Add [[deprecate]] notices to everything LocalParameterization
related.
Make sure that Ceres can be compiled without triggering
deprecation warnings.
Update the documentation:
a. Add deprecation notices.
b. Document interaction between LocalParameterization and Manifold
coexisting in the Problem.
c. Add documentation for Manifold(s)
Change-Id: Ie4ad48963c83fded86e533c8c60561af402fbaff
1. Fix the path to eigen, now that it uses gitlab instead of bitbucket.
2. Remove an unrecognized compiler option.
3. Remove an obsolete benchmark.
This CL only unbreaks the build, it is likely that it is still not
at par with the cmake build.
https://github.com/ceres-solver/ceres-solver/issues/628
Change-Id: I470209cbb48b6a4f499564a86b52436e0c8d98ef
This adds a callback mechanism to for users to get notified just
before jacobian and residual evaluations. This will enable
aggressive caching and sharing of compute between cost functions.
Change-Id: I67993726920218edf71ab9ae70c34c204756c71a
Covariance computation wants to do a triangular iteration but as a
single loop. Right now it iterates over a square and does nothing half
the time, which is inefficient and has bad worst-case threading
performance. This adds a utility that allows waste-free linear iteration
over a triangle.
Change-Id: I881d5683c65882f87dc2b5f8449a855d22ace755
Change 12060 added parallel_for_tbb.cc and parallel_for_test.cc but did not add
it to the bazel build rule.
Tested by running bazel tests.
Change-Id: I286cf0e191e0353f2c0266911a79e01f09e47343
This is in preparation for adding support for a C++11 based parallel
for implementation. The code is behind CERES_USE_CXX11_THREADS which
is not exposed to the user yet.
Tested by building with and without CERES_USE_CXX11_THREADS defined
and the tests pass.
Change-Id: I60f5730fa055feeb0ee0fa6c980633aebd8d87b4
The key idea being, use some subset of the rows of the Jacobian
as the preconditioner.
This CL only implements the preconditioner assuming that the row
selection has already been done. How the rows are selected will be
left to the user based on their knowledge of the problem.
A follow up CL will hook this preconditioner into the rest of the
solver.
Change-Id: I3e18dc57811116534e9ddf35d7b154bcce496d3b
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
This doesn't add any configurability to ceres_library() yet, but it
does correctly determine the include path for use with -I, allowing
this to be used as a dependency from other workspaces.
Change-Id: I223b6e63c2ea82ab7f552337f78fffd54f20b0e0
This allows building and running the Ceres tests, without
needing any external dependencies; they are downloaded and
compiled automatically thanks to the magic of Bazel.
It also opens the door for other projects that use Ceres
easily thanks to Bazel's external dependency support.
Remaining work:
- Skylark macros to allow different Ceres configurations
- Checking to make sure external projects can use this
- Parallelizing bundle_adjustment_test execution
Sample output:
INFO: Analysed target //:ceres (6 packages loaded).
INFO: Found 1 target...
Target //:ceres up-to-date:
bazel-bin/libceres.a
bazel-bin/libceres.so
INFO: Elapsed time: 103.756s, Critical Path: 13.97s
INFO: Build completed successfully, 131 total actions
Change-Id: I400d3ce43f35b7e7a770da346337e3ffdb500dc2
Sameer Agarwal