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Update ceres to current git version.

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Mainly to support msvc2010, bit also includes some minor fixes.
This commit is contained in:
Sergey Sharybin 2013-03-21 18:07:03 +00:00
parent 245a9db713
commit 729b76eb79
42 changed files with 414 additions and 279 deletions
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372
extern/libmv/third_party/ceres/ChangeLog vendored
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@ -1,3 +1,179 @@
commit f46de9e697eb5b8756084615e29ded48600a4d39
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Mar 21 15:31:35 2013 +0600
Silent no previous declaration warning for FindParameterBlockOrDie
Use anonymous namespace for this. Also move some surrounding static
function to this anonymous namespace.
Change-Id: Ie235eb7936976563a9db115ec13c59e6e6869b96
commit 16636efeffacdd69d075a60ea8a94d98fd81c6fd
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Mar 21 15:12:01 2013 +0600
Compilation fix for msvc2010
Usage of back_inserter requires <iterator> header when using msvc2010
Change-Id: I92ee1649795ce0468ce337fc414eb0ca6e90c51e
commit ac0d416991274ed67fe85371f09b07f706a6db9a
Author: Pablo Speciale <pablo.speciale@gmail.com>
Date: Wed Mar 20 18:32:14 2013 -0700
google-glog link wasn't working, 'http://' twice
Change-Id: I9cd96d3609f9b1ba31cd480fef1702972be86741
commit 55b6c966c4f697cb5d11982201733aa3bce7a5a7
Author: Pablo Speciale <pablo.speciale@gmail.com>
Date: Wed Mar 20 17:44:04 2013 -0700
* Fixed the location of the Ceres doc (once installed with 'make install')
* Doing 'make ceres_docs' can be used to create the documentation (if the BUILD_DOCUMENTATION=ON)
* Included the copyright boilerplate for FindSphinx.cmake
Change-Id: Iea21eba9e68384b4fe72c85fa88c76b0ba8a7a1d
commit a986912555b304a47dd0c2a02892046fde15d091
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Wed Mar 20 11:50:34 2013 -0700
Update version history
Change-Id: I238279719219a26d0d1bb32e0610f41007d3dcef
commit 16dbf11626c52c013f1dca6375f993a554e31d51
Author: Pablo Speciale <pablo.speciale@gmail.com>
Date: Mon Mar 11 14:44:02 2013 -0700
Added CeresConfig.cmake based on this example:
https://projects.kde.org/projects/kde/kdeexamples/repository/revisions/master/show/buildsystem/HowToInstallALibrary
Change-Id: I130cac5d43d9fbbf359abc04d3691e25c4e2bb63
commit 015d57f173fab7ea040ee01474101e208ff72be6
Author: Pablo Speciale <pablo.speciale@gmail.com>
Date: Tue Mar 19 14:05:14 2013 -0700
Avoiding the Warning: "deprecated conversion from string constant to char*"
Change-Id: Ifa47f9b0724f79c5c695828628c89818ddefd844
commit c51b11c1046366035e7da95e4d8a78100ef3f153
Author: Pablo Speciale <pablo.speciale@gmail.com>
Date: Tue Mar 12 00:56:56 2013 -0700
Sphinx and CMake, based on this example:
http://ericscottbarr.com/blog/2012/03/sphinx-and-cmake-beautiful-documentation-for-c-projects/
The 'docs/CMakeLists.txt' file was deleted in this commit: 0abfb8f46f534b05413bb4d64b960d6fd0a9befb
Thanks to Arnaud Gelas, he has passed some links:
https://github.com/InsightSoftwareConsortium/ITKExamples/blob/master/CMake/FindSphinx.cmake
https://github.com/InsightSoftwareConsortium/ITKExamples/blob/master/CMakeLists.txt#L120-L154
Change-Id: Ic65e7f8ec5280d1e71a897a144417a21761c5553
commit 793a339335d8d52279efb49bcd704d196646efb5
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Wed Mar 13 12:14:00 2013 -0700
Make Android.mk play better with the external consraints
Change-Id: Ia0a1037d97c032a4ba1a9acbf4e04c192d12ee61
commit 700d50d8074f0273b305fe6d9f795f1dcb988048
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Tue Mar 12 16:12:42 2013 -0700
Lint cleanup from William Rucklidge
Change-Id: Iacbf77246109f687708696eee7fb6144d23e7ec5
commit 8140f0fc979f5728f37cfb68362f31e7e37b46bb
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Tue Mar 12 09:45:08 2013 -0700
Modularize the build.
1. Add -DLINE_SEARCH_MINIMIZER to CMake to make the line search
minimizer optional.
2. Better handling of -DSUITESPARSE/-DCXSPARSE in top level cmake
file.
3. Disable code which will never be used if SuiteSparse and/or
CXSparse is not available.
4. Update build docs.
5. Update jni/Android.mk
6. Minor lint cleanup from William Rucklidge.
Change-Id: If60460a858000df82faed7a6bb056dd2bfdde562
commit c59c1e44727c62d43523b672c1c132865cd25784
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Mon Mar 11 17:28:38 2013 -0700
Propagate ifdefs correctly to improve build efficiency.
With -DRESTRICT_SCHUR_SPECIALIZATIONS, now the various
specializations are empty, decreasing build time and
reducing the size of the static library.
Change-Id: I8ec431279741a9a83516a4167c54a364c4608143
commit 32874b861fc54b33aa4272e8c81bb001aa1e1e60
Author: Yuliy Schwartzburg <syx818@gmail.com>
Date: Fri Mar 8 11:30:44 2013 +0100
Fix CMake "LIB_SUFFIX" for non-linux installations
Change-Id: Ieb8a2825a4378b388149e7934ecc7b96ba5a29fa
commit 58b8c68f29c2c15edbc5f77102796df661020312
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Sat Mar 9 17:17:43 2013 -0800
Clean up rotation.h
Change-Id: I3370c9883728cda068c9650a2c2a50641fd8299c
commit 020d8e1e48f341f3b990ac449998d36aaca2771f
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Wed Mar 6 16:19:26 2013 -0800
Better error reporting in the modeling API.
More informative error when user passes an
unknown parameter block to Problem methods.
Change-Id: I517360e4b0b55814904ca3e664877d76ad3f59e8
commit 5e7ce8a950cf5794c63817827ce66a3a4e66e7b6
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Wed Mar 6 11:38:41 2013 -0800
Fix Problem::Evaluate documentation
Change-Id: I8c70a24743cff2d9cface99ef0f5d34c78f769c6
commit 0a4f5f8f7428148f21183e743d091d2079406604
Author: Taylor Braun-Jones <taylor@braun-jones.org>
Date: Wed Mar 6 00:00:32 2013 -0500
Fix operator() signature in several sections of the documentation
Change-Id: I73f9d150a738f7b136fbc1f98fc60b0f306bd7f9
commit 2c648dbc43025927301684fc82d95ccf6b6c21bc
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Tue Mar 5 15:20:15 2013 -0800
Make examples independent of ceres internals.
Change-Id: I6b6913e067a86fea713646218c8da1439d349d74
