Minor changes to the documentation.
1. Section title changes.
2. Moving the glog discussion into installation.rst
3. Re-working the faqs into two separate chapters.
Change-Id: I95dd25bace50f0f9077ef114504999190686963e
diff --git a/docs/source/api.rst b/docs/source/api.rst
deleted file mode 100644
index 051f6e7..0000000
--- a/docs/source/api.rst
+++ /dev/null
@@ -1,12 +0,0 @@
-.. _chapter-api:
-
-=============
-API Reference
-=============
-
-.. toctree::
- :maxdepth: 3
-
- nnls_modeling
- nnls_solving
- gradient_solver
diff --git a/docs/source/conf.py b/docs/source/conf.py
index 86e00f1..59a418e 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -41,7 +41,7 @@
# General information about the project.
project = u'Ceres Solver'
-copyright = u'2015 Google Inc'
+copyright = u'2016 Google Inc'
# The version info for the project you're documenting, acts as replacement for
# |version| and |release|, also used in various other places throughout the
@@ -86,7 +86,6 @@
# A list of ignored prefixes for module index sorting.
#modindex_common_prefix = []
-
# -- Options for HTML output ---------------------------------------------------
# The theme to use for HTML and HTML Help pages. See the documentation for
diff --git a/docs/source/faqs.rst b/docs/source/faqs.rst
index 7513f44..5a28f41 100644
--- a/docs/source/faqs.rst
+++ b/docs/source/faqs.rst
@@ -1,5 +1,9 @@
.. _chapter-tricks:
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
===================
FAQS, Tips & Tricks
===================
@@ -7,324 +11,12 @@
Answers to frequently asked questions, tricks of the trade and general
wisdom.
-Building
-========
+.. toctree::
+ :maxdepth: 2
-#. Use `google-glog <http://code.google.com/p/google-glog>`_.
-
- Ceres has extensive support for logging detailed information about
- memory allocations and time consumed in various parts of the solve,
- internal error conditions etc. This is done logging using the
- `google-glog <http://code.google.com/p/google-glog>`_ library. We
- use it extensively to observe and analyze Ceres's
- performance. `google-glog <http://code.google.com/p/google-glog>`_
- allows you to control its behaviour from the command line `flags
- <http://google-glog.googlecode.com/svn/trunk/doc/glog.html>`_. Starting
- with ``-logtostderr`` you can add ``-v=N`` for increasing values
- of ``N`` to get more and more verbose and detailed information
- about Ceres internals.
-
- In an attempt to reduce dependencies, it is tempting to use
- `miniglog` - a minimal implementation of the ``glog`` interface
- that ships with Ceres. This is a bad idea. ``miniglog`` was written
- primarily for building and using Ceres on Android because the
- current version of `google-glog
- <http://code.google.com/p/google-glog>`_ does not build using the
- NDK. It has worse performance than the full fledged glog library
- and is much harder to control and use.
-
-
-Modeling
-========
-
-#. Use analytical/automatic derivatives.
-
- This is the single most important piece of advice we can give to
- you. It is tempting to take the easy way out and use numeric
- differentiation. This is a bad idea. Numeric differentiation is
- slow, ill-behaved, hard to get right, and results in poor
- convergence behaviour.
-
- Ceres allows the user to define templated functors which will
- be automatically differentiated. For most situations this is enough
- and we recommend using this facility. In some cases the derivatives
- are simple enough or the performance considerations are such that
- the overhead of automatic differentiation is too much. In such
- cases, analytic derivatives are recommended.
-
- The use of numerical derivatives should be a measure of last
- resort, where it is simply not possible to write a templated
- implementation of the cost function.
-
- In many cases it is not possible to do analytic or automatic
- differentiation of the entire cost function, but it is generally
- the case that it is possible to decompose the cost function into
- parts that need to be numerically differentiated and parts that can
- be automatically or analytically differentiated.
-
- To this end, Ceres has extensive support for mixing analytic,
- automatic and numeric differentiation. See
- :class:`CostFunctionToFunctor`.
-
-#. When using Quaternions, consider using :class:`QuaternionParameterization`.
-
- `Quaternions <https://en.wikipedia.org/wiki/Quaternion>`_ are a
- four dimensional parameterization of the space of three dimensional
- rotations :math:`SO(3)`. However, the :math:`SO(3)` is a three
- dimensional set, and so is the tangent space of a
- Quaternion. Therefore, it is sometimes (not always) benefecial to
- associate a local parameterization with parameter blocks
- representing a Quaternion. Assuming that the order of entries in
- your parameter block is :math:`w,x,y,z`, you can use
- :class:`QuaternionParameterization`.
