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Libmv: Update Ceres to latest upstream

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just to be sure we're dealing with the latest git version when troubleshooting
one annoying OSX issue..
This commit is contained in:
Sergey Sharybin
2014-10-09 11:29:20 +02:00
parent 375d2dc855
commit c1004b1b77
4 changed files with 91 additions and 92 deletions
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148
extern/libmv/third_party/ceres/ChangeLog vendored
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@@ -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

2
extern/libmv/third_party/ceres/bundle.sh vendored
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@@ -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)

16
extern/libmv/third_party/ceres/include/ceres/gradient_problem_solver.h vendored
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@@ -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.

17
extern/libmv/third_party/ceres/internal/ceres/coordinate_descent_minimizer.cc vendored
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@@ -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) {