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Diffstat (limited to 'extern/ceres/ChangeLog')
| -rw-r--r-- | extern/ceres/ChangeLog | 839 |
1 files changed, 419 insertions, 420 deletions
diff --git a/extern/ceres/ChangeLog b/extern/ceres/ChangeLog index ae8d42a7c95..64c75e572f4 100644 --- a/extern/ceres/ChangeLog +++ b/extern/ceres/ChangeLog @@ -1,588 +1,587 @@ -commit 8590e6e8e057adba4ec0083446d00268565bb444 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Oct 27 12:29:37 2016 -0700 +commit e39d9ed1d60dfeb58dd2a0df4622c683f87b28e3 +Author: Carl Dehlin <carl@dehlin.com> +Date: Tue Jun 16 09:02:05 2020 +0200 - Remove two checks from rotation.h - - This allows rotation.h to remove its dependency on glog. + Add a missing term and remove a superfluous word - Change-Id: Ia6aede93ee51a4bd4039570dc8edd100a7045329 + Change-Id: I25f40f0bf241302b975e6fc14690aa863c0728b0 -commit e892499e8d8977b9178a760348bdd201ec5f3489 -Author: Je Hyeong Hong <jhh37@outlook.com> -Date: Tue Oct 18 22:49:11 2016 +0100 +commit 27cab77b699a1a2b5354820c57a91c92eaeb21e3 +Author: Carl Dehlin <carl@dehlin.com> +Date: Mon Jun 15 20:01:18 2020 +0200 - Relax the tolerance in QuaternionParameterizationTestHelper. - - This commit relaxes the tolerance value for comparing between the actual - local matrix and the expected local matrix. Without this fix, - EigenQuaternionParameterization.ZeroTest could fail as the difference - exactly matches the value of std::numeric_limits<double>::epsilon(). + Reformulate some sentences - Change-Id: Ic4d3f26c0acdf5f16fead80dfdc53df9e7dabbf9 + Change-Id: I4841aa8e8522008dd816261d9ad98e5fb8ad1758 -commit 7ed9e2fb7f1dff264c5e4fbaa89ee1c4c99df269 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Wed Oct 19 04:45:23 2016 -0700 +commit 8ac6655ce85a4462f2882fcb9e9118a7057ebe09 +Author: Carl Dehlin <carl@dehlin.com> +Date: Mon Jun 15 19:10:12 2020 +0200 - Occured -> Occurred. - - Thanks to Phillip Huebner for reporting this. + Fix documentation formatting issues - Change-Id: I9cddfbb373aeb496961d08e434fe661bff4abd29 + Change-Id: Iea3a6e75dc3a7376eda866ab24e535a6df84f8ea -commit b82f97279682962d8c8ae1b6d9e801ba072a0ab1 -Author: Je Hyeong Hong <jhh37@outlook.com> -Date: Tue Oct 18 21:18:32 2016 +0100 +commit 7ef83e07592ead74eeacc227b642df1959d2a246 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sat May 30 11:30:01 2020 +0100 - Fix a test error in autodiff_test.cc. + Update minimum required C++ version for Ceres to C++14 - Previously, the test for the projective camera model would fail as no - tolerance is set in line 144. To resolve this, this commit changes - assert_equal to assert_near. + - 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: I6cd3379083b1a10c7cd0a9cc83fd6962bb993cc9 + Change-Id: I706c8b367b3221e3c4d1a0aaf669a8f9c911e438 -commit 5690b447de5beed6bdda99b7f30f372283c2fb1a +commit 1d75e7568172dc5a4dc97937dcf66e0f5d28272c Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Oct 13 09:52:02 2016 -0700 +Date: Mon May 25 18:09:50 2020 -0700 - Fix documentation source for templated functions in rotation.h + Improve documentation for LocalParameterization - Change-Id: Ic1b2e6f0e6eb9914f419fd0bb5af77b66252e57c + Change-Id: I63fa81206e67bfac56cc42bf2bb4915a3a11332b -commit 2f8f98f7e8940e465de126fb51282396f42bea20 +commit 763398ca4ed56952f48c48df6a98e277e3e05381 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Oct 13 09:35:18 2016 -0700 +Date: Mon May 25 12:12:03 2020 -0700 - Prepare for 1.12.0RC1 + Update the section on Preconditioners - Change-Id: I23eaf0b46117a01440143001b74dacfa5e57cbf0 - -commit 55c12d2e9569fe4aeac3ba688ac36810935a37ba -Author: Damon Kohler <damonkohler@google.com> -Date: Wed Oct 5 16:30:31 2016 +0200 - - Adds package.xml to support Catkin. + Re-organize the section, add some more references and details for + existing preconditioners and add documentation for the SUBSET + precondition. - Change-Id: I8ad4d36a8b036417604a54644e0bb70dd1615feb - -commit 0bcce6565202f5476e40f12afc0a99eb44bd9dfb -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Mon Oct 10 23:30:42 2016 -0700 - - Fix tabs in Android.mk + https://github.com/ceres-solver/ceres-solver/issues/490 - Change-Id: Ie5ab9a8ba2b727721565e1ded242609b6df5f8f5 + Change-Id: I93d0af819c160f5e4ce48b18202f629ddb92ca7b -commit e6ffe2667170d2fc435443685c0163396fc52d7b +commit a614f788a34ea86dd9f679b779ffbf920db45aa6 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Mon Oct 10 22:47:08 2016 -0700 +Date: Fri May 22 13:52:53 2020 -0700 - Update the version history. + Call EvaluationCallback before evaluating the fixed cost. - Change-Id: I9a57b0541d6cebcb695ecb364a1d4ca04ea4e06c - -commit 0a4ccb7ee939ab35b22e26758401e039b033b176 -Author: David Gossow <dgossow@google.com> -Date: Wed Sep 7 21:38:12 2016 +0200 - - Relaxing Jacobian matching in Gradient Checker test. + Fixe a subtle bug in Program::RemoveFixedBlocks, where