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Diffstat (limited to 'extern/ceres/ChangeLog')
| -rw-r--r-- | extern/ceres/ChangeLog | 825 |
1 files changed, 417 insertions, 408 deletions
diff --git a/extern/ceres/ChangeLog b/extern/ceres/ChangeLog index 64c75e572f4..40fe3f16bac 100644 --- a/extern/ceres/ChangeLog +++ b/extern/ceres/ChangeLog @@ -1,587 +1,596 @@ -commit e39d9ed1d60dfeb58dd2a0df4622c683f87b28e3 -Author: Carl Dehlin <carl@dehlin.com> -Date: Tue Jun 16 09:02:05 2020 +0200 +commit 399cda773035d99eaf1f4a129a666b3c4df9d1b1 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Fri Oct 23 19:36:08 2020 +0100 - Add a missing term and remove a superfluous word + Update build documentation to reflect detection of Eigen via config mode - Change-Id: I25f40f0bf241302b975e6fc14690aa863c0728b0 + Change-Id: I18d5f0fc1eb51ea630164c911d935e9bffea35ce -commit 27cab77b699a1a2b5354820c57a91c92eaeb21e3 -Author: Carl Dehlin <carl@dehlin.com> -Date: Mon Jun 15 20:01:18 2020 +0200 +commit bb127272f9b57672bca48424f2d83bc430a46eb8 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Mon Oct 19 09:28:34 2020 -0700 - Reformulate some sentences + Fix typos. - Change-Id: I4841aa8e8522008dd816261d9ad98e5fb8ad1758 + Contributed by Ishamis@, IanBoyanZhang@, gkrobner@ & mithunjacob@. + + Change-Id: Iab3c19a07a6f3db2486e3557dcb55bfe5de2aee5 -commit 8ac6655ce85a4462f2882fcb9e9118a7057ebe09 -Author: Carl Dehlin <carl@dehlin.com> -Date: Mon Jun 15 19:10:12 2020 +0200 +commit a0ec5c32af5c5f5a52168dc2748be910dba14810 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Sun Oct 18 15:20:36 2020 -0700 - Fix documentation formatting issues + Update version history for 2.0.0RC2 - Change-Id: Iea3a6e75dc3a7376eda866ab24e535a6df84f8ea + Change-Id: I75b7515fbf9880bd8eaea6ecd5e72ce1ae4a3a86 -commit 7ef83e07592ead74eeacc227b642df1959d2a246 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Sat May 30 11:30:01 2020 +0100 +commit 3f6d2736769044e7c08c873c41a184849eea73ab +Author: Taylor Braun-Jones <taylor@braun-jones.org> +Date: Tue Jan 28 12:09:30 2020 -0500 - Update minimum required C++ version for Ceres to C++14 + Unify symbol visibility configuration for all compilers - - 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. + This makes it possible to build unit tests with shared libraries on MSVC. - Change-Id: I706c8b367b3221e3c4d1a0aaf669a8f9c911e438 + Change-Id: I1db66a80b2c78c4f3d354e35235244d17bac9809 -commit 1d75e7568172dc5a4dc97937dcf66e0f5d28272c +commit 29c2912ee635c77f3ddf2e382a5d6a9cf9805a3d Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Mon May 25 18:09:50 2020 -0700 +Date: Tue Oct 13 12:07:06 2020 -0700 - Improve documentation for LocalParameterization + Unbreak the bazel build some more - Change-Id: I63fa81206e67bfac56cc42bf2bb4915a3a11332b + Change-Id: I6bbf3df977a473b9b5e16a9e59da5f535f8cdc24 -commit 763398ca4ed56952f48c48df6a98e277e3e05381 +commit bf47e1a36829f62697b930241d0a353932f34090 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Mon May 25 12:12:03 2020 -0700 +Date: Tue Oct 13 10:00:22 2020 -0700 - Update the section on Preconditioners + Fix the Bazel build. + + 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. - Re-organize the section, add some more references and details for - existing preconditioners and add documentation for the SUBSET - precondition. + 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/490 + https://github.com/ceres-solver/ceres-solver/issues/628 - Change-Id: I93d0af819c160f5e4ce48b18202f629ddb92ca7b + Change-Id: I470209cbb48b6a4f499564a86b52436e0c8d98ef -commit a614f788a34ea86dd9f679b779ffbf920db45aa6 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Fri May 22 13:52:53 2020 -0700 +commit 600e8c529ebbb4bb89d5baefa3d5ab6ad923706a +Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de> +Date: Mon Oct 12 23:00:39 2020 +0200 - Call EvaluationCallback before evaluating the fixed cost. + fix minor typos - 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. + all timing values in the summary are initialized to -1, so