DenseSparseMatrix is now column-major.
1. Introduce new typdefs in eigen.h to allow for column
major matrices.
2. Clean up old unused typedefs, and the aligned typedefs
since they do not actually add any real performance.
3. Made eigen.h conform to the google style guide by removing
the using directives. They were polluting the ceres namespace.
4. Made the template specialization generator work again.
Change-Id: Ic2268c784534b737ebd6e1a043e2a327adaeca37
diff --git a/include/ceres/internal/eigen.h b/include/ceres/internal/eigen.h
index be76f9e..85df54b 100644
--- a/include/ceres/internal/eigen.h
+++ b/include/ceres/internal/eigen.h
@@ -35,27 +35,40 @@
namespace ceres {
-using Eigen::Dynamic;
-using Eigen::RowMajor;
-
-typedef Eigen::Matrix<double, Dynamic, 1> Vector;
-typedef Eigen::Matrix<double, Dynamic, Dynamic, RowMajor> Matrix;
+typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
+typedef Eigen::Matrix<double,
+ Eigen::Dynamic,
+ Eigen::Dynamic,
+ Eigen::RowMajor> Matrix;
typedef Eigen::Map<Vector> VectorRef;
typedef Eigen::Map<Matrix> MatrixRef;
-typedef Eigen::Map<Matrix, Eigen::Aligned> AlignedMatrixRef;
typedef Eigen::Map<const Vector> ConstVectorRef;
-typedef Eigen::Map<const Matrix, Eigen::Aligned> ConstAlignedMatrixRef;
typedef Eigen::Map<const Matrix> ConstMatrixRef;
+// Column major matrices for DenseSparseMatrix/DenseQRSolver
+typedef Eigen::Matrix<double,
+ Eigen::Dynamic,
+ Eigen::Dynamic,
+ Eigen::ColMajor> ColMajorMatrix;
+
+typedef Eigen::Map<ColMajorMatrix, 0,
+ Eigen::Stride<Eigen::Dynamic, 1> > ColMajorMatrixRef;
+
+typedef Eigen::Map<const ColMajorMatrix,
+ 0,
+ Eigen::Stride<Eigen::Dynamic, 1> > ConstColMajorMatrixRef;
+
+
+
// C++ does not support templated typdefs, thus the need for this
// struct so that we can support statically sized Matrix and Maps.
template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
struct EigenTypes {
- typedef Eigen::Matrix <double, num_rows, num_cols, RowMajor>
+ typedef Eigen::Matrix <double, num_rows, num_cols, Eigen::RowMajor>
Matrix;
typedef Eigen::Map<
- Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
+ Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
MatrixRef;
typedef Eigen::Matrix <double, num_rows, 1>
@@ -67,7 +80,7 @@
typedef Eigen::Map<
- const Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
+ const Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
ConstMatrixRef;
typedef Eigen::Map <
diff --git a/internal/ceres/dense_normal_cholesky_solver.cc b/internal/ceres/dense_normal_cholesky_solver.cc
index a340e16..96f5511 100644
--- a/internal/ceres/dense_normal_cholesky_solver.cc
+++ b/internal/ceres/dense_normal_cholesky_solver.cc
@@ -57,7 +57,7 @@
const int num_rows = A->num_rows();
const int num_cols = A->num_cols();
- ConstAlignedMatrixRef Aref = A->matrix();
+ ConstColMajorMatrixRef Aref = A->matrix();
Matrix lhs(num_cols, num_cols);
lhs.setZero();
diff --git a/internal/ceres/dense_sparse_matrix.cc b/internal/ceres/dense_sparse_matrix.cc
index 978ac6a..9d58031 100644
--- a/internal/ceres/dense_sparse_matrix.cc
+++ b/internal/ceres/dense_sparse_matrix.cc
@@ -42,7 +42,6 @@
DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols)
: has_diagonal_appended_(false),
has_diagonal_reserved_(false) {
- // Allocate enough space for the diagonal.
m_.resize(num_rows, num_cols);
m_.setZero();
}
@@ -52,8 +51,8 @@
bool reserve_diagonal)
: has_diagonal_appended_(false),
has_diagonal_reserved_(reserve_diagonal) {
- // Allocate enough space for the diagonal.
if (reserve_diagonal) {
+ // Allocate enough space for the diagonal.