commit e7148795c3f2ce1f6625a7c81545707a6cbde3eb
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Mon Mar 4 10:17:30 2013 -0800
@ -429,199 +605,3 @@ Date: Fri Feb 15 14:26:56 2013 -0800
Solver::Summary::FullReport() supports line search now.
Change-Id: Ib08d300198b85d9732cfb5785af4235ca4bd5226
commit fbbea464d1c9575d8224220d3e61f92d93fe9739
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Fri Feb 15 11:25:03 2013 -0800
Update documentation.
Change-Id: Idb03741fab9facbbbda85d5a82723f0b4c1c6c60
commit 8e1f83c4c457fb7238eb342eab744c5570b73c4d
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Fri Feb 15 08:35:40 2013 -0800
Speed up Problem construction and destruction.
Change-Id: I3147b0b60eedf40f8453d5a39ff04a572c445a2f
commit efb47f39c31f0ef1bb9c015c8c0d114153df6379
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Thu Feb 14 19:44:11 2013 -0800
Documentation update
Change-Id: I0fec43bff4fe0ea6cd2d2a8b34dac2330a517da0
commit be418a336cae5672111e0f6989e6d8d6c1fa24a6
Author: Markus Moll <markus.moll@esat.kuleuven.be>
Date: Fri Feb 15 17:19:28 2013 +0100
Fix evaluation of initial cost and corresponding test
Commit f102a68e411d11b4864e17b69a2d781e9c2692ad seems to have introduced
a bug in both solver_impl.cc and solver_impl_test.cc
solver_impl_test showed 3 errors, where two were due to ceres NOT
failing when the test expected that, and one was due to the initial cost
being wrong (-1 instead of 0.5)
Ceres now does not attempt to evaluate the initial cost if
options.return_initial_xxx is not set. It therefore did not fail in
the tests.
It also seems that the CERES_EVALUATE macro erroneously always sets
final_cost, even when called with 'initial' as argument.
Change-Id: Ia3c3eeb476e7023a3f80b201124010d6c67e9824
commit 974513a41ff1ddc671d3dc6aa09ce708bbe447da
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Tue Feb 12 14:22:40 2013 -0800
Bug fix in DynamicAutoDiffCostFunction
Add handling of constant parameter blocks.
Change-Id: I8b2ea79f47e190604fc4bed27705798240689f71
commit 3130b3cea4028c71d9ae18b7465d7627f29fef7d
Author: Keir Mierle <mierle@gmail.com>
Date: Mon Feb 11 19:39:29 2013 -0800
Add support for dynamic autodiff
Change-Id: I17d573696172ab691a9653db99a620e4bc1bd0d0
commit c58e6dc3ea550302c8151003b17e9bc2a1acc316
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Mon Feb 11 16:41:06 2013 -0800
More refined event logging in solver_impl.cc
Change-Id: Ie3061c921c006d2600d16185c690f52ccf816f68
commit f102a68e411d11b4864e17b69a2d781e9c2692ad
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Mon Feb 11 15:08:40 2013 -0800
Remove extraneous initial and final evals.
Change-Id: I80ed87435f399cbf452c68be7ea1e7139696aa4a
commit 0593747ee09e21a9c0a2b604d51e21a6cdd21315
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Mon Feb 11 13:57:12 2013 -0800
Fix a memory leak in cxsparse.cc
Thanks to Alexander Mordvintsev for reporting it.
Change-Id: Ia872be42ce80209e46722fc16a928496cf97e256
commit 0abfb8f46f534b05413bb4d64b960d6fd0a9befb
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Mon Feb 11 13:40:04 2013 -0800
Delete the tex documentation.
Change-Id: I15c78a8b33c5fd94941238814ac023a8fb251a20
commit 085cd4a6641c404334d17e5ea38f9e5b68a06ba7
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Wed Feb 6 14:31:07 2013 -0800
Rewrite of the tutorial.
1. Quicker starting point.
2. Better discussion of derivatives.
3. Better hyperlinking to code and class documentation.
4. New robust estimation example.
5. Better naming of example code.
6. Removed dependency on gflags in all the core examples covered
in the tutorial.
Change-Id: Ibf3c7fe946fa2b4d22f8916a9366df267d34ca26
commit c0fdc9753909fc37fed2cb5e0fcc02fc65789d68
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Wed Feb 6 14:31:07 2013 -0800
Update nist.cc to better evaluate results.
Ceres beats Minpack and HBN handily.
Change-Id: I7df8a47b753202ed0b53ab128ce48466bf9f8083
commit d91b671798125fd4889914d92a29cf0f7a5fef21
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Wed Feb 6 01:08:40 2013 -0800
More small changes
More small changes to the docs.
1. Better landing page.
2. Minor tweaks to the side bar.
3. Reference to more example code.
4. Local MathJax references.
Change-Id: I39b9436dc2803732a875bbbee7f15802c4934031
commit 42a84b87fa5cc34551244a3b2b6a3e1f13a29514
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Fri Feb 1 12:22:53 2013 -0800
Expand reporting of timing information.
1. Add an ExecutionSummary object to record execution
information about Ceres objects.
2. Add an EventLogger object to log events in a function call.
3. Add a ScopedExecutionTimer object to log times in ExecutionSummary.
4. Instrument ProgramEvaluator and all the linear solvers
to report their timing statistics.
5. Connect the timing statistics to Summary::FullReport.
6. Add high precision timer on unix systems using
gettimeofday() call.
7. Various minor clean ups all around.
Change-Id: I5e09804b730b09535484124be7dbc1c58eccd1d4
commit 08c891fcb6ea1bf66e6d4619273765a644605dfc
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Mon Feb 4 20:18:58 2013 -0800
Various small changes.
1. Compact build instructions.
2. Lots of small edits by Simon Fuhrmann.
Change-Id: I8c0c67922021041dcf7f4ecdb6c6e6dd2e2fd7e5
commit e2e857ad6be322e9cf750d4b11ccf10800e57d96
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Mon Feb 4 19:40:45 2013 -0800
Sidebar has global table of contents.
Change-Id: I7fe9053868a4660b0db8d7607ee618fc30ddaefd
commit b9182147d96f865673c2756ced4cbb127ca082a3
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Mon Feb 4 17:55:25 2013 -0800
Change the theme to be closer to ReadTheDocs.org
Change-Id: I61a76f5b5e5c292b54fdf51b66940ce80bd1cd5f
commit 3d87b72c895835bbfc10965d50dc96608632114d
Author: Sameer Agarwal <sameeragarwal@google.com>
Date: Sat Feb 2 00:49:31 2013 -0800
Convert documentation from LaTeX to Sphinx.
A live version of the doc can be found at
http://homes.cs.washington.edu/~sagarwal/ceres-solver/
As it stands, the documentation has better hyperlinking
and coverage than the latex documentation now.
Change-Id: I7ede3aa83b9b9ef25104caf331e5727b4f5beae5