-
- If however, you are using `Eigen's Quaternion
- <http://eigen.tuxfamily.org/dox/classEigen_1_1Quaternion.html>`_
- object, whose layout is :math:`x,y,z,w`, then we recommend you use
- Lloyd Hughes's `Ceres Extensions
- <https://github.com/system123/ceres_extensions>`_.
-
-#. How do I solve problems with general linear & non-linear
- **inequality** constraints with Ceres Solver?
-
- Currently, Ceres Solver only supports upper and lower bounds
- constraints on the parameter blocks.
-
- A crude way of dealing with inequality constraints is have one or
- more of your cost functions check if the inequalities you are
- interested in are satisfied, and if not return false instead of
- true. This will prevent the solver from ever stepping into an
- infeasible region.
-
- This requires that the starting point for the optimization be a
- feasible point. You also risk pre-mature convergence using this
- method.
-
-#. How do I solve problems with general linear & non-linear **equality**
- constraints with Ceres Solver?
-
- There is no built in support in ceres for solving problems with
- equality constraints. Currently, Ceres Solver only supports upper
- and lower bounds constraints on the parameter blocks.
-
- The trick described above for dealing with inequality
- constraints will **not** work for equality constraints.
-
-#. How do I set one or more components of a parameter block constant?
-
- Using :class:`SubsetParameterization`.
-
-#. Putting `Inverse Function Theorem
- <http://en.wikipedia.org/wiki/Inverse_function_theorem>`_ to use.
-
- Every now and then we have to deal with functions which cannot be
- evaluated analytically. Computing the Jacobian in such cases is
- tricky. A particularly interesting case is where the inverse of the
- function is easy to compute analytically. An example of such a
- function is the Coordinate transformation between the `ECEF
- <http://en.wikipedia.org/wiki/ECEF>`_ and the `WGS84
- <http://en.wikipedia.org/wiki/World_Geodetic_System>`_ where the
- conversion from WGS84 to ECEF is analytic, but the conversion
- back to WGS84 uses an iterative algorithm. So how do you compute the
- derivative of the ECEF to WGS84 transformation?
-
- One obvious approach would be to numerically
- differentiate the conversion function. This is not a good idea. For
- one, it will be slow, but it will also be numerically quite
- bad.
-
- Turns out you can use the `Inverse Function Theorem
- <http://en.wikipedia.org/wiki/Inverse_function_theorem>`_ in this
- case to compute the derivatives more or less analytically.
-
- The key result here is. If :math:`x = f^{-1}(y)`, and :math:`Df(x)`
- is the invertible Jacobian of :math:`f` at :math:`x`. Then the
- Jacobian :math:`Df^{-1}(y) = [Df(x)]^{-1}`, i.e., the Jacobian of
- the :math:`f^{-1}` is the inverse of the Jacobian of :math:`f`.
-
- Algorithmically this means that given :math:`y`, compute :math:`x =
- f^{-1}(y)` by whatever means you can. Evaluate the Jacobian of
- :math:`f` at :math:`x`. If the Jacobian matrix is invertible, then
- its inverse is the Jacobian of :math:`f^{-1}(y)` at :math:`y`.
-
- One can put this into practice with the following code fragment.
-
- .. code-block:: c++
-
- Eigen::Vector3d ecef; // Fill some values
- // Iterative computation.
- Eigen::Vector3d lla = ECEFToLLA(ecef);
- // Analytic derivatives
- Eigen::Matrix3d lla_to_ecef_jacobian = LLAToECEFJacobian(lla);
- bool invertible;
- Eigen::Matrix3d ecef_to_lla_jacobian;
- lla_to_ecef_jacobian.computeInverseWithCheck(ecef_to_lla_jacobian, invertible);
-
-
-Solving
-=======
-
-#. How do I evaluate the Jacobian for a solver problem?
-
- Using :func:`Problem::Evaluate`.
-
-#. Choosing a linear solver.
-
- When using the ``TRUST_REGION`` minimizer, the choice of linear
- solver is an important decision. It affects solution quality and
- runtime. Here is a simple way to reason about it.
-
- 1. For small (a few hundred parameters) or dense problems use
- ``DENSE_QR``.
-
- 2. For general sparse problems (i.e., the Jacobian matrix has a
- substantial number of zeros) use
- ``SPARSE_NORMAL_CHOLESKY``. This requires that you have
- ``SuiteSparse`` or ``CXSparse`` installed.
-
- 3. For bundle adjustment problems with up to a hundred or so
- cameras, use ``DENSE_SCHUR``.