m_.resize(num_rows + num_cols, num_cols);
} else {
m_.resize(num_rows, num_cols);
@@ -75,7 +74,7 @@
}
}
-DenseSparseMatrix::DenseSparseMatrix(const Matrix& m)
+DenseSparseMatrix::DenseSparseMatrix(const ColMajorMatrix& m)
: m_(m),
has_diagonal_appended_(false),
has_diagonal_reserved_(false) {
@@ -141,7 +140,7 @@
void DenseSparseMatrix::AppendDiagonal(double *d) {
CHECK(!has_diagonal_appended_);
if (!has_diagonal_reserved_) {
- Matrix tmp = m_;
+ ColMajorMatrix tmp = m_;
m_.resize(m_.rows() + m_.cols(), m_.cols());
m_.setZero();
m_.block(0, 0, tmp.rows(), tmp.cols()) = tmp;
@@ -177,22 +176,27 @@
return m_.rows() * m_.cols();
}
-ConstAlignedMatrixRef DenseSparseMatrix::matrix() const {
- if (has_diagonal_reserved_ && !has_diagonal_appended_) {
- return ConstAlignedMatrixRef(
- m_.data(), m_.rows() - m_.cols(), m_.cols());
- }
- return ConstAlignedMatrixRef(m_.data(), m_.rows(), m_.cols());
+ConstColMajorMatrixRef DenseSparseMatrix::matrix() const {
+ return ConstColMajorMatrixRef(
+ m_.data(),
+ ((has_diagonal_reserved_ && !has_diagonal_appended_)
+ ? m_.rows() - m_.cols()
+ : m_.rows()),
+ m_.cols(),
+ Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1));
}
-AlignedMatrixRef DenseSparseMatrix::mutable_matrix() {
- if (has_diagonal_reserved_ && !has_diagonal_appended_) {
- return AlignedMatrixRef(
- m_.data(), m_.rows() - m_.cols(), m_.cols());
- }
- return AlignedMatrixRef(m_.data(), m_.rows(), m_.cols());
+ColMajorMatrixRef DenseSparseMatrix::mutable_matrix() {
+ return ColMajorMatrixRef(
+ m_.data(),
+ ((has_diagonal_reserved_ && !has_diagonal_appended_)
+ ? m_.rows() - m_.cols()
+ : m_.rows()),
+ m_.cols(),
+ Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1));
}
+
void DenseSparseMatrix::ToTextFile(FILE* file) const {
CHECK_NOTNULL(file);
const int active_rows =
diff --git a/internal/ceres/dense_sparse_matrix.h b/internal/ceres/dense_sparse_matrix.h
index 1e4d499..6c7b60a 100644
--- a/internal/ceres/dense_sparse_matrix.h
+++ b/internal/ceres/dense_sparse_matrix.h
@@ -51,7 +51,7 @@
// Build a matrix with the same content as the TripletSparseMatrix
// m. This assumes that m does not have any repeated entries.
explicit DenseSparseMatrix(const TripletSparseMatrix& m);
- explicit DenseSparseMatrix(const Matrix& m);
+ explicit DenseSparseMatrix(const ColMajorMatrix& m);
#ifndef CERES_NO_PROTOCOL_BUFFERS
explicit DenseSparseMatrix(const SparseMatrixProto& proto);
#endif
@@ -78,8 +78,8 @@
virtual const double* values() const { return m_.data(); }
virtual double* mutable_values() { return m_.data(); }
- ConstAlignedMatrixRef matrix() const;
- AlignedMatrixRef mutable_matrix();
+ ConstColMajorMatrixRef matrix() const;
+ ColMajorMatrixRef mutable_matrix();
// Only one diagonal can be appended at a time. The diagonal is appended to
// as a new set of rows, e.g.
@@ -106,7 +106,7 @@
void RemoveDiagonal();
private:
- Matrix m_;
+ ColMajorMatrix m_;
bool has_diagonal_appended_;
bool has_diagonal_reserved_;
};
diff --git a/internal/ceres/dense_sparse_matrix_test.cc b/internal/ceres/dense_sparse_matrix_test.cc
index 354357f..ccc833c 100644
--- a/internal/ceres/dense_sparse_matrix_test.cc
+++ b/internal/ceres/dense_sparse_matrix_test.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
@@ -200,6 +200,7 @@
// Verify the diagonal got added.
Matrix m = dsm.matrix();
+
EXPECT_EQ(6, m.rows());
EXPECT_EQ(3, m.cols());
for (int i = 0; i < 3; ++i) {
@@ -215,6 +216,7 @@
// Verify the diagonal gets removed.
dsm.RemoveDiagonal();
+
m = dsm.matrix();
EXPECT_EQ(3, m.rows());
diff --git a/internal/ceres/generate_eliminator_specialization.py b/internal/ceres/generate_eliminator_specialization.py
index af9873f..6095351 100644
--- a/internal/ceres/generate_eliminator_specialization.py
+++ b/internal/ceres/generate_eliminator_specialization.py
@@ -1,33 +1,31 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 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.