10
extern/libmv/third_party/ceres/include/ceres/cost_function_to_functor.h vendored
View File

@ -68,11 +68,11 @@
// new IntrinsicProjection(observation_)));
// }
// template <typename T>
// bool operator(const T* rotation,
// const T* translation,
// const T* intrinsics,
// const T* point,
// T* residual) const {
// bool operator()(const T* rotation,
// const T* translation,
// const T* intrinsics,
// const T* point,
// T* residual) const {
// T transformed_point[3];
// RotateAndTranslatePoint(rotation, translation, point, transformed_point);
//

4
extern/libmv/third_party/ceres/include/ceres/internal/autodiff.h vendored
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@ -38,7 +38,7 @@
//
// struct F {
// template<typename T>
// bool operator(const T *x, const T *y, ..., T *z) {
// bool operator()(const T *x, const T *y, ..., T *z) {
// // Compute z[] based on x[], y[], ...
// // return true if computation succeeded, false otherwise.
// }
@ -102,7 +102,7 @@
//
// struct F {
// template<typename T>
// bool operator(const T *p, const T *q, T *z) {
// bool operator()(const T *p, const T *q, T *z) {
// // ...
// }
// };

10
extern/libmv/third_party/ceres/include/ceres/numeric_diff_functor.h vendored
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@ -71,11 +71,11 @@
// }
//
// template <typename T>
// bool operator(const T* rotation,
// const T* translation,
// const T* intrinsics,
// const T* point,
// T* residuals) const {
// bool operator()(const T* rotation,
// const T* translation,
// const T* intrinsics,
// const T* point,
// T* residuals) const {
// T transformed_point[3];
// RotateAndTranslatePoint(rotation, translation, point, transformed_point);
// return (*intrinsic_projection_)(intrinsics, transformed_point, residual);

2
extern/libmv/third_party/ceres/include/ceres/problem.h vendored
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@ -383,7 +383,7 @@ class Problem {
//
// Problem problem;
// double x = 1;
// problem.Add(new MyCostFunction, NULL, &x);
// problem.AddResidualBlock(new MyCostFunction, NULL, &x);
//
// double cost = 0.0;
// problem.Evaluate(Problem::EvaluateOptions(), &cost, NULL, NULL, NULL);