-
- 4. For larger bundle adjustment problems with sparse Schur
- Complement/Reduced camera matrices use ``SPARSE_SCHUR``. This
- requires that you build Ceres with support for ``SuiteSparse``,
- ``CXSparse`` or Eigen's sparse linear algebra libraries.
-
- If you do not have access to these libraries for whatever
- reason, ``ITERATIVE_SCHUR`` with ``SCHUR_JACOBI`` is an
- excellent alternative.
-
- 5. For large bundle adjustment problems (a few thousand cameras or
- more) use the ``ITERATIVE_SCHUR`` solver. There are a number of
- preconditioner choices here. ``SCHUR_JACOBI`` offers an
- excellent balance of speed and accuracy. This is also the
- recommended option if you are solving medium sized problems for
- which ``DENSE_SCHUR`` is too slow but ``SuiteSparse`` is not
- available.
-
- .. NOTE::
-
- If you are solving small to medium sized problems, consider
- setting ``Solver::Options::use_explicit_schur_complement`` to
- ``true``, it can result in a substantial performance boost.
-
- If you are not satisfied with ``SCHUR_JACOBI``'s performance try
- ``CLUSTER_JACOBI`` and ``CLUSTER_TRIDIAGONAL`` in that
- order. They require that you have ``SuiteSparse``
- installed. Both of these preconditioners use a clustering
- algorithm. Use ``SINGLE_LINKAGE`` before ``CANONICAL_VIEWS``.
-
-#. Use :func:`Solver::Summary::FullReport` to diagnose performance problems.
-
- When diagnosing Ceres performance issues - runtime and convergence,
- the first place to start is by looking at the output of
- ``Solver::Summary::FullReport``. Here is an example
-
- .. code-block:: bash
-
- ./bin/bundle_adjuster --input ../data/problem-16-22106-pre.txt
-
- iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
- 0 4.185660e+06 0.00e+00 2.16e+07 0.00e+00 0.00e+00 1.00e+04 0 7.50e-02 3.58e-01
- 1 1.980525e+05 3.99e+06 5.34e+06 2.40e+03 9.60e-01 3.00e+04 1 1.84e-01 5.42e-01
- 2 5.086543e+04 1.47e+05 2.11e+06 1.01e+03 8.22e-01 4.09e+04 1 1.53e-01 6.95e-01
- 3 1.859667e+04 3.23e+04 2.87e+05 2.64e+02 9.85e-01 1.23e+05 1 1.71e-01 8.66e-01
- 4 1.803857e+04 5.58e+02 2.69e+04 8.66e+01 9.93e-01 3.69e+05 1 1.61e-01 1.03e+00
- 5 1.803391e+04 4.66e+00 3.11e+02 1.02e+01 1.00e+00 1.11e+06 1 1.49e-01 1.18e+00
-
- Ceres Solver v1.12.0 Solve Report
- ----------------------------------
- Original Reduced
- Parameter blocks 22122 22122
- Parameters 66462 66462
- Residual blocks 83718 83718
- Residual 167436 167436
-
- Minimizer TRUST_REGION
-
- Sparse linear algebra library SUITE_SPARSE
- Trust region strategy LEVENBERG_MARQUARDT
-
- Given Used
- Linear solver SPARSE_SCHUR SPARSE_SCHUR
- Threads 1 1
- Linear solver threads 1 1
- Linear solver ordering AUTOMATIC 22106, 16
-
- Cost:
- Initial 4.185660e+06
- Final 1.803391e+04
- Change 4.167626e+06
-
- Minimizer iterations 5
- Successful steps 5
- Unsuccessful steps 0
-
- Time (in seconds):
- Preprocessor 0.283
-
- Residual evaluation 0.061
- Jacobian evaluation 0.361
- Linear solver 0.382
- Minimizer 0.895
-
- Postprocessor 0.002
- Total 1.220
-
- Termination: NO_CONVERGENCE (Maximum number of iterations reached.)
-
- Let us focus on run-time performance. The relevant lines to look at
- are
-
-
- .. code-block:: bash
-
- Time (in seconds):
- Preprocessor 0.283
-
- Residual evaluation 0.061
- Jacobian evaluation 0.361
- Linear solver 0.382
- Minimizer 0.895
-
- Postprocessor 0.002
- Total 1.220
-
-
- Which tell us that of the total 1.2 seconds, about .3 seconds was
- spent in the linear solver and the rest was mostly spent in
- preprocessing and jacobian evaluation.