-//
+# 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/
#
-# Copyright 2011 Google Inc. All Rights Reserved.
+# 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)
#
# Script for explicitly generating template specialization of the
@@ -54,21 +52,48 @@
SPECIALIZATIONS = [(2, 2, 2),
(2, 2, 3),
(2, 2, 4),
- (2, 2, "Dynamic"),
+ (2, 2, "Eigen::Dynamic"),
(2, 3, 3),
(2, 3, 4),
(2, 3, 9),
- (2, 3, "Dynamic"),
+ (2, 3, "Eigen::Dynamic"),
(2, 4, 3),
(2, 4, 4),
- (2, 4, "Dynamic"),
+ (2, 4, "Eigen::Dynamic"),
(4, 4, 2),
(4, 4, 3),
(4, 4, 4),
- (4, 4, "Dynamic"),
- ("Dynamic", "Dynamic", "Dynamic")]
+ (4, 4, "Eigen::Dynamic"),
+ ("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic")]
-SPECIALIZATION_FILE = """// Copyright 2011 Google Inc. All Rights Reserved.
+SPECIALIZATION_FILE = """// 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.
@@ -134,7 +159,7 @@
<< options.row_block_size << ","
<< options.e_block_size << ","
<< options.f_block_size << ">";
- return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+ return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
}
} // namespace internal
@@ -143,7 +168,7 @@
def SuffixForSize(size):
- if size == "Dynamic":
+ if size == "Eigen::Dynamic":
return "d"
return str(size)
diff --git a/internal/ceres/generated/schur_eliminator_2_2_2.cc b/internal/ceres/generated/schur_eliminator_2_2_2.cc
index 5529386..b4a2cfd 100644
--- a/internal/ceres/generated/schur_eliminator_2_2_2.cc
+++ b/internal/ceres/generated/schur_eliminator_2_2_2.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
diff --git a/internal/ceres/generated/schur_eliminator_2_2_3.cc b/internal/ceres/generated/schur_eliminator_2_2_3.cc
index fd7af95..2373c6b 100644
--- a/internal/ceres/generated/schur_eliminator_2_2_3.cc
+++ b/internal/ceres/generated/schur_eliminator_2_2_3.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
diff --git a/internal/ceres/generated/schur_eliminator_2_2_4.cc b/internal/ceres/generated/schur_eliminator_2_2_4.cc
index 109483e..6253fe4 100644
--- a/internal/ceres/generated/schur_eliminator_2_2_4.cc
+++ b/internal/ceres/generated/schur_eliminator_2_2_4.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
diff --git a/internal/ceres/generated/schur_eliminator_2_2_d.cc b/internal/ceres/generated/schur_eliminator_2_2_d.cc
index b93e82f..d773a4f 100644
--- a/internal/ceres/generated/schur_eliminator_2_2_d.cc
+++ b/internal/ceres/generated/schur_eliminator_2_2_d.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
@@ -46,7 +46,7 @@
namespace ceres {
namespace internal {
-template class SchurEliminator<2, 2, Dynamic>;
+template class SchurEliminator<2, 2, Eigen::Dynamic>;
} // namespace internal
} // namespace ceres
diff --git a/internal/ceres/generated/schur_eliminator_2_3_3.cc b/internal/ceres/generated/schur_eliminator_2_3_3.cc
index 86352c0..afb89b8 100644
--- a/internal/ceres/generated/schur_eliminator_2_3_3.cc
+++ b/internal/ceres/generated/schur_eliminator_2_3_3.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
diff --git a/internal/ceres/generated/schur_eliminator_2_3_4.cc b/internal/ceres/generated/schur_eliminator_2_3_4.cc
index 200df7f..c883ee6 100644
--- a/internal/ceres/generated/schur_eliminator_2_3_4.cc
+++ b/internal/ceres/generated/schur_eliminator_2_3_4.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
diff --git a/internal/ceres/generated/schur_eliminator_2_3_9.cc b/internal/ceres/generated/schur_eliminator_2_3_9.cc
index 1fda343..bdffdc5 100644
--- a/internal/ceres/generated/schur_eliminator_2_3_9.cc
+++ b/internal/ceres/generated/schur_eliminator_2_3_9.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
diff --git a/internal/ceres/generated/schur_eliminator_2_3_d.cc b/internal/ceres/generated/schur_eliminator_2_3_d.cc
index 385cd2d..5d4139c 100644
--- a/internal/ceres/generated/schur_eliminator_2_3_d.cc
+++ b/internal/ceres/generated/schur_eliminator_2_3_d.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
@@ -46,7 +46,7 @@
namespace ceres {
namespace internal {
-template class SchurEliminator<2, 3, Dynamic>;
+template class SchurEliminator<2, 3, Eigen::Dynamic>;
} // namespace internal
} // namespace ceres
diff --git a/internal/ceres/generated/schur_eliminator_2_4_3.cc b/internal/ceres/generated/schur_eliminator_2_4_3.cc
index 7b15d63..06b99df 100644