18
extern/libmv/third_party/ceres/include/ceres/rotation.h vendored
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@ -83,7 +83,7 @@ MatrixAdapter<T, 3, 1> RowMajorAdapter3x3(T* pointer);
// The implementation may be used with auto-differentiation up to the first
// derivative, higher derivatives may have unexpected results near the origin.
template<typename T>
void AngleAxisToQuaternion(T const* angle_axis, T* quaternion);
void AngleAxisToQuaternion(const T* angle_axis, T* quaternion);
// Convert a quaternion to the equivalent combined axis-angle representation.
// The value quaternion must be a unit quaternion - it is not normalized first,
@ -92,13 +92,13 @@ void AngleAxisToQuaternion(T const* angle_axis, T* quaternion);
// The implemention may be used with auto-differentiation up to the first
// derivative, higher derivatives may have unexpected results near the origin.
template<typename T>
void QuaternionToAngleAxis(T const* quaternion, T* angle_axis);
void QuaternionToAngleAxis(const T* quaternion, T* angle_axis);
// Conversions between 3x3 rotation matrix (in column major order) and
// axis-angle rotation representations. Templated for use with
// autodifferentiation.
template <typename T>
void RotationMatrixToAngleAxis(T const* R, T* angle_axis);
void RotationMatrixToAngleAxis(const T* R, T* angle_axis);
template <typename T, int row_stride, int col_stride>
void RotationMatrixToAngleAxis(
@ -106,11 +106,11 @@ void RotationMatrixToAngleAxis(
T* angle_axis);
template <typename T>
void AngleAxisToRotationMatrix(T const* angle_axis, T* R);
void AngleAxisToRotationMatrix(const T* angle_axis, T* R);
template <typename T, int row_stride, int col_stride>
void AngleAxisToRotationMatrix(
T const* angle_axis,
const T* angle_axis,
const MatrixAdapter<T, row_stride, col_stride>& R);
// Conversions between 3x3 rotation matrix (in row major order) and
@ -300,14 +300,14 @@ inline void QuaternionToAngleAxis(const T* quaternion, T* angle_axis) {
// occurs and deals with them by taking code paths that are guaranteed
// to not perform division by a small number.
template <typename T>
inline void RotationMatrixToAngleAxis(const T * R, T * angle_axis) {
inline void RotationMatrixToAngleAxis(const T* R, T* angle_axis) {
RotationMatrixToAngleAxis(ColumnMajorAdapter3x3(R), angle_axis);
}
template <typename T, int row_stride, int col_stride>
void RotationMatrixToAngleAxis(
const MatrixAdapter<const T, row_stride, col_stride>& R,
T * angle_axis) {
T* angle_axis) {
// x = k * 2 * sin(theta), where k is the axis of rotation.
angle_axis[0] = R(2, 1) - R(1, 2);
angle_axis[1] = R(0, 2) - R(2, 0);
@ -385,13 +385,13 @@ void RotationMatrixToAngleAxis(
}
template <typename T>
inline void AngleAxisToRotationMatrix(const T * angle_axis, T * R) {
inline void AngleAxisToRotationMatrix(const T* angle_axis, T* R) {
AngleAxisToRotationMatrix(angle_axis, ColumnMajorAdapter3x3(R));
}
template <typename T, int row_stride, int col_stride>
void AngleAxisToRotationMatrix(
const T * angle_axis,
const T* angle_axis,
const MatrixAdapter<T, row_stride, col_stride>& R) {
static const T kOne = T(1.0);
const T theta2 = DotProduct(angle_axis, angle_axis);

4
extern/libmv/third_party/ceres/internal/ceres/canonical_views_clustering.cc vendored
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@ -29,6 +29,8 @@
// Author: David Gallup (dgallup@google.com)
// Sameer Agarwal (sameeragarwal@google.com)
#ifndef CERES_NO_SUITESPARSE
#include "ceres/canonical_views_clustering.h"
#include "ceres/collections_port.h"
@ -236,3 +238,5 @@ void CanonicalViewsClustering::ComputeClusterMembership(
} // namespace internal
} // namespace ceres
#endif // CERES_NO_SUITESPARSE

3
extern/libmv/third_party/ceres/internal/ceres/canonical_views_clustering.h vendored
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@ -41,6 +41,8 @@
#ifndef CERES_INTERNAL_CANONICAL_VIEWS_CLUSTERING_H_
#define CERES_INTERNAL_CANONICAL_VIEWS_CLUSTERING_H_
#ifndef CERES_NO_SUITESPARSE
#include <vector>
#include "ceres/collections_port.h"
@ -130,4 +132,5 @@ struct CanonicalViewsClusteringOptions {
} // namespace internal
} // namespace ceres
#endif // CERES_NO_SUITESPARSE
#endif // CERES_INTERNAL_CANONICAL_VIEWS_CLUSTERING_H_