-
- The preprocessing seems particularly expensive. Looking back at the
- report, we observe
-
- .. code-block:: bash
-
- Linear solver ordering AUTOMATIC 22106, 16
-
- Which indicates that we are using automatic ordering for the
- ``SPARSE_SCHUR`` solver. This can be expensive at times. A straight
- forward way to deal with this is to give the ordering manually. For
- ``bundle_adjuster`` this can be done by passing the flag
- ``-ordering=user``. Doing so and looking at the timing block of the
- full report gives us
-
- .. code-block:: bash
-
- Time (in seconds):
- Preprocessor 0.051
-
- Residual evaluation 0.053
- Jacobian evaluation 0.344
- Linear solver 0.372
- Minimizer 0.854
-
- Postprocessor 0.002
- Total 0.935
-
-
+ modeling_faqs
+ solving_faqs
- The preprocessor time has gone down by more than 5.5x!.
Further Reading
===============
diff --git a/docs/source/features.rst b/docs/source/features.rst
index 681876e..1f5e91e 100644
--- a/docs/source/features.rst
+++ b/docs/source/features.rst
@@ -1,6 +1,6 @@
-========
-Features
-========
+====
+Why?
+====
.. _chapter-features:
* **Code Quality** - Ceres Solver has been used in production at
diff --git a/docs/source/guide.rst b/docs/source/guide.rst
new file mode 100644
index 0000000..bcf6bc8
--- /dev/null
+++ b/docs/source/guide.rst
@@ -0,0 +1,12 @@
+.. _chapter-users-guide:
+
+============
+User's Guide
+============
+
+.. toctree::
+ :maxdepth: 2
+
+ nnls_modeling
+ nnls_solving
+ gradient_solver
diff --git a/docs/source/index.rst b/docs/source/index.rst
index f7f02ef..3851dd1 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -1,20 +1,30 @@
-.. Ceres Solver documentation master file, created by
- sphinx-quickstart on Sat Jan 19 00:07:33 2013.
- You can adapt this file completely to your liking, but it should at least
- contain the root `toctree` directive.
-
============
Ceres Solver
============
+Ceres Solver [#f1]_ is an open source C++ library for modeling and
+solving large, complicated optimization problems. It can be used to
+solve `Non-linear Least Squares`_ problems with bounds constraints and
+general unconstrained optimization problems. It is a mature, feature
+rich, and performant library that has been used in production at
+Google since 2010. For more, see :doc:`features`.
+
+`ceres-solver@googlegroups.com
+<https://groups.google.com/forum/?fromgroups#!forum/ceres-solver>`_ is
+the place for discussions and questions about Ceres Solver. We use the
+`GitHub Issue Tracker
+<https://github.com/ceres-solver/ceres-solver/issues>`_ to manage bug
+reports and feature requests.
+
+
.. toctree::
- :maxdepth: 3
+ :maxdepth: 1
:hidden:
- features
- building
+ installation
tutorial
- api
+ guide
+ features
faqs
users
contributing
@@ -22,34 +32,8 @@
bibliography
license
-Ceres Solver [#f1]_ is an open source C++ library for modeling and
-solving large, complicated optimization problems. It is a feature
-rich, mature and performant library which has been used in production
-at Google since 2010. Ceres Solver can solve two kinds of problems.
-
-1. `Non-linear Least Squares`_ problems with bounds constraints.
-2. General unconstrained optimization problems.
-
.. _Non-linear Least Squares: http://en.wikipedia.org/wiki/Non-linear_least_squares
-Getting started
-===============
-
-* Download the `latest stable release
- <http://ceres-solver.org/ceres-solver-1.12.0.tar.gz>`_ or clone the
- Git repository for the latest development version.
-
- .. code-block:: bash
-
- git clone https://ceres-solver.googlesource.com/ceres-solver
-
-* Read the :ref:`chapter-tutorial` and browse the :ref:`chapter-api`.
-* Join the `mailing list
- <https://groups.google.com/forum/?fromgroups#!forum/ceres-solver>`_
- and ask questions.
-* File bugs, feature requests on `GitHub
- <https://github.com/ceres-solver/ceres-solver/issues>`_.
-
Cite Us
=======
diff --git a/docs/source/building.rst b/docs/source/installation.rst
similarity index 61%
rename from docs/source/building.rst
rename to docs/source/installation.rst
index 37a3942..ddda50f 100644
--- a/docs/source/building.rst
+++ b/docs/source/installation.rst
@@ -1,8 +1,8 @@
-.. _chapter-building:
+.. _chapter-installation:
-=======================
-Building & Installation
-=======================
+============
+Installation
+============
Getting the source code
=======================
@@ -37,30 +37,41 @@
- `CMake <http://www.cmake.org>`_ 2.8.0 or later.