--- a/internal/ceres/generated/schur_eliminator_2_4_3.cc
+++ b/internal/ceres/generated/schur_eliminator_2_4_3.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
diff --git a/internal/ceres/generated/schur_eliminator_2_4_4.cc b/internal/ceres/generated/schur_eliminator_2_4_4.cc
index 29a610d..4bc1f44 100644
--- a/internal/ceres/generated/schur_eliminator_2_4_4.cc
+++ b/internal/ceres/generated/schur_eliminator_2_4_4.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
diff --git a/internal/ceres/generated/schur_eliminator_2_4_d.cc b/internal/ceres/generated/schur_eliminator_2_4_d.cc
index a3bc4dc..573e40c 100644
--- a/internal/ceres/generated/schur_eliminator_2_4_d.cc
+++ b/internal/ceres/generated/schur_eliminator_2_4_d.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
@@ -46,7 +46,7 @@
namespace ceres {
namespace internal {
-template class SchurEliminator<2, 4, Dynamic>;
+template class SchurEliminator<2, 4, Eigen::Dynamic>;
} // namespace internal
} // namespace ceres
diff --git a/internal/ceres/generated/schur_eliminator_4_4_2.cc b/internal/ceres/generated/schur_eliminator_4_4_2.cc
index f71a4f6..e1f17fe 100644
--- a/internal/ceres/generated/schur_eliminator_4_4_2.cc
+++ b/internal/ceres/generated/schur_eliminator_4_4_2.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
diff --git a/internal/ceres/generated/schur_eliminator_4_4_3.cc b/internal/ceres/generated/schur_eliminator_4_4_3.cc
index 52259fb..e7c750a 100644
--- a/internal/ceres/generated/schur_eliminator_4_4_3.cc
+++ b/internal/ceres/generated/schur_eliminator_4_4_3.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
diff --git a/internal/ceres/generated/schur_eliminator_4_4_4.cc b/internal/ceres/generated/schur_eliminator_4_4_4.cc
index 775424e..d60ad71 100644
--- a/internal/ceres/generated/schur_eliminator_4_4_4.cc
+++ b/internal/ceres/generated/schur_eliminator_4_4_4.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
diff --git a/internal/ceres/generated/schur_eliminator_4_4_d.cc b/internal/ceres/generated/schur_eliminator_4_4_d.cc
index 97cde59..12fa978 100644
--- a/internal/ceres/generated/schur_eliminator_4_4_d.cc
+++ b/internal/ceres/generated/schur_eliminator_4_4_d.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
@@ -46,7 +46,7 @@
namespace ceres {
namespace internal {
-template class SchurEliminator<4, 4, Dynamic>;
+template class SchurEliminator<4, 4, Eigen::Dynamic>;
} // namespace internal
} // namespace ceres
diff --git a/internal/ceres/generated/schur_eliminator_d_d_d.cc b/internal/ceres/generated/schur_eliminator_d_d_d.cc
index 4cba32e..fa34e39 100644
--- a/internal/ceres/generated/schur_eliminator_d_d_d.cc
+++ b/internal/ceres/generated/schur_eliminator_d_d_d.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// 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
@@ -46,7 +46,7 @@
namespace ceres {
namespace internal {
-template class SchurEliminator<Dynamic, Dynamic, Dynamic>;
+template class SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>;
} // namespace internal
} // namespace ceres
diff --git a/internal/ceres/linear_solver.h b/internal/ceres/linear_solver.h
index 5aeedcd..f4bd0fb 100644
--- a/internal/ceres/linear_solver.h
+++ b/internal/ceres/linear_solver.h
@@ -79,9 +79,9 @@
max_num_iterations(1),
num_threads(1),
residual_reset_period(10),
- row_block_size(Dynamic),
- e_block_size(Dynamic),
- f_block_size(Dynamic) {
+ row_block_size(Eigen::Dynamic),
+ e_block_size(Eigen::Dynamic),
+ f_block_size(Eigen::Dynamic) {
}
LinearSolverType type;
diff --git a/internal/ceres/preconditioner.h b/internal/ceres/preconditioner.h
index 894a2e6..bfc8464 100644
--- a/internal/ceres/preconditioner.h
+++ b/internal/ceres/preconditioner.h
@@ -49,9 +49,9 @@
sparse_linear_algebra_library(SUITE_SPARSE),
use_block_amd(true),
num_threads(1),
- row_block_size(Dynamic),
- e_block_size(Dynamic),
- f_block_size(Dynamic) {
+ row_block_size(Eigen::Dynamic),
+ e_block_size(Eigen::Dynamic),
+ f_block_size(Eigen::Dynamic) {
}
PreconditionerType type;
diff --git a/internal/ceres/schur_eliminator.cc b/internal/ceres/schur_eliminator.cc
index 44f5be3..8dbf30f 100644
--- a/internal/ceres/schur_eliminator.cc
+++ b/internal/ceres/schur_eliminator.cc
@@ -1,31 +1,4 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 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.