51
extern/libmv/third_party/ceres/internal/ceres/generate_eliminator_specialization.py vendored
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@ -65,8 +65,7 @@ SPECIALIZATIONS = [(2, 2, 2),
(4, 4, 4),
(4, 4, "Eigen::Dynamic"),
("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic")]
SPECIALIZATION_FILE = """// Ceres Solver - A fast non-linear least squares minimizer
HEADER = """// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
@ -105,8 +104,26 @@ SPECIALIZATION_FILE = """// Ceres Solver - A fast non-linear least squares minim
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
//=========================================
//
// This file is generated using generate_eliminator_specializations.py.
// This file is generated using generate_eliminator_specialization.py.
// Editing it manually is not recommended.
"""
DYNAMIC_FILE = """
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
namespace ceres {
namespace internal {
template class SchurEliminator<%s, %s, %s>;
} // namespace internal
} // namespace ceres
"""
SPECIALIZATION_FILE = """
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -119,21 +136,10 @@ template class SchurEliminator<%s, %s, %s>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
"""
FACTORY_FILE_HEADER = """// Copyright 2011 Google Inc. All Rights Reserved.
// Author: sameeragarwal@google.com (Sameer Agarwal)
//
// ========================================
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
//=========================================
//
// This file is generated using generate_template_specializations.py.
// Editing it manually is not recommended.
FACTORY_FILE_HEADER = """
#include "ceres/linear_solver.h"
#include "ceres/schur_eliminator.h"
#include "ceres/internal/eigen.h"
@ -184,6 +190,7 @@ def Specialize():
Generate specialization code and the conditionals to instantiate it.
"""
f = open("schur_eliminator.cc", "w")
f.write(HEADER)
f.write(FACTORY_FILE_HEADER)
for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
@ -192,9 +199,15 @@ def Specialize():
e_block_size,
f_block_size) + ".cc"
fptr = open(output, "w")
fptr.write(SPECIALIZATION_FILE % (row_block_size,
e_block_size,
f_block_size))
fptr.write(HEADER)
template = SPECIALIZATION_FILE
if (row_block_size == "Eigen::Dynamic" and
e_block_size == "Eigen::Dynamic" and
f_block_size == "Eigen::Dynamic"):
template = DYNAMIC_FILE
fptr.write(template % (row_block_size, e_block_size, f_block_size))
fptr.close()
f.write(FACTORY_CONDITIONAL % (row_block_size,

3
extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_2.cc vendored
View File

@ -40,6 +40,8 @@
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -51,3 +53,4 @@ template class SchurEliminator<2, 2, 2>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION

3
extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_3.cc vendored
View File

@ -40,6 +40,8 @@
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -51,3 +53,4 @@ template class SchurEliminator<2, 2, 3>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION

3
extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_4.cc vendored
View File

@ -40,6 +40,8 @@
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -51,3 +53,4 @@ template class SchurEliminator<2, 2, 4>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION

3
extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_d.cc vendored
View File

@ -40,6 +40,8 @@
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -51,3 +53,4 @@ template class SchurEliminator<2, 2, Eigen::Dynamic>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION

3
extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_3.cc vendored
View File

@ -40,6 +40,8 @@
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -51,3 +53,4 @@ template class SchurEliminator<2, 3, 3>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION

3
extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_4.cc vendored
View File

@ -40,6 +40,8 @@
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -51,3 +53,4 @@ template class SchurEliminator<2, 3, 4>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION

3
extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_9.cc vendored
View File

@ -40,6 +40,8 @@
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -51,3 +53,4 @@ template class SchurEliminator<2, 3, 9>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION

3
extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_d.cc vendored
View File

@ -40,6 +40,8 @@
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -51,3 +53,4 @@ template class SchurEliminator<2, 3, Eigen::Dynamic>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION

3
extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_3.cc vendored
View File

@ -40,6 +40,8 @@
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -51,3 +53,4 @@ template class SchurEliminator<2, 4, 3>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION

3
extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_4.cc vendored
View File

@ -40,6 +40,8 @@
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -51,3 +53,4 @@ template class SchurEliminator<2, 4, 4>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION

3
extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_d.cc vendored
View File

@ -40,6 +40,8 @@
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -51,3 +53,4 @@ template class SchurEliminator<2, 4, Eigen::Dynamic>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION

3
extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_2.cc vendored
View File

@ -40,6 +40,8 @@
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -51,3 +53,4 @@ template class SchurEliminator<4, 4, 2>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION

3
extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_3.cc vendored
View File

@ -40,6 +40,8 @@
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -51,3 +53,4 @@ template class SchurEliminator<4, 4, 3>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION

3
extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_4.cc vendored
View File

@ -40,6 +40,8 @@
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -51,3 +53,4 @@ template class SchurEliminator<4, 4, 4>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION

3
extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_d.cc vendored
View File

@ -40,6 +40,8 @@
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -51,3 +53,4 @@ template class SchurEliminator<4, 4, Eigen::Dynamic>;
} // namespace internal
} // namespace ceres
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION

2
extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_d_d_d.cc vendored
View File

@ -40,6 +40,7 @@
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#include "ceres/schur_eliminator_impl.h"
#include "ceres/internal/eigen.h"
@ -50,4 +51,3 @@ template class SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>;
} // namespace internal
} // namespace ceres

3
extern/libmv/third_party/ceres/internal/ceres/line_search.cc vendored
View File

@ -28,6 +28,7 @@
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
#include "ceres/line_search.h"
#include <glog/logging.h>
@ -209,3 +210,5 @@ void ArmijoLineSearch::Search(const LineSearch::Options& options,
} // namespace internal
} // namespace ceres
#endif // CERES_NO_LINE_SEARCH_MINIMIZER