**Required on all platforms except for Android.**
-- `Google Log <http://code.google.com/p/google-glog>`_ 0.3.1 or
+- `glog <https://github.com/google/glog>`_ 0.3.1 or
later. **Recommended**
- .. NOTE::
+ ``glog`` is used extensively throughout Ceres for logging detailed
+ information about memory allocations and time consumed in various
+ parts of the solve, internal error conditions etc. The Ceres
+ developers use it extensively to observe and analyze Ceres's
+ performance. `glog <https://github.com/google/glog>`_ allows you to
+ control its behaviour from the command line. Starting with
+ ``-logtostderr`` you can add ``-v=N`` for increasing values of ``N``
+ to get more and more verbose and detailed information about Ceres
+ internals.
- Ceres has a minimal replacement of ``glog`` called ``miniglog``
- that can be enabled with the ``MINIGLOG`` build
- option. ``miniglog`` is needed on Android as ``glog`` currently
- does not build using the NDK. It can however be used on other
- platforms too.
+ Unfortunately, the current version of `google-glog
+ <https://github.com/google/glog>`_ does not build using the Android
+ NDK. So, Ceres also ships with a minimal replacement of ``glog``
+ called ``miniglog`` that can be enabled with the ``MINIGLOG`` build
+ option.
- **We do not advise using** ``miniglog`` **on platforms other than
- Android due to the various performance and functionality
- compromises in** ``miniglog``.
+ So, in an attempt to reduce dependencies, it is tempting to use
+ `miniglog` on platforms other than Android. While there is nothing
+ preventing the user from doing so, we strongly recommend against
+ it. ``miniglog`` has worse performance than ``glog`` and is much
+ harder to control and use.
.. NOTE ::
- If you are compiling ``glog`` from source, please note that currently,
- the unit tests for ``glog`` (which are enabled by default) do not compile
- against a default build of ``gflags`` 2.1 as the gflags namespace changed
- from ``google::`` to ``gflags::``. A patch to fix this is available from
- `here <https://code.google.com/p/google-glog/issues/detail?id=194>`_.
+ If you are compiling ``glog`` from source, please note that
+ currently, the unit tests for ``glog`` (which are enabled by
+ default) do not compile against a default build of ``gflags`` 2.1
+ as the gflags namespace changed from ``google::`` to
+ ``gflags::``. A patch to fix this is available from `here
+ <https://code.google.com/p/google-glog/issues/detail?id=194>`_.
-- `Google Flags <http://code.google.com/p/gflags>`_. Needed to build
+- `gflags <https://github.com/gflags/gflags>`_. Needed to build
examples and tests.
- `SuiteSparse
@@ -110,8 +121,9 @@
package repository (built from SuiteSparse v3.4.0) **cannot** be used
to build Ceres as a *shared* library. Thus if you want to build
Ceres as a shared library using SuiteSparse, you must perform a
- source install of SuiteSparse or use an external PPA (see
- `bug report here <https://bugs.launchpad.net/ubuntu/+source/suitesparse/+bug/1333214>`_).
+ source install of SuiteSparse or use an external PPA (see `bug report
+ here
+ <https://bugs.launchpad.net/ubuntu/+source/suitesparse/+bug/1333214>`_).
It is recommended that you use the current version of SuiteSparse
(4.2.1 at the time of writing).
@@ -333,15 +345,16 @@
are at least two possible fixes to this problem:
#. Use ``google-glog`` and define ``GLOG_NO_ABBREVIATED_SEVERITIES``
- when building Ceres and your own project, as documented
- `here <http://google-glog.googlecode.com/svn/trunk/doc/glog.html>`__.
- Note that this fix will not work for ``miniglog``,
- but use of ``miniglog`` is strongly discouraged on any platform for which
+ when building Ceres and your own project, as documented `here
+ <http://google-glog.googlecode.com/svn/trunk/doc/glog.html>`__.
+ Note that this fix will not work for ``miniglog``, but use of
+ ``miniglog`` is strongly discouraged on any platform for which
``google-glog`` is available (which includes Windows).
- #. If you do not require GDI, then define ``NOGDI`` **before** including
- windows.h. This solution should work for both ``google-glog`` and
- ``miniglog`` and is documented for ``google-glog``
- `here <https://code.google.com/p/google-glog/issues/detail?id=33>`__.
+ #. If you do not require GDI, then define ``NOGDI`` **before**
+ including windows.h. This solution should work for both
+ ``google-glog`` and ``miniglog`` and is documented for
+ ``google-glog`` `here
+ <https://code.google.com/p/google-glog/issues/detail?id=33>`__.
#. Make a toplevel directory for deps & build & src somewhere: ``ceres/``
#. Get dependencies; unpack them as subdirectories in ``ceres/``
@@ -353,17 +366,19 @@
#. ``google-glog`` Open up the Visual Studio solution and build it.