the one + +1 is likely an oversight. - In the process also run clang-format on some of the files touched by - this change. + Change-Id: Ie355f3b7da08a56d49d19ca9a5bc48fe5581dee3 + +commit bdcdcc78af61a0cb85317ebee52dc804bf4ea975 +Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de> +Date: Mon Sep 7 01:48:50 2020 +0200 + + update docs for changed cmake usage - https://github.com/ceres-solver/ceres-solver/issues/482 + - update links to cmake docs to version 3.5 + - highlight difference between dependencies with and without custom + find modules + - point out removal of CERES_INCLUDE_DIRS + - point out that TBB might be linked if SuiteSparseQR is found + - added 'Migration' section + - fixed typos - Change-Id: I342b66f6f975fdee2eef139a31f24d4a3e568e84 + Change-Id: Icbcc0e723d11f12246fb3cf09b9d7c6206195a82 -commit 70308f7bb9cac560db250262079c0f8b030b9d6b +commit 3f69e5b36a49b44344e96a26b39693a914ba80c6 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Tue May 26 06:12:13 2020 -0700 +Date: Mon Oct 12 11:46:40 2020 -0700 - Simplify documentation generation. - - 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. + Corrections from William Rucklidge - Change-Id: Ia3c2e732323a8b5cabafe851ac5ca0f0c82da071 + Change-Id: I0b5d4808be48f68df7829c70ec93ffa67d81315d -commit e886d7e65368e73e9d35c2ead895d81ced677977 +commit 8bfdb02fb18551bbd5f222c5472e45eddecd42b9 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Mon May 25 13:09:39 2020 -0700 +Date: Mon Oct 12 10:07:13 2020 -0700 - Reduce the number of minimizer iterations in evaluation_callback_test.cc - - This should reduce the probability of the test heuristic failing due - to floating point issues. + Rewrite uses of VLOG_IF and LOG_IF. - https://github.com/ceres-solver/ceres-solver/issues/562 - https://github.com/ceres-solver/ceres-solver/issues/392 + VLOG_IF's evaluation order is ambiguous - does it mean + `if (cond) VLOG(lvl)` or `if (VLOG_IS_ON(lvl) && cond) LOG(INFO)`? + In particular, the way it works now is inconsistent with the way the + rest of the LOG macros evaluate their arguments. + Fixing this would be hard, and the macro's behavior would still surprise + some people. Replacing it with an if statement is simple, clear, and unambiguous. - Change-Id: I8ccf4164a8d595f5930d378f464313d4a2cae419 + Change-Id: I97a92d17a932c0a5344a1bf98d676308793ba877 -commit 9483e6f2f57bf51bad7cefd155cd5b48ca672c63 +commit d1b35ffc161fd857c7c433574ca82aa9b2db7f98 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Tue May 12 05:16:32 2020 -0700 +Date: Mon Oct 12 10:58:05 2020 -0700 - Simplify DynamicCompressedRowJacobianWriter::Write + Corrections from William Rucklidge - Change-Id: I67aa2959bd479909b5cada79359c5cfdb8a37ef7 + Change-Id: Ifb50e87aa915d00f9861fe1a6da0acee11bc0a94 -commit 323cc55bb92a513924e566f487b54556052a716f +commit f34e80e91f600014a3030915cf9ea28bcbc576e7 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Mon May 25 10:38:35 2020 -0700 +Date: Thu Oct 8 12:34:53 2020 -0700 - Update the version in package.xml to 2.0.0. + Add dividers between licenses. - Change-Id: Ibac053916520e8c597c875a8c7f5668bb35b6ba1 + Change-Id: I4e4aaa15e0621c5648550cfa622fe0a79f1f4f9f -commit 303b078b50bd3311a9c86fc256be3e9f2f334411 -Author: Bayes Nie <niebayes@gmail.com> -Date: Sun May 24 16:08:52 2020 +0800 +commit 65c397daeca77da53d16e73720b9a17edd6757ab +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Wed Oct 7 14:34:52 2020 -0700 - Fix few typos and alter a NULL to nullptr. - - Fix typos in docs/source/features.rst and examples/helloworld.cc. Alter a NULL to nullptr in include/ceres/autodiff_cost_function.h + Fix formatting - Change-Id: Ibcf00b6ef665ad6be9af14b3add2dd4f3852e7e6 + Change-Id: Ib4ca8a097059dbb8d2f3a6a888222c0188cb126e -commit cca93fed63dd4117f3d6dd5339131fc7674e6e0a -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Sun May 24 18:05:05 2020 +0100 +commit f63b1fea9cfa48ae4530c327b10efa4985e69631 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Wed Oct 7 14:30:54 2020 -0700 - Bypass