3
extern/libmv/third_party/ceres/internal/ceres/line_search.h vendored
View File

@ -33,6 +33,8 @@
#ifndef CERES_INTERNAL_LINE_SEARCH_H_
#define CERES_INTERNAL_LINE_SEARCH_H_
#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
#include <glog/logging.h>
#include <vector>
#include "ceres/internal/eigen.h"
@ -209,4 +211,5 @@ class ArmijoLineSearch : public LineSearch {
} // namespace internal
} // namespace ceres
#endif // CERES_NO_LINE_SEARCH_MINIMIZER
#endif // CERES_INTERNAL_LINE_SEARCH_H_

4
extern/libmv/third_party/ceres/internal/ceres/line_search_direction.cc vendored
View File

@ -28,6 +28,8 @@
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
#include "ceres/line_search_direction.h"
#include "ceres/line_search_minimizer.h"
#include "ceres/low_rank_inverse_hessian.h"
@ -143,3 +145,5 @@ LineSearchDirection::Create(const LineSearchDirection::Options& options) {
} // namespace internal
} // namespace ceres
#endif // CERES_NO_LINE_SEARCH_MINIMIZER

3
extern/libmv/third_party/ceres/internal/ceres/line_search_direction.h vendored
View File

@ -31,6 +31,8 @@
#ifndef CERES_INTERNAL_LINE_SEARCH_DIRECTION_H_
#define CERES_INTERNAL_LINE_SEARCH_DIRECTION_H_
#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
#include "ceres/internal/eigen.h"
#include "ceres/line_search_minimizer.h"
#include "ceres/types.h"
@ -67,4 +69,5 @@ class LineSearchDirection {
} // namespace internal
} // namespace ceres
#endif // CERES_NO_LINE_SEARCH_MINIMIZER
#endif // CERES_INTERNAL_LINE_SEARCH_DIRECTION_H_

4
extern/libmv/third_party/ceres/internal/ceres/line_search_minimizer.cc vendored
View File

@ -38,6 +38,8 @@
// For details on the theory and implementation see "Numerical
// Optimization" by Nocedal & Wright.
#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
#include "ceres/line_search_minimizer.h"
#include <algorithm>
@ -281,3 +283,5 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
} // namespace internal
} // namespace ceres
#endif // CERES_NO_LINE_SEARCH_MINIMIZER

3
extern/libmv/third_party/ceres/internal/ceres/line_search_minimizer.h vendored
View File

@ -31,6 +31,8 @@
#ifndef CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_
#define CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_
#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
#include "ceres/minimizer.h"
#include "ceres/solver.h"
#include "ceres/types.h"
@ -74,4 +76,5 @@ class LineSearchMinimizer : public Minimizer {
} // namespace internal
} // namespace ceres
#endif // CERES_NO_LINE_SEARCH_MINIMIZER
#endif // CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_

37
extern/libmv/third_party/ceres/internal/ceres/problem_impl.cc vendored
View File

@ -33,6 +33,7 @@
#include <algorithm>
#include <cstddef>
#include <iterator>
#include <set>
#include <string>
#include <utility>
@ -56,18 +57,28 @@ namespace internal {
typedef map<double*, internal::ParameterBlock*> ParameterMap;
namespace {
internal::ParameterBlock* FindParameterBlockOrDie(
const ParameterMap& parameter_map,
double* parameter_block) {
ParameterMap::const_iterator it = parameter_map.find(parameter_block);
CHECK(it != parameter_map.end())
<< "Parameter block not found: " << parameter_block;
return it->second;
}
// Returns true if two regions of memory, a and b, with sizes size_a and size_b
// respectively, overlap.
static bool RegionsAlias(const double* a, int size_a,
const double* b, int size_b) {
bool RegionsAlias(const double* a, int size_a,
const double* b, int size_b) {
return (a < b) ? b < (a + size_a)
: a < (b + size_b);
}
static void CheckForNoAliasing(double* existing_block,
int existing_block_size,
double* new_block,
int new_block_size) {
void CheckForNoAliasing(double* existing_block,
int existing_block_size,
double* new_block,
int new_block_size) {
CHECK(!RegionsAlias(existing_block, existing_block_size,
new_block, new_block_size))
<< "Aliasing detected between existing parameter block at memory "
@ -77,6 +88,8 @@ static void CheckForNoAliasing(double* existing_block,
<< "size " << new_block_size << ".";
}
} // namespace
ParameterBlock* ProblemImpl::InternalAddParameterBlock(double* values,
int size) {
CHECK(values != NULL) << "Null pointer passed to AddParameterBlock "
@ -471,7 +484,8 @@ void ProblemImpl::RemoveResidualBlock(ResidualBlock* residual_block) {
}
void ProblemImpl::RemoveParameterBlock(double* values) {
ParameterBlock* parameter_block = FindOrDie(parameter_block_map_, values);
ParameterBlock* parameter_block =
FindParameterBlockOrDie(parameter_block_map_, values);
if (options_.enable_fast_parameter_block_removal) {
// Copy the dependent residuals from the parameter block because the set of
@ -503,17 +517,17 @@ void ProblemImpl::RemoveParameterBlock(double* values) {
}
void ProblemImpl::SetParameterBlockConstant(double* values) {
FindOrDie(parameter_block_map_, values)->SetConstant();
FindParameterBlockOrDie(parameter_block_map_, values)->SetConstant();
}
void ProblemImpl::SetParameterBlockVariable(double* values) {
FindOrDie(parameter_block_map_, values)->SetVarying();
FindParameterBlockOrDie(parameter_block_map_, values)->SetVarying();
}
void ProblemImpl::SetParameterization(
double* values,
LocalParameterization* local_parameterization) {
FindOrDie(parameter_block_map_, values)
FindParameterBlockOrDie(parameter_block_map_, values)
->SetParameterization(local_parameterization);
}
@ -557,7 +571,8 @@ bool ProblemImpl::Evaluate(const Problem::EvaluateOptions& evaluate_options,
parameter_blocks.resize(parameter_block_ptrs.size());
for (int i = 0; i < parameter_block_ptrs.size(); ++i) {
parameter_blocks[i] =
FindOrDie(parameter_block_map_, parameter_block_ptrs[i]);
FindParameterBlockOrDie(parameter_block_map_,
parameter_block_ptrs[i]);
}
// 2. The user may have only supplied a subset of parameter