#. ``gflags`` Open up the Visual Studio solution and build it.
- #. (Experimental) ``SuiteSparse`` Previously SuiteSparse was not available
- on Windows, recently it has become possible to build it on Windows using
- the `suitesparse-metis-for-windows <https://github.com/jlblancoc/suitesparse-metis-for-windows>`_
- project. If you wish to use ``SuiteSparse``, follow their instructions
- for obtaining and building it.
+ #. (Experimental) ``SuiteSparse`` Previously SuiteSparse was not
+ available on Windows, recently it has become possible to build
+ it on Windows using the `suitesparse-metis-for-windows
+ <https://github.com/jlblancoc/suitesparse-metis-for-windows>`_
+ project. If you wish to use ``SuiteSparse``, follow their
+ instructions for obtaining and building it.
- #. (Experimental) ``CXSparse`` Previously CXSparse was not available on
- Windows, there are now several ports that enable it to be, including:
- `[1] <https://github.com/PetterS/CXSparse>`_ and
- `[2] <https://github.com/TheFrenchLeaf/CXSparse>`_. If you wish to use
- ``CXSparse``, follow their instructions for obtaining and building it.
+ #. (Experimental) ``CXSparse`` Previously CXSparse was not
+ available on Windows, there are now several ports that enable it
+ to be, including: `[1] <https://github.com/PetterS/CXSparse>`_
+ and `[2] <https://github.com/TheFrenchLeaf/CXSparse>`_. If you
+ wish to use ``CXSparse``, follow their instructions for
+ obtaining and building it.
#. Unpack the Ceres tarball into ``ceres``. For the tarball, you
should get a directory inside ``ceres`` similar to
@@ -391,12 +406,13 @@
#. (Optional) ``CXSPARSE_INCLUDE_DIR_HINTS``
#. (Optional) ``CXSPARSE_LIBRARY_DIR_HINTS``
- to the appropriate directories where you unpacked/built them. If any of
- the variables are not visible in the ``CMake`` GUI, create a new entry
- for them. We recommend using the ``<NAME>_(INCLUDE/LIBRARY)_DIR_HINTS``
- variables rather than setting the ``<NAME>_INCLUDE_DIR`` &
- ``<NAME>_LIBRARY`` variables directly to keep all of the validity
- checking, and to avoid having to specify the library files manually.
+ to the appropriate directories where you unpacked/built them. If
+ any of the variables are not visible in the ``CMake`` GUI, create a
+ new entry for them. We recommend using the
+ ``<NAME>_(INCLUDE/LIBRARY)_DIR_HINTS`` variables rather than
+ setting the ``<NAME>_INCLUDE_DIR`` & ``<NAME>_LIBRARY`` variables
+ directly to keep all of the validity checking, and to avoid having
+ to specify the library files manually.
#. You may have to tweak some more settings to generate a MSVC
project. After each adjustment, try pressing Configure & Generate
@@ -442,8 +458,9 @@
You need iOS version 7.0 or higher to build Ceres Solver.
-To build Ceres for iOS, we need to force ``CMake`` to find the toolchains from
-the iOS SDK instead of using the standard ones. For example:
+To build Ceres for iOS, we need to force ``CMake`` to find the
+toolchains from the iOS SDK instead of using the standard ones. For
+example:
.. code-block:: bash
@@ -454,21 +471,24 @@
<PATH_TO_CERES_SOURCE>
``PLATFORM`` can be: ``OS``, ``SIMULATOR`` or ``SIMULATOR64``. You can
-build for ``OS`` (``armv7``, ``armv7s``, ``arm64``), ``SIMULATOR`` (``i386``) or
-``SIMULATOR64`` (``x86_64``) separately and use ``lipo`` to merge them into
-one static library. See ``cmake/iOS.cmake`` for more options.
+build for ``OS`` (``armv7``, ``armv7s``, ``arm64``), ``SIMULATOR``
+(``i386``) or ``SIMULATOR64`` (``x86_64``) separately and use ``lipo``
+to merge them into one static library. See ``cmake/iOS.cmake`` for
+more options.
-After building, you will get a ``libceres.a`` library, which you will need to
-add to your Xcode project.
+After building, you will get a ``libceres.a`` library, which you will
+need to add to your Xcode project.
The default CMake configuration builds a bare bones version of Ceres
-Solver that only depends on Eigen (``MINIGLOG`` is compiled into Ceres if it is
-used), this should be sufficient for solving small to moderate sized problems
-(No ``SPARSE_SCHUR``, ``SPARSE_NORMAL_CHOLESKY`` linear solvers and no
-``CLUSTER_JACOBI`` and ``CLUSTER_TRIDIAGONAL`` preconditioners).
