diff options
Diffstat (limited to 'extern/libmv/third_party/ceres')
4 files changed, 91 insertions, 92 deletions
diff --git a/extern/libmv/third_party/ceres/ChangeLog b/extern/libmv/third_party/ceres/ChangeLog index 6f921542019..b4f78ee0731 100644 --- a/extern/libmv/third_party/ceres/ChangeLog +++ b/extern/libmv/third_party/ceres/ChangeLog @@ -1,3 +1,78 @@ +commit 0435246de5f45e69b2c97d244ed61bedd340215a +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Wed Oct 8 18:12:53 2014 -0700 + + Add seene to users.rst + + Change-Id: If40726775a3d4b234b6e10517fe9943d122a3384 + +commit fdf32b315f39553639f0becf078ad4eec763a10e +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Wed Oct 8 16:04:32 2014 -0700 + + Fix some errant tabs. + + Change-Id: Iaf1906eaade49467ba282656cf0a10879d258b1f + +commit 6768b3586a027bb850c0a50e2a27380f5d80142a +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Wed Oct 8 12:48:16 2014 -0700 + + Minor cleanups in preparation for a release. + + 1. Fix the release script to ignore the version.h checking. + 2. Fix some ceres documentation formatting errors. + + Change-Id: I3fd6b85e771b242f463d6a36c3efd8d691f9242f + +commit 7b6bd1cd31aa0b8cb7fb97600c1b9999846e3152 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Thu Oct 2 16:16:26 2014 -0700 + + Documentation update. + + 1. Complete restructuring of the documentation to account for + GradientProblemSolver. + 2. Update the version history to account for changes since 1.9.0. + 3. Add links and document the various examples that ship with ceres. + 4. Documentation for GradientProblem GradientProblemSolver. + + Change-Id: If3a18f2850cbc98be1bc34435e9ea468785b8b27 + +commit b7d321f505e936b6c09aeb43ae3f7b1252388a95 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Fri Oct 3 15:47:59 2014 -0700 + + Relax the warning/error handing in GCC. + + Thanks to Matthew Woehlke for suggesting this. + + Change-Id: Iae754465c086b0841a7816df1a36781371d0dc9a + +commit 94c6e7d27b5d48d81ab54ed9cdcbc55c3c099311 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Wed Oct 1 15:55:13 2014 -0700 + + Improve multithreading when using inner iterations. + + Inner iterations by default would use problems where the evaluator + was configured to use exactly one thread for doing the evaluation. + This is fine when there are multiple inner iteration problems + being executed concurrently, but every now and then there are + problem decompositions where there is just one parameter block + in the current independent set and it touches every single + residual block. In such cases it is essential that the evaluator + be configured to use multiple threads. + + We now pay attention to the size of the independent set and + dynamically configure the number of threads being used by the + outer loop and the evaluator loop. + + Thanks to William Rucklidge for reporting this issue and providing + a test problem to debug. + + Change-Id: Iaff9a4ab6d2658cf7b61ea213575d23aab604e3b + commit 9e11cd16d09403b9270e621e839d5948b6a74b8d Author: Sameer Agarwal <sameeragarwal@google.com> Date: Mon Sep 29 14:27:58 2014 -0700 @@ -596,76 +671,3 @@ Date: Thu Jun 5 21:30:13 2014 -0700 solve. Change-Id: I80f35cfc9f2cbf78f1df4aceace27075779d8a3a - -commit bd90384226a7f8629467f72fc410a9e8086a2dff -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Mon Aug 18 11:27:06 2014 -0700 - - Lint comments from William Rucklidge. - - Also some minor refactoring of the trust_region_preprocessor_test.cc - - Change-Id: Ica28002254c95722faf93a7ef35bf3deab557f0b - -commit 3150321db4a0cb1bb4894961a030d95dacae3591 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Tue Aug 12 22:46:51 2014 -0700 - - Preprocessor for the LineSearchMinimizer. - - Change-Id: Ieb5dfe1c0b96ef323c1130edd0c3a8a8b2c644cc - -commit f7da411ef0d0067e269629887d64cdb769368800 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Aug 7 14:30:33 2014 -0700 - - Preprocessor for the TrustRegionMinimizer. - - 1. Base class for preprocessors. - 2. A preprocessor for problems that will be solved using - the trust region minimizer. - 3. Added sanity tests to the program reordering options - for Schur type linear solvers. - 4. Tests for the TrustRegionPreprocessor. - - Change-Id: I88cd926f0053bbbf2bd6b11e03ec55b8bf473cf1 - -commit 54893ba523106e38ab06eb72fb5d8748685c7797 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Mon Aug 11 19:04:18 2014 +0100 - - Add missing #include of <limits> for loss functions. - - Change-Id: Id632451429e03031a1533a9be795270debc70706 - -commit 4a2a888905fd1ce7203e45df15762d52740bb240 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Aug 7 11:48:03 2014 -0700 - - Change ownership of pointers in Minimizer::Options. - - This is a intermediate change to clean things up - in preparation for a broader refactoring of the SolverImpl. - - Essentially we are replacing raw pointers in Minimizer::Options - with shared_ptr objects. For now this only makes things a bit - more complicated looking inside