4
extern/libmv/third_party/ceres/internal/ceres/schur_complement_solver.cc vendored
View File

@ -141,6 +141,7 @@ bool DenseSchurComplementSolver::SolveReducedLinearSystem(double* solution) {
return true;
}
#if !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARE)
SparseSchurComplementSolver::SparseSchurComplementSolver(
const LinearSolver::Options& options)
@ -292,7 +293,7 @@ bool SparseSchurComplementSolver::SolveReducedLinearSystemUsingSuiteSparse(
}
if (VLOG_IS_ON(2)) {
cholmod_print_common("Symbolic Analysis", ss_.mutable_cc());
cholmod_print_common(const_cast<char*>("Symbolic Analysis"), ss_.mutable_cc());
}
}
@ -365,5 +366,6 @@ bool SparseSchurComplementSolver::SolveReducedLinearSystemUsingCXSparse(
}
#endif // CERES_NO_CXPARSE
#endif // !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARE)
} // namespace internal
} // namespace ceres

3
extern/libmv/third_party/ceres/internal/ceres/schur_complement_solver.h vendored
View File

@ -151,7 +151,7 @@ class DenseSchurComplementSolver : public SchurComplementSolver {
CERES_DISALLOW_COPY_AND_ASSIGN(DenseSchurComplementSolver);
};
#if !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARE)
// Sparse Cholesky factorization based solver.
class SparseSchurComplementSolver : public SchurComplementSolver {
public:
@ -182,6 +182,7 @@ class SparseSchurComplementSolver : public SchurComplementSolver {
CERES_DISALLOW_COPY_AND_ASSIGN(SparseSchurComplementSolver);
};
#endif // !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARE)
} // namespace internal
} // namespace ceres

33
extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.cc vendored
View File

@ -1,6 +1,35 @@
// Copyright 2011 Google Inc. All Rights Reserved.
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
//
// Template specialization of SchurEliminator.
//
// ========================================
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
@ -8,7 +37,7 @@
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
//=========================================
//
// This file is generated using generate_template_specializations.py.
// This file is generated using generate_eliminator_specializations.py.
// Editing it manually is not recommended.
#include "ceres/linear_solver.h"

13
extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc vendored
View File

@ -268,7 +268,7 @@ void SolverImpl::TrustRegionMinimize(
WallTimeInSeconds() - minimizer_start_time;
}
#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
void SolverImpl::LineSearchMinimize(
const Solver::Options& options,
Program* program,
@ -309,6 +309,7 @@ void SolverImpl::LineSearchMinimize(
summary->minimizer_time_in_seconds =
WallTimeInSeconds() - minimizer_start_time;
}
#endif // CERES_NO_LINE_SEARCH_MINIMIZER
void SolverImpl::Solve(const Solver::Options& options,
ProblemImpl* problem_impl,
@ -316,7 +317,11 @@ void SolverImpl::Solve(const Solver::Options& options,
if (options.minimizer_type == TRUST_REGION) {
TrustRegionSolve(options, problem_impl, summary);
} else {
#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
LineSearchSolve(options, problem_impl, summary);
#else
LOG(FATAL) << "Ceres Solver was compiled with -DLINE_SEARCH_MINIMIZER=OFF";
#endif
}
}
@ -608,6 +613,8 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
event_logger.AddEvent("PostProcess");
}
#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
void SolverImpl::LineSearchSolve(const Solver::Options& original_options,
ProblemImpl* original_problem_impl,
Solver::Summary* summary) {
@ -661,7 +668,7 @@ void SolverImpl::LineSearchSolve(const Solver::Options& original_options,
<< "to single threaded mode.";
options.num_threads = 1;
}
#endif
#endif // CERES_USE_OPENMP
summary->num_threads_given = original_options.num_threads;
summary->num_threads_used = options.num_threads;
@ -800,7 +807,7 @@ void SolverImpl::LineSearchSolve(const Solver::Options& original_options,
summary->postprocessor_time_in_seconds =
WallTimeInSeconds() - post_process_start_time;
}
#endif // CERES_NO_LINE_SEARCH_MINIMIZER
bool SolverImpl::IsOrderingValid(const Solver::Options& options,
const ProblemImpl* problem_impl,

37
extern/libmv/third_party/ceres/internal/ceres/solver_impl.h vendored
View File