we call + ResidualBlock::Evaluate on residual blocks with all constant parameter + blocks without paying attention to the presence of an + EvaluationCallback. + + In the process also run clang-format on some of the files touched by + this change. - Any result of an arithmetic operation on floating-point matrices - should never be checked for strict equality with some expected - value, due to limited floating point precision on different machines. - This fixes some occurences of exact checks in the gradient checker - unit test that were causing problems on some platforms. + https://github.com/ceres-solver/ceres-solver/issues/482 - Change-Id: I48e804c9c705dc485ce74ddfe51037d4957c8fcb + Change-Id: I342b66f6f975fdee2eef139a31f24d4a3e568e84 -commit ee44fc91b59584921c1d1c8db153fda6d633b092 -Author: Je Hyeong Hong <jhh37@outlook.com> -Date: Mon Oct 3 12:19:30 2016 +0100 +commit 70308f7bb9cac560db250262079c0f8b030b9d6b +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Tue May 26 06:12:13 2020 -0700 - Fix an Intel compiler error in covariance_impl.cc. + Simplify documentation generation. - Intel C compiler strictly asks for parallel loops with collapse to be - perfectly nested. Otherwise, compiling Ceres with ICC will throw an - error at line 348 of covariance_impl.cc. + 1. The MathJax font configuration is moved into conf.py and removed + from make_docs.py along with better font sizing. + 2. Remove the bread crumb replacement as it is not working anymore. + 3. Fix a parsing error in nnls_modeling.rst which the new version of + sphinx barfed on. - Change-Id: I1ecb68e89b7faf79e4153dfe6675c390d1780db4 + Change-Id: Ia3c2e732323a8b5cabafe851ac5ca0f0c82da071 -commit 9026d69d1ce1e0bcd21debd54a38246d85c7c6e4 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Sep 22 17:20:14 2016 -0700 - - Allow SubsetParameterization to hold all parameters constant - - 1. SubsetParameterization can now be constructed such that all - parameters are constant. This is required for it be used as part - of a ProductParameterization to hold a part of parameter block - constant. For example, a parameter block consisting of a rotation - as a quaternion and a translation vector can now have a local - parameterization where the translation part is constant and the - quaternion part has a QuaternionParameterization associated with it. - - 2. The check for the tangent space of a parameterization being - positive dimensional. We were not doing this check up till now - and the user could accidentally create parameterizations like this - and create a problem for themselves. This will ensure that even - though one can construct a SubsetParameterization where all - parameters are constant, you cannot actually use it as a local - parameterization for an entire parameter block. Which is how - it was before, but the check was inside the SubsetParameterization - constructor. - - 3. Added more tests and refactored existing tests to be more - granular. - - Change-Id: Ic0184a1f30e3bd8a416b02341781a9d98e855ff7 - -commit a36693f83da7a3fd19dce473d060231d4cc97499 +commit e886d7e65368e73e9d35c2ead895d81ced677977 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Sat Sep 17 16:31:41 2016 -0700 +Date: Mon May 25 13:09:39 2020 -0700 - Update version history + Reduce the number of minimizer iterations in evaluation_callback_test.cc - Change-Id: Ib2f0138ed7a1879ca3b2173e54092f7ae8dd5c9d + This should reduce the probability of the test heuristic failing due + to floating point issues. + + https://github.com/ceres-solver/ceres-solver/issues/562 + https://github.com/ceres-solver/ceres-solver/issues/392 + + Change-Id: I8ccf4164a8d595f5930d378f464313d4a2cae419 -commit 01e23e3d33178fdd050973666505c1080cfe04c3 -Author: David Gossow <dgossow@google.com> -Date: Thu Sep 8 12:22:28 2016 +0200 +commit 9483e6f2f57bf51bad7cefd155cd5b48ca672c63 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Tue May 12 05:16:32 2020 -0700 - Removing duplicate include directive. + Simplify DynamicCompressedRowJacobianWriter::Write - Change-Id: I729ae6501497746d1bb615cb893ad592e16ddf3f + Change-Id: I67aa2959bd479909b5cada79359c5cfdb8a37ef7 -commit 99b8210cee92cb972267537fb44bebf56f812d52 +commit 323cc55bb92a513924e566f487b54556052a716f Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Wed Sep 7 15:31:30 2016 -0700 +Date: Mon May 25 10:38:35 2020 -0700 - Update Android.mk to include new files. + Update the version in package.xml to 2.0.0. - Change-Id: Id543ee7d2a65b65c868554a17f593c0a4958e873 + Change-Id: Ibac053916520e8c597c875a8c7f5668bb35b6ba1 -commit 195d8d13a6a3962ac39ef7fcdcc6add0216eb8bc -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Tue Sep 6 07:12:23 2016 -0700 +commit 303b078b50bd3311a9c86fc256be3e9f2f334411 +Author: Bayes Nie <niebayes@gmail.com> +Date: Sun May 24 16:08:52 2020 +0800 - Remove two DCHECKs from CubicHermiteSpline. + Fix few typos and alter a NULL to