1. Add a tip about glog.
2. Add a tip about using Summary::FullReport to optimize performance.
3. Add a tip about using the Inverse Function Theorem.
Change-Id: I949ec6843ff796672edbad8bc801230dd0ab5345
This is just a very bare bones beginning to this chapter.
But it opens the door to actually adding content to this
one tip/trick at a time.
Change-Id: I2aa386ba4da66dba5308e3f4ed4d434e44e44fd9
Now that the trust region minimizer depends on the line search
minimizer, conditional compilation of the line search minimizer
will lead to build breakages, so this option is now not available.
It is not expected to have as significant impact on users as the
amount of code in the line search minimization algorithm is
rather small to begin with.
Change-Id: I2aa6b6e6e3931b6428dbda654f14faf1ac6dd130
1. Reflect the demise of the various FOO_TOLERANCE convergence
types.
2. Update the documentation for Solver::Options::gradient_tolerance.
Change-Id: I6bd11d260d6f8a3222b6a41a62dc4943ec8fcfbf
CostFunction now uses int32 instead of int16
to store the size of its parameter blocks.
This is an API breaking change.
Change-Id: I032ea583bc7ea4b3009be25d23a3be143749c73e
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
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
- Adding documentation for MSVC CRT option.
- Updating documentation to reflect that LINE_SEARCH_MINIMIZER is now
ON by default.
Change-Id: I75b1b5957c3ab46f38631736ad1c65315bc92847
- Adding FindPackage scripts for all of Ceres dependencies.
- Moving depend.cmake contents to CeresConfig.cmake and cleaning up
search for Ceres & required dependencies, no longer push Ceres
options into client.
- Fixing uninstall to remove ceres include root directory.
- Fixing main CMakeLists to install miniglog header if enabled.
- Making miniglog library shared/static with Ceres library.
Change-Id: If926bebd11720230c5136597ccba672394ed9777
1. Update the documentation to be Sphinx friendly.
2. Remove dead fields in Solver::Summary.
a. Solver::Summary::num_eliminate_blocks_given.
b. Solver::Summary::num_eliminate_blocks_used.
Change-Id: I43e0070c88abe3bf285d91e6c7524f3d887deb33
1. Make the documentation build with Sphinx 1.2
2. Update the documentation for IterationSummary to
be Sphinx friendly.
Change-Id: I93c374987bc0597e854fbcb5a4a25dd2058607f5
- Also updating EXECUTE_PROCESS() calls to compiler to handle case
when a compilation wrapper (e.g. ccache) is used.
Change-Id: I32837233a06ed1843125fb04852f82a9b8503769
- Also marking all library and include directories found via
find_library/path advanced (not directly visible in CMake GUI unless
toggled to show advanced options).
- Updating documentation to reflect SuiteSparse requirements on Ubuntu
and ability to control build options in CMake GUI.
- Splitting out all SuiteSparse related find_XX directives into a
FindSuiteSparse script.
Change-Id: I0d69e02392ec547a7c365ba3e06f2ebc61cacf16
1. Update AutoDiffCostFunction template parameters to be consistent
with NumericDiffCostFunction.
2. Update the documentation for NumericDiffCostFunction and
AutoDiffCostFunction.
Change-Id: I113038abb5bedebb0f6f326f2a4ac31480d785fc
When the Schur complement is of size zero,
i.e. none of the parameter blocks interact
with each other, the ITERATIVE_SCHUR linear
solver crashes due to some checks that are
triggered in the SCHUR_JACOBI preconditioner.
This patch adds logic to detect this condition
and to deal with it and adds tests that verify
the fix.
Thanks to Soohyun Bae for reporting this bug.
Change-Id: If29ddf32463cbb1960414fff0e29bbf0d2ee7989
1. Use CMake FindLAPACK and FindBLAS Modules.
2. Remove SEARCH_HEADERS and SEARCH_LIBS and replace them with
CMAKE variables. This leads to simplification of the FIND_LIBRARY
and FIND_PATH calls.
3. Make miniglog a fallback when glog is not present and the
user indicates MINIGLOG=OFF.
4. Add time.h to miniglog.
5. Remove shared library building.
Change-Id: I8a97156d3d7cf645fbbfe8e571761bc16c89f43f
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
OpenBLAS has subtle issues releated to threading. It
conflicts with the use of threads in the other parts of
the application.
Careful users can still use it by disabling threads via
an environment variable, but by default we want to use
a BLAS/LAPACK that does not suffer from these problems.
Change-Id: I8c1c0ed0b526453564c5f9ea69b646fac32fe027
lm_max_diagonal -> max_lm_diagonal
lm_min_diagonal -> min_lm_diagonal
linear_solver_max_num_iterations -> max_linear_solver_iterations
linear_solver_min_num_iterations -> min_linear_solver_iterations
This follows the pattern for the other parameters in Solver::Options
where, the max/min is the first word followed by the name of the
parameter.
Change-Id: I0893610fceb6b7983fdb458a65522ba7079596a7
Ordering of Problem::RemoveParameterBlock and Problem::RemoveResidualBlock
changed, as RemoveResidualBlock is being referred in RemoveParameterBlock
with "above".
Change-Id: I07f8e7b7e20ba239a72c15ed9e79576f5def090a
This support was broken due to the TrustRegionMinimizer refactoring.
It is now enabled again, with the responsibilty for dumping the
problem shifted to the individual TrustRegionStrategy.
There is however one wrinkle, which is perhaps an indication of
poor design to start with. The LinearLeastSquaresProblemProto
carries in it num_eliminate_blocks, something which does not
exist anymore. More importantly, the TrustRegionStrategy does not
have access to this quantity anymore.
Dealing with this will be the subject of a future change.
Change-Id: I358adf6a2e386f4940b617bf950d6c7e87d2635d
Sameer Agarwal