Ceres' FindGlog.cmake in CeresConfig.cmake if possible + Add the MIT license text corresponding to the libmv derived files. - - 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. - - Change-Id: I85af8a953fd6d300e8bc0cdeb0b3636fec182f68 + Change-Id: Ie72fb45ae96a7892c00411eee6873db7f0e365a8 -commit 77fc1d0fc4159ebb3a0a84a16651564eb2ce3c9d -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Sun May 24 19:07:26 2020 +0100 +commit 542613c13d8b7469822aff5eec076f2cad4507ec +Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de> +Date: Tue Oct 6 22:48:59 2020 +0200 - Use build_depend for private dependencies in Catkin package.xml + minor formatting fix for trust_region_minimizer.cc - Change-Id: If0c0569e7ebbf37c0d8e8daaf7765e20a6282531 + Change-Id: I18ba27825fc23dd0e9e3e15dc13fc0833db01b5b -commit a09682f00d8e50ada3c7ed16f8c48fa71a423f60 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Sun May 24 16:49:28 2020 +0100 +commit 6d9e9843d8c61cfb04cc55b9def9518f823a592a +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Mon Sep 28 11:35:37 2020 -0700 - Fix MSVC version check to support use of clang-cl front-end + Remove inclusion of ceres/eigen.h - - Raised as issue: #521 + The initial reason for this is because of a previous reformatting CL + triggered a macro redefinition warning in the schur eliminator. But + actually it was worse because the reordering had caused the macro + definition to be ignored and caused a performance regression. - Change-Id: Iaea6b43484b90ec8789bda0447c8a90759974ec1 + This simplifies the generated files, fixes some formatting errors + and recovers the performance. + + Change-Id: I9dbeffc38743b3f24b25843feec2e26a73188413 -commit b70687fcc86624c7d5520d25734938fa95d2af73 +commit eafeca5dcb7af8688d40a9c14b0d2fcb856c96fc +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Mon Sep 28 11:12:59 2020 -0700 + + Fix a logging bug in TrustRegionMinimizer. + + Upon encountering an unsuccessful step (one where the cost goes up) + the the trust region minimizer failed to populate the gradient norm + in the IterationSummary. This would cause the gradient norm to be + logged as zero which is incorrect. Instead it should be the gradient + norm at the current point. + + This CL fixes this issue. + + Before: + iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.115206e+07 0.00e+00 1.90e+07 0.00e+00 0.00e+00 1.00e+04 0 2.72e-01 1.33e+00 + 1 3.687552e+06 7.46e+06 1.84e+08 2.86e+03 6.91e-01 1.06e+04 1 1.32e+00 2.65e+00 + 2 3.670266e+10 -3.67e+10 0.00e+00 3.27e+03 -1.07e+04 5.30e+03 1 7.52e-01 3.40e+00 + 3 4.335397e+07 -3.97e+07 0.00e+00 2.74e+03 -1.16e+01 1.32e+03 1 7.28e-01 4.13e+00 + 4 1.345488e+06 2.34e+06 4.12e+07 1.55e+03 6.87e-01 1.40e+03 1 9.31e-01 5.06e+00 + 5 5.376653e+05 8.08e+05 9.99e+06 6.64e+02 7.46e-01 1.59e+03 1 9.64e-01 6.03e+00 + + After: + iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.115206e+07 0.00e+00 1.90e+07 0.00e+00 0.00e+00 1.00e+04 0 2.37e-01 1.13e+00 + 1 3.687552e+06 7.46e+06 1.84e+08 2.86e+03 6.91e-01 1.06e+04 1 1.08e+00 2.21e+00 + 2 3.670266e+10 -3.67e+10 1.84e+08 3.27e+03 -1.07e+04 5.30e+03 1 7.50e-01 2.96e+00 + 3 4.335397e+07 -3.97e+07 1.84e+08 2.74e+03 -1.16e+01 1.32e+03 1 7.13e-01 3.67e+00 + 4 1.345488e+06 2.34e+06 4.12e+07 1.55e+03 6.87e-01 1.40e+03 1 9.01e-01 4.57e+00 + 5 5.376653e+05 8.08e+05 9.99e+06 6.64e+02 7.46e-01 1.59e+03 1 9.36e-01 5.51e+00 + + Change-Id: Iae538fe089be07c7bb219337a6f1392f7213acfe + +commit 1fd0be916dd4ff4241bd52264b9e9170bc7e4339 Author: Alex Stewart <alexs.mac@gmail.com> -Date: Sun May 24 20:28:12 2020 +0100 +Date: Mon Sep 28 18:54:33 2020 +0100 - Add namespace qualified Ceres::ceres CMake target + Fix default initialisation of IterationCallback::cost - - 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. + Change-Id: I9f529093fc09424c90dbff8e9648b90b16990623 + +commit 137bbe845577929a87f8eef979196df6a8b30ee4 +Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de> +Date: Mon Sep 28 02:17:32 2020 +0200 + + add info about clang-format to contributing docs - Change-Id: Ie9ed8de9b7059bc0cae1ae5002bb94d8fe617188 + Change-Id: I2f4dcbda2e4f36096df217d76de370103ffaa43e -commit 99efa54bdb4e14c3f4382a166baf6772113f74a8 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Sun May 24 19:18:38 2020 +0100 +commit d3f66d77f45482b90d01af47938289c32dd2cc08 +Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de> +Date: Mon Sep 28 02:01:43 2020 +0200 - Replace type aliases deprecated/removed in C++17/C++20 from FixedArray + fix formatting generated files (best effort) - - 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. + - update file generator scripts / templates so generated files adhere + to clang-format + - A few exceptions are not fixed, where the file generation results in + lines of different width. To properly fix this would make the code + more complicated and it's not that important for generated files + anyway. + - note that generated files are excluded in ./scripts/format_all.sh - Change-Id: I0f13c72e93a35391fd2d18590b4243a329a2322c + Change-Id: I4f42c83d1fec01242eada5e7ce6c1a5192234d37 -commit adb973e4a337c372aa81ca1a4f3bb704068c08b7 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu May 21 14:45:28 2020 -0700 +commit a9c7361c8dc1d37e78d216754a4c03e8a8f1e74f +Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de> +Date: Mon Sep 28 02:14:29 2020 +0200 - NULL -> nullptr + minor formatting fix (wrongly updated in earlier commit) - Change-Id: Iaeea2ef7912d328653a76b65976adc8025a5be35 + Change-Id: I544635fd936cb5b7f7bd9255876641cd5a9590c6 -commit 27b717951b58c134b3a5a9f664a66c7480364d6c -Author: Alastair Harrison <aharrison24@gmail.com> -Date: Fri May 15 10:10:12 2020 +0100 +commit 7b8f675bfdb1d924af6a2dcc1f79bda5ace7e886 +Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de> +Date: Sun Sep 20 21:45:24 2020 +0200 - Respect FIND_QUIETLY flag in cmake config file + fix formatting for (non-generated) internal source files - Ensure that Ceres does not print any log messages when somebody has - used 'find_package(Ceres QUIET)' in their CMake project. + - 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: Id6b68859cc8a5857f3fa78f29736cb82fd5a0943 + Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d -commit 646959ef118a1f10bf93741d97cf64265d42f8c6 -Author: huangqinjin <huangqinjin@gmail.com> -Date: Sat Apr 25 02:03:11 2020 +0800 +commit 921368ce31c42ee793cf131860abba291a7e39ad +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Wed Sep 9 09:15:37 2020 -0700 - Do not export class template LineParameterization + Fix a number of typos in covariance.h - For MSVC, instantiating a dllimport class template will cause error C2491: - definition of dllimport function not allowed. + Also some minor cleanups in covariance_impl.h - Change-Id: Icc7f7ea84598df0a5436f48ffc2bab5cfab93921 - -commit 1f128d070a24224d12eb901bc74ba393ccdbd0c3 -Author: huangqinjin <huangqinjin@gmail.com> -Date: Mon Mar 4 13:14:43 2019 +0800 - - Change the type of parameter index/offset to match their getter/setter + Thanks to Lorenzo Lamia for pointing these out. - Change-Id: If28b795e792f39db9775ada105e9038570195329 + Change-Id: Icb4012a367fdd1f249bc1e7019e0114c868e45b6 -commit 072c8f070e16cb32f211473c40196c6b5618d5a9 -Author: huangqinjin <huangqinjin@gmail.com> -Date: Sat Apr 25 00:04:58 2020 +0800 +commit 7b6b2491cc1be0b3abb67338366d8d69bef3a402 +Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de> +Date: Tue Sep 8 17:51:32 2020 +0200 - Initialize integer variables with integer instead of double + fix formatting for examples + + This is mostly just applying the existing clang format config, except: + - Use NOLINT on overlong comment lines. + - Wrap some sections in 'clang-format off' / 'clang format on'. + - Manually split or join some multi-line strings. - Change-Id: I652aca4ceb3129706a5d5e38afe9f16b61200a5b + Change-Id: Ia1a40eeb92112e12c3a169309afe087af55b2f4f -commit 8c36bcc81fbd4f78a2faa2c914ef40af264f4c31 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Mon Apr 27 18:33:25 2020 +0100 +commit 82275d8a4eac4fc0bd07e17c3a41a6e429e72bfb +Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de> +Date: Tue Sep 8 02:00:21 2020 +0200 - Use inline & -inlinehint-threshold in auto-diff benchmarks + some fixes for Linux and macOS install docs - - 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. + Linux: + - Remove workaround for Ubuntu 14.04, which is EOL. libsuitesparse-dev + seems to come with a shared library on 16.04 and later, so linking + to a shared build of ceres doesn't seem to be an issue any more. + - Add missing libgflags-dev. - Change-Id: Id798dbca7d3050de0ea847a5ecc69484ac78a2cf - -commit 57cf20aa5d3c1b2f25d255814f4fff5260db81c6 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Tue Apr 21 10:10:01 2020 -0700 - - static const -> static constexpr where we can. + macOS: + - OS X is now called macOS. + - Update homebrew link. + - Mac homebrew the preferred method of installation. + - Fix OpenMP instructions. + - Remove reference to homebrew/science. Everything is in core. + - Add missing gflags. - Change-Id: I8a6d26a89c4377dd440fa6dcf23513b7556533fc + Change-Id: I633b3c7ea84a87886bfd823f8187fdd0a84737c9 -commit 40b27482a202c8b0a5f9e8f2b4be0192d34195f5 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Tue Apr 21 09:35:30 2020 -0700 +commit 9d762d74f06b946bbd2f098de7216032d0e7b51d +Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de> +Date: Sun Sep 6 21:04:24 2020 +0200 - Add std::numeric_limit specialization for Jets + fix formatting for public header files - This allows users to use std::numeric_limits on templated functors. + - 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: I403cec5c9826033ce7dfd6047deb64f66c35f806 + Change-Id: I78dbd0527a294ab2ec5f074fb426e48b20c393e6 -commit e751d6e4f0daa9f691c5ed25ca8dc564875d8bef -Author: Darius Rueckert <darius.rueckert@fau.de> -Date: Wed Apr 8 10:43:53 2020 +0200 +commit c76478c4898f3af11a6a826ac89c261205f4dd96 +Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de> +Date: Sun Sep 6 23:29:56 2020 +0200 - Remove AutodiffCodegen - - - Remove Codegen files - - Revert Jet and Rotation + gitignore *.pyc - Change-Id: I005c5f98f2b6dfa5c7fd88d998b6aa83e47dab60 + Change-Id: Ic6238a617a3c7ce92df7dcefcc44bae20c32b30b -commit e9eb76f8ef9835940659cfb3a312ed6822c48152 -Author: Darius Rueckert <darius.rueckert@fau.de> -Date: Mon Apr 6 11:11:43 2020 +0200 +commit 4e69a475cd7d7cbed983f5aebf79ae13a46e5415 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Tue Sep 1 10:15:23 2020 +0100 - Remove AutodiffCodegen CMake integration + Fix potential for mismatched release/debug TBB libraries - Change-Id: I403597540df8429378336626b8f748b7821fe6f5 + - Protect against the case when the user has multiple installs of TBB + in their search paths and the first install does not contain debug + libraries. In this case it is possible to get mismatched versions + of TBB inserted into TBB_LIBRARIES. + - Also suppresses warning about use of TBB_ROOT on modern versions of + CMake due to CMP0074. + + Change-Id: I2eaafdde4a028cbf6c500c63771973d85bc4723d -commit 9435e08a7a7c903897e18e1dc24d801caf4f62a4 +commit 8e1d8e32ad0d28c0d4d1d7b2b1ce7fc01d90b7b0 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Fri Apr 3 11:50:09 2020 -0700 +Date: Thu Sep 3 10:49:20 2020 -0700 - More clang-tidy and wjr@ comment fixes + A number of small changes. + + 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: I5736ae482f736fc56c00d21c659b1f8d41da68e9 + Change-Id: I57bbb51fb9e75f36ec2a661b603beda270f30a19 -commit d93fac4b7ab670a936ce821284a0b9d099b4688c -Author: Darius Rueckert <darius.rueckert@fau.de> -Date: Fri Apr 3 09:33:17 2020 +0200 +commit 368a738e5281039f19587545806b7bc6f35e78f9 +Author: Julian Kent <jkflying@gmail.com> +Date: Thu May 7 12:54:35 2020 +0200 - Remove AutodiffCodegen Tests + AutoDiffCostFunction: optional ownership + + 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. - Change-Id: Icd194db7b22add518844f1b507d0fdd3e0fe17fe + This is then made use of in libmv by preallocating the errors and + cost functions into vectors + + Change-Id: Ia5b97e7249b55a463264b6e26f7a02291927c9f2 -commit 2281c6ed24d2c12f133fa6039f224b3da18cebe3 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Apr 2 16:43:42 2020 -0700 +commit 8cbd721c199c69f127af6ef7c187ddf7e8f116f9 +Author: Morten Hannemose <morten@hannemose.dk> +Date: Thu Sep 3 17:54:20 2020 +0200 - Fixes for comments from William Rucklidge + Add erf and erfc to jet.h, including tests in jet_test.cc + + erf is necessary for evaluating Gaussian functions. + erfc was added because it is so similar to erf. - Change-Id: I64fcc25532cc66dc4cb7e2ea7ccfb220b0cb7e1f + Change-Id: I5e470dbe013cc938fabb87cde3b0ebf26a90fff4 -commit d797a87a4091af6ae0063e3c8291429c15318bdc +commit 31366cff299cf2a8d97b43a7533d953ff28fdc29 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Apr 2 13:57:56 2020 -0700 +Date: Tue Sep 1 09:23:34 2020 -0700 - Use Ridders' method in GradientChecker. + Benchmarks for dynamic autodiff. - 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. + This patch is from Clement Courbet. courbet@google.com - https://github.com/ceres-solver/ceres-solver/issues/554 - - Change-Id: I6b871c72df55be1c31175ba062cf3c1e94e4b662 + Change-Id: I886390663644733bfa5b7b52b0c883079e793726 -commit 41675682dc9df836bf15845064cfe1087619c79d -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Apr 2 07:28:38 2020 -0700 +commit 29fb08aeae1ce691851724af7209fea6127523a9 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Tue Sep 1 10:23:31 2020 +0100 - Fix a MSVC type deduction bug in ComputeHouseholderVector + Use CMAKE_PREFIX_PATH to pass Homebrew install location - 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. + - Passing HINTS disables the MODULE mode of find_package() which + precludes users from creating their own find modules to provide + Ceres' dependencies. - Change-Id: I83cd0269e6e82c4a8f4e391f5fc03b92c942f74d + Change-Id: I6f2edf429331d13fe67bf61ac4b79d17579d9a57 -commit 947ec0c1fa0f67c89e21daaf8d1648822ae5293a -Author: Darius Rueckert <darius.rueckert@fau.de> -Date: Thu Apr 2 09:52:53 2020 +0200 +commit 242c703b501ffd64d645f4016d63c8b41c381038 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Tue Aug 4 21:02:11 2020 -0700 - Remove AutodiffCodegen autodiff benchmarks + Minor fixes to the documentation - Change-Id: If1eaad31710cc91d40323ea6cae7cabe6fa64b1f + Change-Id: I65e6f648d963b8aa640078684ce02dcde6acb87d -commit 27183d661ecae246dbce6d03cacf84f39fba1f1e +commit 79bbf95103672fa4b5485e055ff7692ee4a1f9da Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Jul 11 16:30:59 2019 +0200 +Date: Tue Aug 4 18:26:02 2020 -0700 - Allow LocalParameterizations to have zero local size. + Add changelog for 2.0.0 - 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 + Change-Id: I8acad62bfe629454ae5032732693e43fe37b97ff -commit 7ac7d79dca2ac6b482da50fd9ad0227ba8d6c632 -Author: Darius Rueckert <darius.rueckert@fau.de> -Date: Wed Apr 1 14:51:12 2020 +0200 +commit 41d05f13d0ffb230d7a5a9d67ed31b0cfb35d669 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Tue Aug 4 14:56:33 2020 -0700 - Remove HelloWorldCodegen example + Fix lint errors in evaluation_callback_test.cc - Change-Id: I2584f41d591a5d648b4832385c2a779bb25fc04d + Change-Id: I63eb069544ad0d8f495490fe4caa07b9f04f7ec2 -commit 8c8738bf832f0fc27f0d4a9585fc59b2eaa6a828 -Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de> -Date: Sun Mar 29 13:29:02 2020 +0200 +commit 4b67903c1f96037048c83a723028c5d0991c09cf +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Tue Aug 4 14:40:50 2020 -0700 - Add photometric and relative-pose residuals to autodiff benchmarks + Remove unused variables from problem_test.cc - Change-Id: Id100ff2656ab63bb4fd19a51b95e78281cfd8b4a + Change-Id: Ia1a13cfc6e462f6d249dcbf169ad34831dd93ec2 -commit 9f7fb66d62014ed62ba6aa617364e8591211c797 -Author: Darius Rueckert <darius.rueckert@fau.de> -Date: Wed Mar 25 11:41:39 2020 +0100 +commit 10449fc3664c96d4b5454c092195432df79412f8 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Tue Aug 4 14:30:25 2020 -0700 - 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. + Add