nullptr. - They were present as debugging checks but were causing problems - with the build on 32bit i386 due to numerical cancellation issues, - where x ~ -epsilon. + Fix typos in docs/source/features.rst and examples/helloworld.cc. Alter a NULL to nullptr in include/ceres/autodiff_cost_function.h - Removing these checks only changes the behaviour in Debug mode. - We are already handling such small negative numbers in production - if they occur. All that this change does is to remove the crash. + Change-Id: Ibcf00b6ef665ad6be9af14b3add2dd4f3852e7e6 + +commit cca93fed63dd4117f3d6dd5339131fc7674e6e0a +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun May 24 18:05:05 2020 +0100 + + Bypass Ceres' FindGlog.cmake in CeresConfig.cmake if possible - https://github.com/ceres-solver/ceres-solver/issues/212 + - If the version of glog detected and used to build Ceres was built with + CMake (i.e. Config mode) then we now use Config mode directly in + CeresConfig.cmake and do not install Ceres' FindGlog.cmake module. + - This has the benefit of removing any hard-coded paths from + CeresConfig.cmake provided that all dependencies were also built with + CMake. - Thanks to @NeroBurner and @debalance for reporting this. + Change-Id: I85af8a953fd6d300e8bc0cdeb0b3636fec182f68 + +commit 77fc1d0fc4159ebb3a0a84a16651564eb2ce3c9d +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun May 24 19:07:26 2020 +0100 + + Use build_depend for private dependencies in Catkin package.xml - Change-Id: I66480e86d4fa0a4b621204f2ff44cc3ff8d01c04 + Change-Id: If0c0569e7ebbf37c0d8e8daaf7765e20a6282531 -commit 83041ac84f2d67c28559c67515e0e596a3f3aa20 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Fri Sep 2 19:10:35 2016 -0700 +commit a09682f00d8e50ada3c7ed16f8c48fa71a423f60 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun May 24 16:49:28 2020 +0100 - Fix some compiler warnings. + Fix MSVC version check to support use of clang-cl front-end - Reported by Richard Trieu. + - Raised as issue: #521 - Change-Id: I202b7a7df09cc19c92582d276ccf171edf88a9fb + Change-Id: Iaea6b43484b90ec8789bda0447c8a90759974ec1 -commit 8c4623c63a2676e79e7917bb0561f903760f19b9 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Sep 1 00:05:09 2016 -0700 +commit b70687fcc86624c7d5520d25734938fa95d2af73 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun May 24 20:28:12 2020 +0100 - Update ExpectArraysClose to use ExpectClose instead of EXPECT_NEAR + Add namespace qualified Ceres::ceres CMake target - The documentation for ExpectArraysClose and its implementation - did not match. + - This reflects modern CMake style, and also provides a measure of + protection against missing find_package() imports in downstream + clients resulting in linker errors when 'ceres' matches the compiled + library and not the imported target. + - The original 'ceres' target remains, as a local imported interface + target created by CeresConfig for backwards compatibility. - This change makes the polynomial_test not fail on 64bit AMD builds. + Change-Id: Ie9ed8de9b7059bc0cae1ae5002bb94d8fe617188 + +commit 99efa54bdb4e14c3f4382a166baf6772113f74a8 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun May 24 19:18:38 2020 +0100 + + Replace type aliases deprecated/removed in C++17/C++20 from FixedArray - Thanks to Phillip Huebner for reporting this. + - 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: I503f2d3317a28d5885a34f8bdbccd49d20ae9ba2 + Change-Id: I0f13c72e93a35391fd2d18590b4243a329a2322c -commit 2fd39fcecb47eebce727081c9ffb8edf86c33669 +commit adb973e4a337c372aa81ca1a4f3bb704068c08b7 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Sep 1 16:05:06 2016 -0700 +Date: Thu May 21 14:45:28 2020 -0700 - FindWithDefault returns by value rather than reference. - - Returning by reference leads to lifetime issues with the default - value which may go out of scope by the time it is used. - - Thanks to @Ardavel for reporting this, as this causes graph_test - to fail on VS2015x64. - - https://github.com/ceres-solver/ceres-solver/issues/216 + NULL -> nullptr - Change-Id: I596481219cfbf7622d49a6511ea29193b82c8ba3 + Change-Id: Iaeea2ef7912d328653a76b65976adc8025a5be35 -commit 716f049a7b91a8f3a4632c367d9534d1d9190a81 -Author: Mike Vitus <vitus@google.com> -Date: Wed Aug 31 13:38:30 2016 -0700 +commit 27b717951b58c134b3a5a9f664a66c7480364d6c +Author: Alastair Harrison <aharrison24@gmail.com> +Date: Fri May 15 10:10:12 2020 +0100 - Convert pose graph 2D example to glog and gflags. + Respect FIND_QUIETLY flag in cmake config file - Change-Id: I0ed75a60718ef95199bb36f33d9eb99157d11d40 + Ensure that Ceres does not print any log messages when somebody has + used 'find_package(Ceres QUIET)' in their CMake project. + + Change-Id: Id6b68859cc8a5857f3fa78f29736cb82fd5a0943 -commit 46c5ce89dda308088a5fdc238d0c126fdd2c2b58 -Author: David Gossow <dgossow@google.com> -Date: Wed