solver_impl.cc, but going - forward this will lead to considerable simplifications in - tracking ownership of various pointers. - - Change-Id: I21db8fc6763c29b0d15e834d7c968a0f514042a0 - -commit 0d4e3bd664d442b700fee2895c7a8ac37717dc08 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Aug 7 12:19:10 2014 -0700 - - GradientCheckingProblem's parameter blocks are initialized correctly. - - Ensure that when a new problem object is constructed for validing - gradients, the parameter blocks have their data pointers point to - the user's parameter blocks. - - We used to do this inside solver_impl.cc, but doing this at - construction is the right thing to do. - - Change-Id: I3bfdc89bb0027c8d67cde937e8f2fa385d89c30c diff --git a/extern/libmv/third_party/ceres/bundle.sh b/extern/libmv/third_party/ceres/bundle.sh index 51a463a18ad..14ce2c5135d 100755 --- a/extern/libmv/third_party/ceres/bundle.sh +++ b/extern/libmv/third_party/ceres/bundle.sh @@ -143,7 +143,7 @@ if(WITH_LIBMV_SCHUR_SPECIALIZATIONS) ${generated_sources} ) else() - add_definitions-DCERES_RESTRICT_SCHUR_SPECIALIZATION) + add_definitions(-DCERES_RESTRICT_SCHUR_SPECIALIZATION) endif() if(WIN32) diff --git a/extern/libmv/third_party/ceres/include/ceres/gradient_problem_solver.h b/extern/libmv/third_party/ceres/include/ceres/gradient_problem_solver.h index 484d88ece82..db706f7dbaf 100644 --- a/extern/libmv/third_party/ceres/include/ceres/gradient_problem_solver.h +++ b/extern/libmv/third_party/ceres/include/ceres/gradient_problem_solver.h @@ -72,7 +72,6 @@ class CERES_EXPORT GradientProblemSolver { max_line_search_step_expansion = 10.0; max_num_iterations = 50; max_solver_time_in_seconds = 1e9; - num_threads = 1; function_tolerance = 1e-6; gradient_tolerance = 1e-10; logging_type = PER_MINIMIZER_ITERATION; @@ -224,10 +223,6 @@ class CERES_EXPORT GradientProblemSolver { // Maximum time for which the minimizer should run for. double max_solver_time_in_seconds; - // Number of threads used by Ceres for evaluating the cost and - // jacobians. - int num_threads; - // Minimizer terminates when // // (new_cost - old_cost) < function_tolerance * old_cost; @@ -251,13 +246,6 @@ class CERES_EXPORT GradientProblemSolver { // is sent to STDOUT. bool minimizer_progress_to_stdout; - // If true, the user's parameter blocks are updated at the end of - // every Minimizer iteration, otherwise they are updated when the - // Minimizer terminates. This is useful if, for example, the user - // wishes to visualize the state of the optimization every - // iteration. - bool update_state_every_iteration; - // Callbacks that are executed at the end of each iteration of the // Minimizer. An iteration may terminate midway, either due to // numerical failures or because one of the convergence tests has @@ -309,10 +297,10 @@ class CERES_EXPORT GradientProblemSolver { // Sum total of all time spent inside Ceres when Solve is called. double total_time_in_seconds; - // Time (in seconds) spent evaluating the residual vector. + // Time (in seconds) spent evaluating the cost. double cost_evaluation_time_in_seconds; - // Time (in seconds) spent evaluating the jacobian matrix. + // Time (in seconds) spent evaluating the gradient. double gradient_evaluation_time_in_seconds; // Number of parameters in the probem. diff --git a/extern/libmv/third_party/ceres/internal/ceres/coordinate_descent_minimizer.cc b/extern/libmv/third_party/ceres/internal/ceres/coordinate_descent_minimizer.cc index 1d55458bb69..0d8adee7cd8 100644 --- a/extern/libmv/third_party/ceres/internal/ceres/coordinate_descent_minimizer.cc +++ b/extern/libmv/third_party/ceres/internal/ceres/coordinate_descent_minimizer.cc @@ -1,5 +1,5 @@ // Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2012 Google Inc. All rights reserved. +// Copyright 2014 Google Inc. All rights reserved. // http://code.google.com/p/ceres-solver/ // // Redistribution and use in source and binary forms, with or without @@ -140,15 +140,24 @@ void CoordinateDescentMinimizer::Minimize( } for (int i = 0; i < independent_set_offsets_.size() - 1; ++i) { - // No point paying the price for an OpemMP call if the set if of + const int num_problems = + independent_set_offsets_[i + 1] - independent_set_offsets_[i]; + // No point paying the price for an OpemMP call if the set is of // size zero. - if (independent_set_offsets_[i] == independent_set_offsets_[i + 1]) { + if (num_problems == 0) { continue; } +#ifdef CERES_USE_OPENMP + const int num_inner_iteration_threads = + min(options.num_threads, num_problems); + evaluator_options_.num_threads = + max(1, options.num_threads / num_inner_iteration_threads); + // The parameter blocks in each independent set can be optimized // in parallel, since they do not co-occur in any residual block. -#pragma omp parallel for num_threads(options.num_threads) +#pragma omp parallel for num_threads(num_inner_iteration_threads) +#endif for (int j = independent_set_offsets_[i]; j < independent_set_offsets_[i + 1]; ++j) { |