Apache license to the LICENSE file for FixedArray - Clang achieves expected performance which fails at >50 parameters. - G++ fails already at 20 parameters + FixedArray implementation comes from ABSL which is Apache + licensed. - Change-Id: I75d8c683ef0011d813ec6d966d7ad58f86530f44 + Change-Id: I566dbe9d236814c95945732c6347d3bf7b508283 -commit ab0d373e465f46ce483db640d0fb2f244f48702d +commit 8c3ecec6db26d7a66f5de8dc654475ec7aa0df14 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Tue Mar 24 12:30:46 2020 -0700 +Date: Tue May 26 04:44:11 2020 -0700 - Fix a comment in autodiff.h + Fix some minor errors in IterationCallback docs - Change-Id: I613e537c834e3f29cd92808c65ddb74f112974cc + Change-Id: Id3d7f21a523ff8466868cdec542921c566bbbfa9 -commit 27bb997144d00dd4494d440627f1e782bf4adf43 -Author: Johannes Beck <Jodebo_Beck@gmx.de> -Date: Tue Mar 24 08:05:43 2020 +0100 +commit 7d3ffcb4234632dc51ee84c8a509d9428263070b +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun Jul 26 19:42:16 2020 +0100 - Change SVD algorithm in covariance computation. + Remove forced CONFIG from find_package(Eigen3) - 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 + - Ceres will fail to configure if Eigen3::Eigen target is not found, and + the minimum required Eigen version specified (3.3) exports Eigen as + a CMake package and this is reflected in the default Ubuntu 18.04 + packages. + - This permits users to specify their own Eigen3 detection should they + choose to do so, but they must do so via an imported target. - Change-Id: Icde4dec89f506b638b0f9f1aee3b7cfc9e4d72fc + Change-Id: I5edff117c8001770004f49012ac1ae63b66ec9c1 -commit 84fdac38e033c8f9a63c6e6fca7b44219110f7df -Author: Johannes Beck <Jodebo_Beck@gmx.de> -Date: Tue Mar 24 08:02:21 2020 +0100 +commit a029fc0f93817f20b387b707bc578dc1f1a269ae +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun Jul 26 18:44:59 2020 +0100 - Add const to GetCovarianceMatrix* + Use latest FindTBB.cmake from VTK project - This CL adds const to the functions GetCovarianceMatrix and - GetCovarianceMatrixInTangentSpace. + - Retrieved from [1], SHA: 0d9bbf9beb97f8f696c43a9edf1e52c082b3639b on + 2020-07-26 + - [1]: https://gitlab.kitware.com/vtk/vtk/blob/master/CMake/FindTBB.cmake - Change-Id: Ibe2cafebede47977a9aabcac8d245f30af184fd1 + Change-Id: I953a8c87802a974d30ccc7c80f5229683826efbd -commit 6bde61d6be9d81a2cd759a6bbb4a8cd3c24a529c -Author: Johannes Beck <Jodebo_Beck@gmx.de> -Date: Sat Dec 28 13:29:19 2019 +0100 +commit aa1abbc578797c6b17ee7221db31535dc249ae66 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun Jul 26 19:57:31 2020 +0100 - Add line local parameterization. + Replace use of GFLAGS_LIBRARIES with export gflags target - 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. + - As our minimum required version of gflags (2.2) exports itself as + a CMake package and this is the case for the default 18.04 package + we can use the gflags target directly. + - Replaces forced use of CONFIG in find_package(gflags) with a check + that the gflags imported target exists to avoid ambiguity with + libgflags if installed in a default location. This permits users to + override the gflags detection should they so choose, provided that + they do so via an imported target. + - Also removes some previously removed legacy GLAGS_ vars from the + installation docs. - Change-Id: I733f395e5cc4250abf9778c26fe0a5ae1de6b624 + Change-Id: I015f5a751e5b22f956bbf9df692e63a6825c9f0d -commit 2c1c0932e9d3f91691e5c5fce46b4440e181a8bc +commit db2af1be8780bbe88944775400baa2dbd3592b7d Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Mon Mar 23 11:15:32 2020 -0700 +Date: Mon Aug 3 04:57:08 2020 -0700 - Update documentation in autodiff.h + Add Problem::EvaluateResidualBlockAssumingParametersUnchanged - Change-Id: Icc2753b4f5be95022ffd92e479cdd3d9d7959d4c - -commit 8904fa4887ed7b3e6d110ad5a98efbc2df48595e -Author: Darius Rueckert <darius.rueckert@fau.de> -Date: Mon Mar 23 14:59:26 2020 +0100 - - Inline Jet initialization in Autodiff + 