Aug 31 18:40:57 2016 +0200 +commit 646959ef118a1f10bf93741d97cf64265d42f8c6 +Author: huangqinjin <huangqinjin@gmail.com> +Date: Sat Apr 25 02:03:11 2020 +0800 - Fix compiler errors on some systems + Do not export class template LineParameterization - This fixes some signed-unsigned comparisons and a missing header - include. + For MSVC, instantiating a dllimport class template will cause error C2491: + definition of dllimport function not allowed. - Change-Id: Ieb2bf6e905faa74851bc4ac4658d2f1da24b6ecc + Change-Id: Icc7f7ea84598df0a5436f48ffc2bab5cfab93921 -commit b102d53e1dd7dab132e58411183b6fffc2090590 -Author: David Gossow <dgossow@google.com> -Date: Wed Aug 31 10:21:20 2016 +0200 +commit 1f128d070a24224d12eb901bc74ba393ccdbd0c3 +Author: huangqinjin <huangqinjin@gmail.com> +Date: Mon Mar 4 13:14:43 2019 +0800 - Gradient checker multithreading bugfix. + Change the type of parameter index/offset to match their getter/setter - This is a follow-up on c/7470. GradientCheckingCostFunction calls - callback_->SetGradientErrorDetected() in its Evaluate method, - which will run in multiple threads simultaneously when enabling - this option in the solver. Thus, the string append operation - inside that method has to be protected by a mutex. + Change-Id: If28b795e792f39db9775ada105e9038570195329 + +commit 072c8f070e16cb32f211473c40196c6b5618d5a9 +Author: huangqinjin <huangqinjin@gmail.com> +Date: Sat Apr 25 00:04:58 2020 +0800 + + Initialize integer variables with integer instead of double - Change-Id: I314ef1df2be52595370d9af05851bf6da39bb45e + Change-Id: I652aca4ceb3129706a5d5e38afe9f16b61200a5b -commit 79a28d1e49af53f67af7f3387d07e7c9b7339433 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Wed Aug 31 06:47:45 2016 -0700 +commit 8c36bcc81fbd4f78a2faa2c914ef40af264f4c31 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Mon Apr 27 18:33:25 2020 +0100 - Rename a confusingly named member of Solver::Options + Use inline & -inlinehint-threshold in auto-diff benchmarks - Solver::Options::numeric_derivative_relative_step_size to - Solver::Options::gradient_check_numeric_derivative_relative_step_size + - 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: Ib89ae3f87e588d4aba2a75361770d2cec26f07aa + Change-Id: Id798dbca7d3050de0ea847a5ecc69484ac78a2cf -commit 358ae741c8c4545b03d95c91fa546d9a36683677 +commit 57cf20aa5d3c1b2f25d255814f4fff5260db81c6 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Wed Aug 31 06:58:41 2016 -0700 +Date: Tue Apr 21 10:10:01 2020 -0700 - Note that Problem::Evaluate cannot be called from an IterationCallback + static const -> static constexpr where we can. - Change-Id: Ieabdc2d40715e6b547ab22156ba32e9c8444b7ed + Change-Id: I8a6d26a89c4377dd440fa6dcf23513b7556533fc -commit 44044e25b14d7e623baae4505a17c913bdde59f8 +commit 40b27482a202c8b0a5f9e8f2b4be0192d34195f5 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Wed Aug 31 05:50:58 2016 -0700 +Date: Tue Apr 21 09:35:30 2020 -0700 - Update the NumTraits for Jets + Add std::numeric_limit specialization for Jets - 1. Use AVX if EIGEN_VECTORIZE_AVX is defined. - 2. Make the cost of division same as the cost of multiplication. + This allows users to use std::numeric_limits on templated functors. - These are updates to the original numtraits update needed for eigen 3.3 - that Shaheen Gandhi sent out. - - Change-Id: Ic1e3ed7d05a659c7badc79a894679b2dd61c51b9 + Change-Id: I403cec5c9826033ce7dfd6047deb64f66c35f806 -commit 4b6ad5d88e45ce8638c882d3e8f08161089b6dba -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Sat Aug 27 23:21:55 2016 -0700 +commit e751d6e4f0daa9f691c5ed25ca8dc564875d8bef +Author: Darius Rueckert <darius.rueckert@fau.de> +Date: Wed Apr 8 10:43:53 2020 +0200 - Use ProductParameterization in bundle_adjuster.cc - - Previously, when using a quaternion to parameterize the camera - orientation, the camera parameter block was split into two - parameter blocks. One for the rotation and another for the - translation and intrinsics. This was to enable the use of the - Quaternion parameterization. + Remove AutodiffCodegen - Now that we have a ProductParameterization which allows us - to compose multiple parameterizations, this is no longer needed - and we use a size 10 parameter block instead. + - Remove Codegen files + - Revert Jet and Rotation - This leads to a more than 2x improvements in the linear solver time. - - Change-Id: I78b8f06696f81fee54cfe1a4ae193ee8a5f8e920 + Change-Id: I005c5f98f2b6dfa5c7fd88d998b6aa83e47dab60 -commit bfc916cf1cf753b85c1e2ac037e2019ee891f6f9 -Author: Shaheen Gandhi <visigoth@gmail.com> -Date: Thu Aug 4 12:10:14 2016 -0700 +commit e9eb76f8ef9835940659cfb3a312ed6822c48152 +Author: Darius Rueckert <darius.rueckert@fau.de> +Date: Mon Apr 6 11:11:43 2020 +0200 - Allow ceres to be used with the latest version of Eigen + Remove AutodiffCodegen CMake integration - Change-Id: Ief3b0f6b405484ec04ecd9ab6a1e1e5409a594c2 + Change-Id: I403597540df8429378336626b8f748b7821fe6f5 -commit edbd48ab502aa418ad9700ee5c3ada5f9268b90a -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Sun Jul 10 14:13:51 2016 +0100 +commit 9435e08a7a7c903897e18e1dc24d801caf4f62a4 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Fri Apr 3 11:50:09 2020 -0700 - Enable support for OpenMP in Clang if detected. - - - Previously we disabled OpenMP if Clang was detected, as it did not - support it. However as of Clang 3.8 (and potentially Xcode 8) OpenMP - is supported. + More clang-tidy and wjr@ comment fixes - Change-Id: Ia39dac9fe746f1fc6310e08553f85f3c37349707 + Change-Id: I5736ae482f736fc56c00d21c659b1f8d41da68e9 -commit f6df6c05dd83b19fa90044106ebaca40957998ae -Author: Mike Vitus <vitus@google.com> -Date: Thu Aug 18 19:27:43 2016 -0700 +commit d93fac4b7ab670a936ce821284a0b9d099b4688c +Author: Darius Rueckert <darius.rueckert@fau.de> +Date: Fri Apr 3 09:33:17 2020 +0200 - Add an example for modeling and solving a 3D pose graph SLAM problem. + Remove AutodiffCodegen Tests - Change-Id: I750ca5f20c495edfee5f60ffedccc5bd8ba2bb37 + Change-Id: Icd194db7b22add518844f1b507d0fdd3e0fe17fe -commit ac3b8e82175122e38bafaaa9cd419ba3cee11087 -Author: David Gossow <dgossow@google.com> -Date: Fri Apr 29 16:07:11 2016 +0200 +commit 2281c6ed24d2c12f133fa6039f224b3da18cebe3 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Thu Apr 2 16:43:42 2020 -0700 - Gradient checking cleanup and local parameterization bugfix - - Change the Ceres gradient checking API to make is useful for - unit testing, clean up code duplication and fix interaction between - gradient checking and local parameterizations. - - There were two gradient checking implementations, one being used - when using the check_gradients flag in the Solver, the other - being a standalone class. The standalone version was restricted - to cost functions with fixed parameter sizes at compile time, which - is being lifted here. This enables it to be used inside the - GradientCheckingCostFunction as well. + Fixes for comments from William Rucklidge - In addition, this installs new hooks in the Solver to ensure - that Solve will fail if any incorrect gradients are detected. This - way, you can set the check_gradient flags to true and detect - errors in an automated way, instead of just printing error information - to the log. The error log is now also returned in the Solver summary - instead of being printed directly. The user can then decide what to - do with it. The existing hooks for user callbacks are used for - this purpose to keep the internal API changes minimal and non-invasive. - - The last and biggest change is the way the the interaction between - local parameterizations and the gradient checker works. Before, - local parameterizations would be ignored by the checker. However, - if a cost function does not compute its Jacobian along the null - space of the local parameterization, this wil not have any effect - on the solver, but would result in a gradient checker error. - With this change, the Jacobians are multiplied by the Jacobians - of the respective local parameterization and thus being compared - in the tangent space only. - - The typical use case for this are quaternion parameters, where - a cost function will typically assume that the quaternion is - always normalized, skipping the correct computation of the Jacobian - along the normal to save computation cost. - - Change-Id: I5e1bb97b8a899436cea25101efe5011b0bb13282 + Change-Id: I64fcc25532cc66dc4cb7e2ea7ccfb220b0cb7e1f -commit d4264ec10d9a270b53b5db86c0245ae8cbd2cf18 -Author: Mike Vitus <vitus@google.com> -Date: Wed Aug 17 13:39:05 2016 -0700 +commit d797a87a4091af6ae0063e3c8291429c15318bdc +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Thu Apr 2 13:57:56 2020 -0700 - Add a quaternion local parameterization for Eigen's quaternion element convention. + Use Ridders' method in GradientChecker. - Change-Id: I7046e8b24805313c5fb6a767de581d0054fcdb83 - -commit fd7cab65ef30fbc33612220abed52dd5073413c4 -Author: Mike Vitus <vitus@google.com> -Date: Wed Aug 10 09:29:12 2016 -0700 - - Fix typos in the pose graph 2D example. + Using Ridders' method gives orders of magnitude more accuracy compared + to central differences. This will make things slower, but this is + primarily a testing/debugging feature and the speed hit is not a + concern. This should also reduce the false positive rates when users + enable check_gradients. This is reflected the increased sensitivity of + the tests for GradientChecker. + + https://github.com/ceres-solver/ceres-solver/issues/554 - Change-Id: Ie024ff6b6cab9f2e8011d21121a91931bd987bd1 + Change-Id: I6b871c72df55be1c31175ba062cf3c1e94e4b662 -commit 375dc348745081f89693607142d8b6744a7fb6b4 -Author: Mike Vitus <vitus@google.com> -Date: Wed Aug 3 18:51:16 2016 -0700 +commit 41675682dc9df836bf15845064cfe1087619c79d +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Thu Apr 2 07:28:38 2020 -0700 - Remove duplicate entry for the NIST example in the docs. + Fix a MSVC type deduction bug in ComputeHouseholderVector - Change-Id: Ic4e8f9b68b77b5235b5c96fe588cc56866dab759 + 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 -commit f554681bf22d769abc12dd6d346ef65f9bb22431 -Author: Mike Vitus <vitus@google.com> -Date: Mon Jul 25 18:30:48 2016 -0700 +commit 947ec0c1fa0f67c89e21daaf8d1648822ae5293a +Author: Darius Rueckert <darius.rueckert@fau.de> +Date: Thu Apr 2 09:52:53 2020 +0200 - Add an example for modeling and solving a 2D pose graph SLAM problem. + Remove AutodiffCodegen autodiff benchmarks - Change-Id: Ia89b12af7afa33e7b1b9a68d69cf2a0b53416737 + Change-Id: If1eaad31710cc91d40323ea6cae7cabe6fa64b1f -commit e1bcc6e0f51512f43aa7bfb7b0d62f7ac1d0cd4b +commit 27183d661ecae246dbce6d03cacf84f39fba1f1e Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Wed May 18 07:52:48 2016 -0700 +Date: Thu Jul 11 16:30:59 2019 +0200 - Add additional logging for analyzing orderings + Allow LocalParameterizations to have zero local size. + + Local parameterizations with zero tangent/local size will cause the + corresponding parameter block to be treated as constant. - Change-Id: Ic68d2959db35254e2895f11294fb25de4d4b8a81 + https://github.com/ceres-solver/ceres-solver/issues/347 + + Change-Id: I554a2acc420f5dd9d0cc7f97b691877eb057b2c0 -commit 16980b4fec846f86910c18772b8145bcb55f4728 -Author: Mike Vitus <vitus@google.com> -Date: Fri Jul 15 13:37:49 2016 -0700 +commit 7ac7d79dca2ac6b482da50fd9ad0227ba8d6c632 +Author: Darius Rueckert <darius.rueckert@fau.de> +Date: Wed Apr 1 14:51:12 2020 +0200 - Delete the remove_definitons command from sampled_functions - CMakeLists.txt because it will be inherited from the top level examples - CMakeLists.txt. + Remove HelloWorldCodegen example - Change-Id: I25593587df0ae84fd8ddddc589bc2a13f3777427 + Change-Id: I2584f41d591a5d648b4832385c2a779bb25fc04d -commit a04490be97800e78e59db5eb67fa46226738ffba -Author: Mike Vitus <vitus@google.com> -Date: Thu Jul 14 10:10:13 2016 -0700 +commit 8c8738bf832f0fc27f0d4a9585fc59b2eaa6a828 +Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de> +Date: Sun Mar 29 13:29:02 2020 +0200 - Add readme for the sampled_function example. + Add photometric and relative-pose residuals to autodiff benchmarks - Change-Id: I9468b6a7b9f2ffdd2bf9f0dd1f4e1d5f894e540c + Change-Id: Id100ff2656ab63bb4fd19a51b95e78281cfd8b4a -commit ff11d0e63d4678188e8cabd40a532ba06912fe5a -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Wed Jun 29 09:31:45 2016 +0100 +commit 9f7fb66d62014ed62ba6aa617364e8591211c797 +Author: Darius Rueckert <darius.rueckert@fau.de> +Date: Wed Mar 25 11:41:39 2020 +0100 - Use _j[0,1,n]() Bessel functions on MSVC to avoid deprecation errors. + Add a constant cost function to the autodiff benchmarks + + The constant cost function is run with a variable number of + parameters to test at which point, different compilers fail + to optimize the autodiff code. - - Microsoft deprecated the POSIX Bessel functions: j[0,1,n]() in favour - of _j[0,1,n](), it appears since at least MSVC 2005: - https://msdn.microsoft.com/en-us/library/ms235384(v=vs.100).aspx. - - As this occurs in jet.h (templated public header), although Ceres - suppresses the warning when it itself is built (to suppress a warning - about the insecurity of using std::copy), it will crop up again in - client code (without this fix) unless it is explicitly suppressed - there also. - - Raised as Issue #190: - https://github.com/ceres-solver/ceres-solver/issues/190. + Clang achieves expected performance which fails at >50 parameters. + G++ fails already at 20 parameters - Change-Id: If7ac5dbb856748f9900be93ec0452a40c0b00524 + Change-Id: I75d8c683ef0011d813ec6d966d7ad58f86530f44 -commit 8ea86e1614cf77644ce782e43cde6565a54444f5 -Author: Nicolai Wojke <nwojke@uni-koblenz.de> -Date: Mon Apr 25 14:24:41 2016 +0200 +commit ab0d373e465f46ce483db640d0fb2f244f48702d +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Tue Mar 24 12:30:46 2020 -0700 - Fix: Copy minimizer option 'is_silent' to LinSearchDirection::Options + Fix a comment in autodiff.h - Change-Id: I23b4c3383cad30033c539ac93883d77c8dd4ba1a + Change-Id: I613e537c834e3f29cd92808c65ddb74f112974cc -commit 080ca4c5f2ac42620971a07f06d2d13deb7befa8 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Sun Apr 24 22:46:54 2016 -0700 +commit 27bb997144d00dd4494d440627f1e782bf4adf43 +Author: Johannes Beck <Jodebo_Beck@gmx.de> +Date: Tue Mar 24 08:05:43 2020 +0100 - Fix typos in users.rst + Change SVD algorithm in covariance computation. - Change-Id: Ifdc67638a39403354bc9589f42a1b42cb9984dd2 + Switch from JacobiSVD to BDCSVD in + ComputeCovarianceValuesUsingDenseSVD. This should increase + the performance for larger covariance matrices. See + https://eigen.tuxfamily.org/dox/classEigen_1_1BDCSVD.html + + Change-Id: Icde4dec89f506b638b0f9f1aee3b7cfc9e4d72fc -commit 21ab397dc55335c147fdd795899b1f8981037b09 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Sun Apr 24 21:13:00 2016 -0700 +commit 84fdac38e033c8f9a63c6e6fca7b44219110f7df +Author: Johannes Beck <Jodebo_Beck@gmx.de> +Date: Tue Mar 24 08:02:21 2020 +0100 - Make some Jet comparisons exact. + Add const to GetCovarianceMatrix* + + This CL adds const to the functions GetCovarianceMatrix and + GetCovarianceMatrixInTangentSpace. - Change-Id: Ia08c72f3b8779df96f5c0d5a954b2c0a1dd3a061 + Change-Id: Ibe2cafebede47977a9aabcac8d245f30af184fd1 -commit ee40f954cf464087eb8943abf4d9db8917a33fbe -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Sun Apr 24 07:49:55 2016 -0700 +commit 6bde61d6be9d81a2cd759a6bbb4a8cd3c24a529c +Author: Johannes Beck <Jodebo_Beck@gmx.de> +Date: Sat Dec 28 13:29:19 2019 +0100 - Add colmap to users.rst + Add line local parameterization. + + 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: I452a8c1dc6a3bc55734b2fc3a4002ff7939ba863 + Change-Id: I733f395e5cc4250abf9778c26fe0a5ae1de6b624 -commit 9665e099022bd06e53b0779550e9aebded7f274d +commit 2c1c0932e9d3f91691e5c5fce46b4440e181a8bc Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Mon Apr 18 06:00:58 2016 -0700 +Date: Mon Mar 23 11:15:32 2020 -0700 - Fix step norm evaluation in LineSearchMinimizer + Update documentation in autodiff.h - TrustRegionMinimizer evaluates the size of the step - taken in the ambient space, where as the LineSearchMinimizer - was using the norm in the tangent space. This change fixes - this discrepancy. - - Change-Id: I9fef64cbb5622c9769c0413003cfb1dc6e89cfa3 + Change-Id: Icc2753b4f5be95022ffd92e479cdd3d9d7959d4c -commit 620ca9d0668cd4a00402264fddca3cf6bd2e7265 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Mon Apr 18 15:14:11 2016 +0100 +commit 8904fa4887ed7b3e6d110ad5a98efbc2df48595e +Author: Darius Rueckert <darius.rueckert@fau.de> +Date: Mon Mar 23 14:59:26 2020 +0100 - Remove use of -Werror when compiling Ceres. + Inline Jet initialization in Autodiff + + 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. - - As noted in Issue #193 (in that case for GCC 6), Ceres' use of -Werror - when compiling on *nix can prevent compilation on new compilers that - add new warnings and there is an inevitable delay between new compiler - versions and Ceres versions. - - Removing the explicit use of -Werror, and relying on indirect - verification by maintainers should fix build issues for Ceres releases - on newer compilers. + This patch unrolls the initialization loop with templates and adds + EIGEN_ALWAYS_INLINE to the constructors. - Change-Id: I38e9ade28d4a90e53dcd918a7d470f1a1debd7b4 + Change-Id: Ic89d645984f3e1df6c63948236da823ba60d9620 -commit 0c63bd3efbf1d41151c9fab41d4b77dc64c572c8 -Author: Mike Vitus <vitus@google.com> -Date: Thu Apr 14 10:25:52 2016 -0700 +commit 18a464d4e566e17930005876af19e32cc8796fa3 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Mon Mar 23 07:12:12 2020 -0700 - Add floor and ceil functions to the Jet implementation. + Remove an errant CR from local_parameterization.cc - Change-Id: I72ebfb0e9ade2964dbf3a014225ead345d5ae352 + Change-Id: Iff98a96f06de5755062a1c79523604dca78b298e -commit 9843f3280356c158d23c06a16085c6c5ba35e053 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Mon Mar 7 21:24:32 2016 +0000 +commit 5c85f21799804d39cbfd20ec451aa219511e4212 +Author: Darius Rueckert <darius.rueckert@fau.de> +Date: Mon Mar 23 10:12:00 2020 +0100 - Report Ceres compile options as components in find_package(). + Use ArraySelector in Autodiff - - Users can now specify particular components from Ceres, such as - SuiteSparse support) that must be present in a detected version of - Ceres in order for it to be reported as found by find_package(). - - This allows users to specify for example that they require a version - of Ceres with SuiteSparse support at configure time, rather than - finding out only at run time that Ceres was not compiled with the - options they require. - - The list of available components are built directly from the Ceres - compile options. - - The meta-module SparseLinearAlgebraLibrary is present if at least - one sparse linear algebra backend is available. + 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: I65f1ddfd7697e6dd25bb4ac7e54f5097d3ca6266 + Change-Id: Ibadc5644e64d672f7a555e250fb1f8da262f9d4f -commit e4d4d88bbe51b9cc0f7450171511abbea0779790 -Author: Timer <linyicx@126.com> -Date: Fri Apr 8 15:42:18 2016 +0800 +commit 80477ff073ab7af03cfb248cab4ef41a87f913d0 +Author: Darius Rueckert <darius.rueckert@fau.de> +Date: Fri Mar 20 16:26:55 2020 +0100 - Fix a spelling error in nnls_modeling.rst + Add class ArraySelector - Change-Id: I341d901d3df993bc5397ed15e6cb330b0c38fd72 + The ArraySelector selects the best array implementation