- ensure all public headers files adhere to clang-format
- preserve one-per-line for enums by adding trailing comma
- preserve include order for en/disable_warning.h
Change-Id: I78dbd0527a294ab2ec5f074fb426e48b20c393e6
1. Add a move constructor to NumericDiffCostFunction, DynamicAutoDiffCostfunction
and DynamicNumericDiffCostFunction.
2. Add optional ownership of the underlying functor.
3. Update docs to reflect this as well as the variadic templates that allow an
arbitrary number of parameter blocks.
Change-Id: I57bbb51fb9e75f36ec2a661b603beda270f30a19
Add Ownership semantics to the AutoDiffCostFunction
This allows several benefits, such as pointer ordering always being the
same for numerical repeatability (due to blocks being ordered by
pointer address), memory adjacency for better cache performance, and
reduced allocator pressure / overhead.
This is then made use of in libmv by preallocating the errors and
cost functions into vectors
Change-Id: Ia5b97e7249b55a463264b6e26f7a02291927c9f2
erf is necessary for evaluating Gaussian functions.
erfc was added because it is so similar to erf.
Change-Id: I5e470dbe013cc938fabb87cde3b0ebf26a90fff4
Simplify the semantics for Problem::EvaluateResidualBlock to
not ignore the presence of EvaluationCallback and add another method
EvaluateResidualBlockAssumingParametersUnchanged to handle the case
where the user has an EvaluationCallback but knows that the parameter
blocks do not change between calls.
Updated the documentation for the methods and EvaluationCallback to
reflect these semantics.
Also added tests for Evaluation related methods calling i
EvaluationCallback when its present.
https://github.com/ceres-solver/ceres-solver/issues/483
Change-Id: If0a0c95c2f1f92e9183a90df240104a69a71c46d
DynamicAutoDiffCostFunction::Evaluate when provided with a jacobians
array that was non-empty but all its entries are nullptr, would
compute num_active_parameters = 0, and then skip over all the loops
that evaluated the CostFunctor.
The fix is to check if num_active_parameters == 0, and then treat
it as the case where jacobians array is null.
Thanks to Ky Waegel for reporting and providing a reproduction for this.
Change-Id: Ib86930c2c3f722724d249f662bf88238679bbf98
- Removes all workarounds for pre-C++14 versions
- Removes '11' qualifier from C++ threading option and associated
defines.
- Fix missing inclusion of 'Multithreading' in reported Ceres components
when C++ threading model is enabled.
- Update Sphinx documentation to specify C++14 as minimum requirement.
Change-Id: I706c8b367b3221e3c4d1a0aaf669a8f9c911e438
Re-organize the section, add some more references and details for
existing preconditioners and add documentation for the SUBSET
precondition.
https://github.com/ceres-solver/ceres-solver/issues/490
Change-Id: I93d0af819c160f5e4ce48b18202f629ddb92ca7b
Fix typos in docs/source/features.rst and examples/helloworld.cc. Alter a NULL to nullptr in include/ceres/autodiff_cost_function.h
Change-Id: Ibcf00b6ef665ad6be9af14b3add2dd4f3852e7e6
- Raised as issue #551
- Also adds C++20 to the set of ALLOWED_CXX_STANDARDS, although this
will require a version of CMake >= 3.12.
Change-Id: I0f13c72e93a35391fd2d18590b4243a329a2322c
For MSVC, instantiating a dllimport class template will cause error C2491:
definition of dllimport function not allowed.
Change-Id: Icc7f7ea84598df0a5436f48ffc2bab5cfab93921
- This results in the same performance as the original solution of
increasing -inline-threshold, but this approach is more viable to
incorporate in a large code base as its effects are more targeted.
Change-Id: Id798dbca7d3050de0ea847a5ecc69484ac78a2cf
A recent change made this function templated and MSVC 16 has trouble
doing automatic argument deduction, so the type of the template is
simplified and all callsites are explicitly annotated with the type
of the arguments.
Change-Id: I83cd0269e6e82c4a8f4e391f5fc03b92c942f74d
Local parameterizations with zero tangent/local size will cause the
corresponding parameter block to be treated as constant.
https://github.com/ceres-solver/ceres-solver/issues/347
Change-Id: I554a2acc420f5dd9d0cc7f97b691877eb057b2c0
This CL adds a local parameterization for a n-dimensional
line, which is represented as an origin point and a direction.
The line direction is updated in the same way as a
homogeneous vector and the origin point is updated
perpendicular to the line direction.
Change-Id: I733f395e5cc4250abf9778c26fe0a5ae1de6b624
Inlining the Jet initialzation is mandatory for good performance
in autodiff, because all the constants in the dual part can be
propagated into the cost functor.
This patch unrolls the initialization loop with templates and adds
EIGEN_ALWAYS_INLINE to the constructors.
Change-Id: Ic89d645984f3e1df6c63948236da823ba60d9620
The class ArraySelector is now used in autodiff to store the
parameters and residuals. This reduces overhead of FixedArray
for fixed-sized residuals and allows more optimizations due
to inlining and unrolling.