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. - 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. + Updated the documentation for the methods and EvaluationCallback to + reflect these semantics. - This patch unrolls the initialization loop with templates and adds - EIGEN_ALWAYS_INLINE to the constructors. + Also added tests for Evaluation related methods calling i + EvaluationCallback when its present. - Change-Id: Ic89d645984f3e1df6c63948236da823ba60d9620 + https://github.com/ceres-solver/ceres-solver/issues/483 + + Change-Id: If0a0c95c2f1f92e9183a90df240104a69a71c46d -commit 18a464d4e566e17930005876af19e32cc8796fa3 +commit ab4ed32cda004befd29a0b4b02f1d907e0c4dab7 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Mon Mar 23 07:12:12 2020 -0700 +Date: Mon Aug 3 04:17:33 2020 -0700 - Remove an errant CR from local_parameterization.cc + Replace NULL with nullptr in the documentation. - Change-Id: Iff98a96f06de5755062a1c79523604dca78b298e + Change-Id: I995f68770e2a4b6027c0a1d3edf5eb5132b081d7 -commit 5c85f21799804d39cbfd20ec451aa219511e4212 -Author: Darius Rueckert <darius.rueckert@fau.de> -Date: Mon Mar 23 10:12:00 2020 +0100 +commit ee280e27a6140295ef6258d24c92305628f3d508 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Fri Jul 31 16:48:06 2020 -0700 - Use ArraySelector in Autodiff + Allow SubsetParameterization to accept an empty vector of constant parameters. - 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. + Thanks to Frédéric Devernay for reporting this and providing an initial fix. - Change-Id: Ibadc5644e64d672f7a555e250fb1f8da262f9d4f + Change-Id: Id86a2051ab7841ecafdcfb00f4634b353a7ef3b4 -commit 80477ff073ab7af03cfb248cab4ef41a87f913d0 -Author: Darius Rueckert <darius.rueckert@fau.de> -Date: Fri Mar 20 16:26:55 2020 +0100 +commit 4b8c731d8a4f3fda53c642ff14a25fab6c233918 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Fri Jul 31 10:05:52 2020 -0700 - Add class ArraySelector + Fix a bug in DynamicAutoDiffCostFunction + + 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. - The ArraySelector selects the best array implementation based on - template arguments. + Thanks to Ky Waegel for reporting and providing a reproduction for this. - Change-Id: I93c6db1a638e924b85292e63bca9525610ec2e2f + Change-Id: Ib86930c2c3f722724d249f662bf88238679bbf98 -commit e7a30359ee754057f9bd7b349c98c291138d91f4 -Author: Darius Rueckert <darius.rueckert@fau.de> -Date: Fri Mar 20 15:50:37 2020 +0100 +commit 5cb5b35a930c1702278083c75769dbb4e5801045 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun Jul 26 20:42:12 2020 +0100 - Pass kNumResiduals to Autodiff + Fixed incorrect argument name in RotationMatrixToQuaternion() - 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. + - Raised as: https://github.com/ceres-solver/ceres-solver/pull/607 by + Frank Dellaert - Change-Id: Ia2b2cc99b88752e8f12f4ce2542b1963bda552f5 + Change-Id: Id3e9f190e814cf18206e2f8c3b1b67b995c21dd5 -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 +commit e39d9ed1d60dfeb58dd2a0df4622c683f87b28e3 +Author: Carl Dehlin <carl@dehlin.com> +Date: Tue Jun 16 09:02:05 2020 +0200 - Fix some include headers in codegen/test_utils.cc/h + Add a missing term and remove a superfluous word - Change-Id: I769029ce2797eba0de6c7baeb76dc3f2782b6305 + Change-Id: I25f40f0bf241302b975e6fc14690aa863c0728b0 -commit 550766e6da49dca895a6e2056b0872c557157c5b -Author: Darius Rueckert <darius.rueckert@fau.de> -Date: Wed Mar 18 20:09:20 2020 +0100 +commit 27cab77b699a1a2b5354820c57a91c92eaeb21e3 +Author: Carl Dehlin <carl@dehlin.com> +Date: Mon Jun 15 20:01:18 2020 +0200 - Add Autodiff Brdf Benchmark + Reformulate some sentences - 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: I4841aa8e8522008dd816261d9ad98e5fb8ad1758 + +commit 8ac6655ce85a4462f2882fcb9e9118a7057ebe09 +Author: Carl Dehlin <carl@dehlin.com> +Date: Mon Jun 15 19:10:12 2020 +0200 + + Fix documentation formatting issues - Change-Id: I62c8a717d0aecb64639158f971bdccf6afdfae36 + Change-Id: Iea3a6e75dc3a7376eda866ab24e535a6df84f8ea |