@ -59,10 +59,29 @@ class SolverImpl {
ProblemImpl* problem_impl,
Solver::Summary* summary);
// Run the TrustRegionMinimizer for the given evaluator and configuration.
static void TrustRegionMinimize(
const Solver::Options &options,
Program* program,
CoordinateDescentMinimizer* inner_iteration_minimizer,
Evaluator* evaluator,
LinearSolver* linear_solver,
double* parameters,
Solver::Summary* summary);
#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
static void LineSearchSolve(const Solver::Options& options,
ProblemImpl* problem_impl,
Solver::Summary* summary);
// Run the LineSearchMinimizer for the given evaluator and configuration.
static void LineSearchMinimize(const Solver::Options &options,
Program* program,
Evaluator* evaluator,
double* parameters,
Solver::Summary* summary);
#endif // CERES_NO_LINE_SEARCH_MINIMIZER
// Create the transformed Program, which has all the fixed blocks
// and residuals eliminated, and in the case of automatic schur
// ordering, has the E blocks first in the resulting program, with
@ -108,24 +127,6 @@ class SolverImpl {
Program* program,
string* error);
// Run the TrustRegionMinimizer for the given evaluator and configuration.
static void TrustRegionMinimize(
const Solver::Options &options,
Program* program,
CoordinateDescentMinimizer* inner_iteration_minimizer,
Evaluator* evaluator,
LinearSolver* linear_solver,
double* parameters,
Solver::Summary* summary);
// Run the LineSearchMinimizer for the given evaluator and configuration.
static void LineSearchMinimize(
const Solver::Options &options,
Program* program,
Evaluator* evaluator,
double* parameters,
Solver::Summary* summary);
// Remove the fixed or unused parameter blocks and residuals
// depending only on fixed parameters from the problem. Also updates
// num_eliminate_blocks, since removed parameters changes the point

6
extern/libmv/third_party/ceres/internal/ceres/sparse_normal_cholesky_solver.cc vendored
View File

@ -28,6 +28,8 @@
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#if !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARSE)
#include "ceres/sparse_normal_cholesky_solver.h"
#include <algorithm>
@ -213,7 +215,7 @@ LinearSolver::Summary SparseNormalCholeskySolver::SolveImplUsingSuiteSparse(
}
if (VLOG_IS_ON(2)) {
cholmod_print_common("Symbolic Analysis", ss_.mutable_cc());
cholmod_print_common(const_cast<char*>("Symbolic Analysis"), ss_.mutable_cc());
}
}
@ -257,3 +259,5 @@ LinearSolver::Summary SparseNormalCholeskySolver::SolveImplUsingSuiteSparse(
} // namespace internal
} // namespace ceres
#endif // !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARSE)

3
extern/libmv/third_party/ceres/internal/ceres/sparse_normal_cholesky_solver.h vendored
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@ -34,6 +34,8 @@
#ifndef CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
#define CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
#if !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARSE)
#include "ceres/cxsparse.h"
#include "ceres/internal/macros.h"
#include "ceres/linear_solver.h"
@ -90,4 +92,5 @@ class SparseNormalCholeskySolver : public CompressedRowSparseMatrixSolver {
} // namespace internal
} // namespace ceres
#endif // !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARSE)
#endif // CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_

4
extern/libmv/third_party/ceres/internal/ceres/visibility.cc vendored
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@ -28,6 +28,8 @@
//
// Author: kushalav@google.com (Avanish Kushal)
#ifndef CERES_NO_SUITESPARSE
#include "ceres/visibility.h"
#include <cmath>
@ -150,3 +152,5 @@ Graph<int>* CreateSchurComplementGraph(const vector<set<int> >& visibility) {
} // namespace internal
} // namespace ceres
#endif

3
extern/libmv/third_party/ceres/internal/ceres/visibility.h vendored
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@ -35,6 +35,8 @@
#ifndef CERES_INTERNAL_VISIBILITY_H_
#define CERES_INTERNAL_VISIBILITY_H_
#ifndef CERES_NO_SUITESPARSE
#include <set>
#include <vector>
#include "ceres/graph.h"
@ -74,4 +76,5 @@ Graph<int>* CreateSchurComplementGraph(const vector<set<int> >& visibility);
} // namespace internal
} // namespace ceres
#endif // CERES_NO_SUITESPARSE
#endif // CERES_INTERNAL_VISIBILITY_H_

9
extern/libmv/third_party/ceres/internal/ceres/visibility_based_preconditioner.cc vendored
View File

@ -28,6 +28,8 @@
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#ifndef CERES_NO_SUITESPARSE
#include "ceres/visibility_based_preconditioner.h"
#include <algorithm>
@ -62,7 +64,6 @@ namespace internal {
static const double kSizePenaltyWeight = 3.0;
static const double kSimilarityPenaltyWeight = 0.0;
#ifndef CERES_NO_SUITESPARSE
VisibilityBasedPreconditioner::VisibilityBasedPreconditioner(
const CompressedRowBlockStructure& bs,
const Preconditioner::Options& options)
@ -427,7 +428,7 @@ bool VisibilityBasedPreconditioner::Factorize() {
}
if (VLOG_IS_ON(2)) {
cholmod_print_common("Symbolic Analysis", ss_.mutable_cc());
cholmod_print_common(const_cast<char*>("Symbolic Analysis"), ss_.mutable_cc());
}
}
@ -584,7 +585,7 @@ void VisibilityBasedPreconditioner::FlattenMembershipMap(
}
}
#endif // CERES_NO_SUITESPARSE
} // namespace internal
} // namespace ceres
#endif // CERES_NO_SUITESPARSE