Change-Id: Ibadc5644e64d672f7a555e250fb1f8da262f9d4f
The compile-time constant kNumResiduals is now passed to the
autodiff functions as a template parameter. This will be used
by future patches to optimize autodiff performance.
Change-Id: Ia2b2cc99b88752e8f12f4ce2542b1963bda552f5
Since the output of LossFunction::Evaluate is multiplied by 0.5, the
current implementation of the Tukey loss function must be multiplied
by 2.
Change-Id: Ia94753eef1a375fe48cc2e0d2cc61350904c8248
The default constructor of ExpressionRef now creates a compile
time constant zero assignment. This patch is required, because
a reason change in Jet assumes default 0 initialization.
Change-Id: I8185cef587c17ab828896bce1e768170f8229d4e
In Jet types, there is an attempt to set the derivative to 0.
However, if the derivative is not directly a scalar but a Jet<Jet>,
this cannot be constructed directly from a 0 literal. This is solved
by using the default constructor for the scalar type instead of 0.
The typical use case for this is adding constraints to the second
derivative of a curve in an Autodiff cost function.
Change-Id: Id480096632a731f312be12e294b3d6e244211529
This patch adds the classes Optimizer and OptimizationPass, which
define the core API of the codegen optimization.
A single (trivial) optimization is added that removes NOP
expressions from a graph.
Change-Id: I0430d6ffc61a474f997475ff787a81a9c69cfe23
This patch integrates the code generation module into the build
system. All depenendcies are tracked through CMake targets.
Modifying the cost functor will automatically trigger code
re-generation.
All this functionality is defined in the CMake function
ceres_generate_cost_function_implementation_for_functor
in CeresCodeGeneration.cmake. A hello world usage example
is included in examples/CMakeLists.txt.
Change-Id: I23b8b6698d1ea51cf3d788a47afcf39f8c5ce327
Add the function ExpressionGraph::Erase and a test-case for it.
Erase removes the given expression from the graph by shifting
all later expressions to the front. Indices and references
are updated accordingly.
Change-Id: Ic0449ccf28b369600fd2959a7e2a919d47f4cbe3
The generated function names now include the containing namespace.
For example:
std::abs(...)
std::sin(...)
ceres::Ternary(...)
This patch also fixes the generation of inf/nan compile time constants,
using std::numeric_limits.
Change-Id: I4a36b09c68dd2adabed49fd4f7f37c8229ab7377
- As Problem contains a unique_ptr<ProblemImpl> and as defaulted
methods are declared inline where ProblemImpl's implementation is not
available use of '= default' will generate compile errors on strict
compilers.
- This CL moves the definition of defaulted methods to the
implementation.
Change-Id: I7d79757cf684378fadef8e6f4000c84387018cdb
The move constructor and move =operator are not required. They make
the code more complex and prone to bugs. The few saved assignments
are all trivial and are optimized away by the compiler or our
optimizer.
In fact, there is a bug in the current move-constructor implementation
that occurs, for example, when moving Eigen matrices around.
Change-Id: I013796495bb39f3f27677111bd0aaf49e2454e20
This CL improves the build experience with MSVC:
- It adds the build flag '/bigobj' otherwise the build of
the unit test fails.
- It adds the flag '/wd4267' to suppress signed / unsigned int
conversions (size_t to int).
- It removes the use of std::aligned_storage from FixedArray.
This has been done from the Abseil Team and is in the
absl::FixedArray. Those changes has been ported to ceres.
This fixes the alignemnt for older MSVC versions due to a
bug in the implementation of std::aligned_storage, and
prevents the use of the macro '_ENABLE_EXTENDED_ALIGNED_STORAGE'
for newer MSVC versions, which is problematic as it could affect
user code.
- Fix of the fixed array unit test. Due to the use of std::tuple
instead of absl::tuple in ceres::internal::FixedArray, the
unit test needs to reflect that change as well.
- Replaces 'add_definitions' with 'add_compile_options' for
compiler flags as suggested by the cmake documentation.
Change-Id: I63f08cd6c0a8db8c9931289b909b4deafd75b039
ExpressionId FindMatchingEndif(ExpressionId id)
- Finds the closing ENDIF expression for a given IF expression.
ExpressionId FindMatchingElse(ExpressionId id)
- Finds the ELSE expression for a given IF expression.
- Returns -1, if this IF doesn't have an else
This patch is a preparation to the code analyzing required
for various optimization passes.
Change-Id: I893102a757c6a0bcacbcc1190c2b8ef08314eb97
This CL removes a not used using declaration
which will cause a warning when compiled with
-Wunused-local-typedef under gcc.
Change-Id: Ie4cfd5d1fed9bee860e387545e60d92d257da4f4
The comment expression allows the user to insert single-line
comments into the generated code. These will not be moved or
optimized away.
Comment expressions should make it easier to understand the
generated autodiff code.
Change-Id: Ie87d0698aa6af2aac8a437a13b25e0fef33dbfdc
The autodiff code generator is extended in the following ways:
- Evaluate the complete jacobian into a temporary array
- Copy the temporary jacobian to the result if != NULL
Change-Id: If5ed0bff3b31e93a2d7d5dc718862cb648dba474
Sameer Agarwal