+Solver that only depends on Eigen (``MINIGLOG`` is compiled into Ceres
+if it is used), this should be sufficient for solving small to
+moderate sized problems (No ``SPARSE_SCHUR``,
+``SPARSE_NORMAL_CHOLESKY`` linear solvers and no ``CLUSTER_JACOBI``
+and ``CLUSTER_TRIDIAGONAL`` preconditioners).
-If you decide to use ``LAPACK`` and ``BLAS``, then you also need to add
-``Accelerate.framework`` to your Xcode project's linking dependency.
+If you decide to use ``LAPACK`` and ``BLAS``, then you also need to
+add ``Accelerate.framework`` to your Xcode project's linking
+dependency.
.. _section-customizing:
@@ -477,28 +497,30 @@
It is possible to reduce the libraries needed to build Ceres and
customize the build process by setting the appropriate options in
-``CMake``. These options can either be set in the ``CMake`` GUI,
-or via ``-D<OPTION>=<ON/OFF>`` when running ``CMake`` from the
-command line. In general, you should only modify these options from
-their defaults if you know what you are doing.
+``CMake``. These options can either be set in the ``CMake`` GUI, or
+via ``-D<OPTION>=<ON/OFF>`` when running ``CMake`` from the command
+line. In general, you should only modify these options from their
+defaults if you know what you are doing.
.. NOTE::
- If you are setting variables via ``-D<VARIABLE>=<VALUE>`` when calling
- ``CMake``, it is important to understand that this forcibly **overwrites** the
- variable ``<VARIABLE>`` in the ``CMake`` cache at the start of *every configure*.
+ If you are setting variables via ``-D<VARIABLE>=<VALUE>`` when
+ calling ``CMake``, it is important to understand that this forcibly
+ **overwrites** the variable ``<VARIABLE>`` in the ``CMake`` cache at
+ the start of *every configure*.
- This can lead to confusion if you are invoking the ``CMake``
- `curses <http://www.gnu.org/software/ncurses/ncurses.html>`_ terminal GUI
- (via ``ccmake``, e.g. ```ccmake -D<VARIABLE>=<VALUE> <PATH_TO_SRC>``).
- In this case, even if you change the value of ``<VARIABLE>`` in the ``CMake``
- GUI, your changes will be **overwritten** with the value passed via
- ``-D<VARIABLE>=<VALUE>`` (if one exists) at the start of each configure.
+ This can lead to confusion if you are invoking the ``CMake`` `curses
+ <http://www.gnu.org/software/ncurses/ncurses.html>`_ terminal GUI
+ (via ``ccmake``, e.g. ```ccmake -D<VARIABLE>=<VALUE>
+ <PATH_TO_SRC>``). In this case, even if you change the value of
+ ``<VARIABLE>`` in the ``CMake`` GUI, your changes will be
+ **overwritten** with the value passed via ``-D<VARIABLE>=<VALUE>``
+ (if one exists) at the start of each configure.
- As such, it is generally easier not to pass values to ``CMake`` via ``-D``
- and instead interactively experiment with their values in the ``CMake`` GUI.
- If they are not present in the *Standard View*, toggle to the *Advanced View*
- with ``<t>``.
+ As such, it is generally easier not to pass values to ``CMake`` via
+ ``-D`` and instead interactively experiment with their values in the
+ ``CMake`` GUI. If they are not present in the *Standard View*,
+ toggle to the *Advanced View* with ``<t>``.
Options controlling Ceres configuration
---------------------------------------
@@ -548,33 +570,35 @@
#. ``CXX11 [Default: OFF]`` *Non-MSVC compilers only*.
- Although Ceres does not currently use C++11, it does use ``shared_ptr``
- (required) and ``unordered_map`` (if available); both of which existed in the
- previous iterations of what became the C++11 standard: TR1 & C++0x. As such,
- Ceres can compile on pre-C++11 compilers, using the TR1/C++0x versions of
- ``shared_ptr`` & ``unordered_map``.
+ Although Ceres does not currently use C++11, it does use
+ ``shared_ptr`` (required) and ``unordered_map`` (if available);
+ both of which existed in the previous iterations of what became the
+ C++11 standard: TR1 & C++0x. As such, Ceres can compile on
+ pre-C++11 compilers, using the TR1/C++0x versions of ``shared_ptr``
+ & ``unordered_map``.
- Note that when using GCC & Clang, compiling against the TR1/C++0x versions:
- ``CXX11=OFF`` (the default) *does not* require ``-std=c++11`` when compiling
- Ceres, *nor* does it require that any client code using Ceres use
- ``-std=c++11``. However, this will cause compile errors if any client code
- that uses Ceres also uses C++11 (mismatched versions of ``shared_ptr`` &
- ``unordered_map``).
