynamic_autodiff_cost_function_test PASSED in 0.2s
//:dynamic_compressed_row_sparse_matrix_test PASSED in 0.2s
//:dynamic_numeric_diff_cost_function_test PASSED in 0.1s
//:dynamic_sparse_normal_cholesky_solver_test PASSED in 0.4s
//:dynamic_sparsity_test PASSED in 0.3s
//:evaluator_test PASSED in 0.2s
//:gradient_checker_test PASSED in 0.2s
//:gradient_checking_cost_function_test PASSED in 0.2s
//:gradient_problem_solver_test PASSED in 0.2s
//:gradient_problem_test PASSED in 0.4s
//:graph_algorithms_test PASSED in 0.4s
//:graph_test PASSED in 0.2s
//:householder_vector_test PASSED in 0.2s
//:implicit_schur_complement_test PASSED in 0.2s
//:inner_product_computer_test PASSED in 0.3s
//:invert_psd_matrix_test PASSED in 0.1s
//:is_close_test PASSED in 0.4s
//:iterative_schur_complement_solver_test PASSED in 0.3s
//:jet_test PASSED in 0.3s
//:levenberg_marquardt_strategy_test PASSED in 0.2s
//:line_search_minimizer_test PASSED in 0.2s
//:line_search_preprocessor_test PASSED in 0.1s
//:local_parameterization_test PASSED in 0.1s
//:loss_function_test PASSED in 0.1s
//:minimizer_test PASSED in 0.2s
//:normal_prior_test PASSED in 0.3s
//:numeric_diff_cost_function_test PASSED in 0.2s
//:ordered_groups_test PASSED in 0.2s
//:parameter_block_ordering_test PASSED in 0.2s
//:parameter_block_test PASSED in 0.1s
//:partitioned_matrix_view_test PASSED in 0.1s
//:polynomial_test PASSED in 0.1s
//:problem_test PASSED in 0.1s
//:program_test PASSED in 0.2s
//:reorder_program_test PASSED in 0.2s
//:residual_block_test PASSED in 0.2s
//:residual_block_utils_test PASSED in 0.2s
//:rotation_test PASSED in 7.1s
//:schur_complement_solver_test PASSED in 0.2s
//:schur_eliminator_test PASSED in 0.2s
//:single_linkage_clustering_test PASSED in 0.2s
//:small_blas_test PASSED in 0.2s
//:solver_test PASSED in 0.2s
//:sparse_cholesky_test PASSED in 0.2s
//:sparse_normal_cholesky_solver_test PASSED in 0.2s
//:system_test PASSED in 0.1s
//:tiny_solver_autodiff_function_test PASSED in 0.2s
//:tiny_solver_cost_function_adapter_test PASSED in 0.1s
//:tiny_solver_test PASSED in 0.1s
//:triplet_sparse_matrix_test PASSED in 0.2s
//:trust_region_minimizer_test PASSED in 0.2s
//:trust_region_preprocessor_test PASSED in 0.2s
//:visibility_based_preconditioner_test PASSED in 0.1s
//:visibility_test PASSED in 0.2s
Executed 121 out of 121 tests: 121 tests pass.
There were tests whose specified size is too big. Use the --test_verbose_timeout_warnings command line option to see which ones these are.
Change-Id: I32825f1e6278ba69dc296bb2dc05fb8ebda26592
Sameer Agarwal