based on + template arguments. + + Change-Id: I93c6db1a638e924b85292e63bca9525610ec2e2f -commit 5512f58536e1be0d92010d8325b606e7b4733a08 -Author: Keir Mierle <mierle@gmail.com> -Date: Thu Apr 7 12:03:16 2016 -0700 +commit e7a30359ee754057f9bd7b349c98c291138d91f4 +Author: Darius Rueckert <darius.rueckert@fau.de> +Date: Fri Mar 20 15:50:37 2020 +0100 - Only use collapse() directive with OpenMP 3.0 or higher + Pass kNumResiduals to Autodiff + + 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: Icba544c0494763c57eb6dc61e98379312ca15972 + Change-Id: Ia2b2cc99b88752e8f12f4ce2542b1963bda552f5 -commit d61e94da5225217cab7b4f93b72f97055094681f -Author: Thomas Schneider <schneith@ethz.ch> -Date: Wed Apr 6 10:40:29 2016 +0200 +commit f339d71dd64e4d871cc883f278a153f212f0d1f0 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Thu Mar 19 12:08:28 2020 -0700 + + Refactor the automatic differentiation benchmarks. + + 1. Merge them into a single binary. + 2. All benchmarks now do the Residual and the Residual + Jacobian + evaluation. + 3. Re-organize and simplify the CMake file in this directory. + 4. Fix a bug in the file where the Clang compiler was not being matched. + + autodiff_benchmarks + --------------------------------------------------------------------------- + Benchmark Time CPU Iterations + --------------------------------------------------------------------------- + BM_Linear1CodeGen/0 3.02 ns 3.01 ns 233870456 + BM_Linear1CodeGen/1 3.02 ns 3.01 ns 233059100 + BM_Linear1AutoDiff/0 3.78 ns 3.77 ns 185791712 + BM_Linear1AutoDiff/1 14.0 ns 13.8 ns 53927875 + BM_Linear10CodeGen/0 5.10 ns 5.10 ns 126745007 + BM_Linear10CodeGen/1 29.1 ns 29.1 ns 23949310 + BM_Linear10AutoDiff/0 6.50 ns 6.49 ns 107516972 + BM_Linear10AutoDiff/1 169 ns 169 ns 4153218 + BM_Rat43AutoDiff/0 52.7 ns 51.2 ns 16444586 + BM_Rat43AutoDiff/1 91.8 ns 91.5 ns 7302316 + BM_SnavelyReprojectionCodeGen/0 38.0 ns 36.2 ns 21131501 + BM_SnavelyReprojectionCodeGen/1 113 ns 112 ns 5627779 + BM_SnavelyReprojectionAutoDiff/0 34.4 ns 34.3 ns 20476937 + BM_SnavelyReprojectionAutoDiff/1 242 ns 240 ns 2930611 + BM_BrdfCodeGen/0 53.9 ns 53.7 ns 11950083 + BM_BrdfCodeGen/1 507 ns 505 ns 1396732 + BM_BrdfAutoDiff/0 58.3 ns 57.8 ns 12220670 + BM_BrdfAutoDiff/1 2034 ns 1999 ns 257003 + + autodiff_benchmarks_fast_math + --------------------------------------------------------------------------- + Benchmark Time CPU Iterations + --------------------------------------------------------------------------- + BM_Linear1CodeGen/0 3.19 ns 3.16 ns 215313065 + BM_Linear1CodeGen/1 2.78 ns 2.76 ns 201497994 + BM_Linear1AutoDiff/0 3.27 ns 3.26 ns 206154598 + BM_Linear1AutoDiff/1 13.2 ns 13.1 ns 57257840 + BM_Linear10CodeGen/0 5.70 ns 5.51 ns 121849325 + BM_Linear10CodeGen/1 33.9 ns 33.3 ns 21829295 + BM_Linear10AutoDiff/0 6.85 ns 6.78 ns 106813153 + BM_Linear10AutoDiff/1 173 ns 171 ns 3849877 + BM_Rat43AutoDiff/0 44.8 ns 44.2 ns 15577017 + BM_Rat43AutoDiff/1 96.2 ns 94.6 ns 7374864 + BM_SnavelyReprojectionCodeGen/0 33.9 ns 33.5 ns 20508373 + BM_SnavelyReprojectionCodeGen/1 89.7 ns 88.4 ns 7620624 + BM_SnavelyReprojectionAutoDiff/0 36.5 ns 35.8 ns 20546176 + BM_SnavelyReprojectionAutoDiff/1 257 ns 252 ns 3044325 + BM_BrdfCodeGen/0 61.1 ns 58.5 ns 11334013 + BM_BrdfCodeGen/1 265 ns 265 ns 2625459 + BM_BrdfAutoDiff/0 52.5 ns 52.5 ns 12938763 + BM_BrdfAutoDiff/1 1560 ns 1560 ns 440909 + + Change-Id: I2d1a4293d3245a50f73af6cf5e5138084321ae6f + +commit d37b4cb150c4af65268f9ce5739d1c67e73cb358 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Thu Mar 19 07:36:58 2020 -0700 - Add IsParameterBlockConstant to the ceres::Problem class. + Fix some include headers in codegen/test_utils.cc/h - Change-Id: I7d0e828e81324443209c17fa54dd1d37605e5bfe + Change-Id: I769029ce2797eba0de6c7baeb76dc3f2782b6305 -commit 77d94b34741574e958a417561702d6093fba87fb -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Sun Feb 14 16:54:03 2016 +0000 +commit 550766e6da49dca895a6e2056b0872c557157c5b +Author: Darius Rueckert <darius.rueckert@fau.de> +Date: Wed Mar 18 20:09:20 2020 +0100 - Fix install path for CeresConfig.cmake to be architecture-aware. + Add Autodiff Brdf Benchmark - - Previously we were auto-detecting a "64" suffix for the install path - for the Ceres library on non-Debian/Arch Linux distributions, but - we were installing CeresConfig.cmake to an architecture independent - location. - - We now install CeresConfig.cmake to lib${LIB_SUFFIX}/cmake/Ceres. - - Also make LIB_SUFFIX visible to the user in the CMake GUI s/t they can - easily override the auto-detected value if desired. - - Reported by jpgr87@gmail.com as Issue #194. + The disney brdf is a good benchmark cost functor, because it has + - 28 parameters in 7 blocks + - 3 residuals + - Lots of low-level arithmetic - Change-Id: If126260d7af685779487c01220ae178ac31f7aea + Change-Id: I62c8a717d0aecb64639158f971bdccf6afdfae36 |