-//
+// Copyright 2011 Google Inc. All Rights Reserved.
// Author: sameeragarwal@google.com (Sameer Agarwal)
//
// ========================================
@@ -65,8 +38,8 @@
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 2) &&
- (options.f_block_size == Dynamic)) {
- return new SchurEliminator<2, 2, Dynamic>(options);
+ (options.f_block_size == Eigen::Dynamic)) {
+ return new SchurEliminator<2, 2, Eigen::Dynamic>(options);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 3) &&
@@ -85,8 +58,8 @@
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 3) &&
- (options.f_block_size == Dynamic)) {
- return new SchurEliminator<2, 3, Dynamic>(options);
+ (options.f_block_size == Eigen::Dynamic)) {
+ return new SchurEliminator<2, 3, Eigen::Dynamic>(options);
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4) &&
@@ -100,8 +73,8 @@
}
if ((options.row_block_size == 2) &&
(options.e_block_size == 4) &&
- (options.f_block_size == Dynamic)) {
- return new SchurEliminator<2, 4, Dynamic>(options);
+ (options.f_block_size == Eigen::Dynamic)) {
+ return new SchurEliminator<2, 4, Eigen::Dynamic>(options);
}
if ((options.row_block_size == 4) &&
(options.e_block_size == 4) &&
@@ -120,13 +93,13 @@
}
if ((options.row_block_size == 4) &&
(options.e_block_size == 4) &&
- (options.f_block_size == Dynamic)) {
- return new SchurEliminator<4, 4, Dynamic>(options);
+ (options.f_block_size == Eigen::Dynamic)) {
+ return new SchurEliminator<4, 4, Eigen::Dynamic>(options);
}
- if ((options.row_block_size == Dynamic) &&
- (options.e_block_size == Dynamic) &&
- (options.f_block_size == Dynamic)) {
- return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+ if ((options.row_block_size == Eigen::Dynamic) &&
+ (options.e_block_size == Eigen::Dynamic) &&
+ (options.f_block_size == Eigen::Dynamic)) {
+ return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
}
#endif
@@ -134,7 +107,7 @@
<< options.row_block_size << ","
<< options.e_block_size << ","
<< options.f_block_size << ">";
- return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+ return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
}
} // namespace internal
diff --git a/internal/ceres/schur_eliminator.h b/internal/ceres/schur_eliminator.h
index c24fe43..877621b 100644
--- a/internal/ceres/schur_eliminator.h
+++ b/internal/ceres/schur_eliminator.h
@@ -213,9 +213,9 @@
//
// This implementation is mulithreaded using OpenMP. The level of
// parallelism is controlled by LinearSolver::Options::num_threads.
-template <int kRowBlockSize = Dynamic,
- int kEBlockSize = Dynamic,
- int kFBlockSize = Dynamic >
+template <int kRowBlockSize = Eigen::Dynamic,
+ int kEBlockSize = Eigen::Dynamic,
+ int kFBlockSize = Eigen::Dynamic >
class SchurEliminator : public SchurEliminatorBase {
public:
explicit SchurEliminator(const LinearSolver::Options& options)
diff --git a/internal/ceres/trust_region_minimizer_test.cc b/internal/ceres/trust_region_minimizer_test.cc
index 9c2780b..ffa2317 100644
--- a/internal/ceres/trust_region_minimizer_test.cc
+++ b/internal/ceres/trust_region_minimizer_test.cc
@@ -126,7 +126,7 @@
dense_jacobian = down_cast<DenseSparseMatrix*>(jacobian);
dense_jacobian->SetZero();
- AlignedMatrixRef jacobian_matrix = dense_jacobian->mutable_matrix();
+ ColMajorMatrixRef jacobian_matrix = dense_jacobian->mutable_matrix();
CHECK_EQ(jacobian_matrix.cols(), num_active_cols_);
int column_index = 0;