+ Note that when using GCC & Clang, compiling against the TR1/C++0x
+ versions: ``CXX11=OFF`` (the default) *does not* require
+ ``-std=c++11`` when compiling Ceres, *nor* does it require that any
+ client code using Ceres use ``-std=c++11``. However, this will
+ cause compile errors if any client code that uses Ceres also uses
+ C++11 (mismatched versions of ``shared_ptr`` & ``unordered_map``).
Enabling this option: ``CXX11=ON`` forces Ceres to use the C++11
- versions of ``shared_ptr`` & ``unordered_map`` if they are available, and
- thus imposes the requirement that all client code using Ceres also
- compile with ``-std=c++11``. This requirement is handled automatically
- through CMake target properties on the exported Ceres target for CMake >=
- 2.8.12 (when it was introduced). Thus, any client code which uses CMake will
- automatically be compiled with ``-std=c++11``. **On CMake versions <
- 2.8.12, you are responsible for ensuring that any code which uses Ceres is
+ versions of ``shared_ptr`` & ``unordered_map`` if they are
+ available, and thus imposes the requirement that all client code
+ using Ceres also compile with ``-std=c++11``. This requirement is
+ handled automatically through CMake target properties on the
+ exported Ceres target for CMake >= 2.8.12 (when it was introduced).
+ Thus, any client code which uses CMake will automatically be
+ compiled with ``-std=c++11``. **On CMake versions < 2.8.12, you
+ are responsible for ensuring that any code which uses Ceres is
compiled with** ``-std=c++11``.
- On OS X 10.9+, Clang will use the C++11 versions of ``shared_ptr`` &
- ``unordered_map`` without ``-std=c++11`` and so this option does not change
- the versions detected, although enabling it *will* require that client code
- compile with ``-std=c++11``.
+ On OS X 10.9+, Clang will use the C++11 versions of ``shared_ptr``
+ & ``unordered_map`` without ``-std=c++11`` and so this option does
+ not change the versions detected, although enabling it *will*
+ require that client code compile with ``-std=c++11``.
The following table summarises the effects of the ``CXX11`` option:
@@ -587,61 +611,68 @@
OS X 10.9+ ON std **Yes**
=================== ========== ================ ======================================
- The ``CXX11`` option does does not exist when using MSVC, as there any new
- C++ features available are enabled by default, and there is no analogue of
- ``-std=c++11``. It will however be available on MinGW & CygWin, which can
- support ``-std=c++11``.
+ The ``CXX11`` option does does not exist when using MSVC, as there
+ any new C++ features available are enabled by default, and there is
+ no analogue of ``-std=c++11``. It will however be available on
+ MinGW & CygWin, which can support ``-std=c++11``.
#. ``BUILD_SHARED_LIBS [Default: OFF]``: By default Ceres is built as
a static library, turn this ``ON`` to instead build Ceres as a
shared library.
-#. ``EXPORT_BUILD_DIR [Default: OFF]``: By default Ceres is configured solely
- for installation, and so must be installed in order for clients to use it.
- Turn this ``ON`` to export Ceres' build directory location into the
- `user's local CMake package registry <http://www.cmake.org/cmake/help/v3.2/manual/cmake-packages.7.html#user-package-registry>`_
- where it will be detected **without requiring installation** in a client
- project using CMake when `find_package(Ceres) <http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
+#. ``EXPORT_BUILD_DIR [Default: OFF]``: By default Ceres is configured
+ solely for installation, and so must be installed in order for
+ clients to use it. Turn this ``ON`` to export Ceres' build
+ directory location into the `user's local CMake package registry
+ <http://www.cmake.org/cmake/help/v3.2/manual/cmake-packages.7.html#user-package-registry>`_
+ where it will be detected **without requiring installation** in a
+ client project using CMake when `find_package(Ceres)
+ <http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
is invoked.
#. ``BUILD_DOCUMENTATION [Default: OFF]``: Use this to enable building
- the documentation, requires `Sphinx <http://sphinx-doc.org/>`_ and the
- `sphinx_rtd_theme <https://pypi.python.org/pypi/sphinx_rtd_theme>`_
- package available from the Python package index. In addition,
- ``make ceres_docs`` can be used to build only the documentation.
+ the documentation, requires `Sphinx <http://sphinx-doc.org/>`_ and
+ the `sphinx-better-theme
+ <https://pypi.python.org/pypi/sphinx-better-theme>`_ package
+ available from the Python package index. In addition, ``make
+ ceres_docs`` can be used to build only the documentation.
#. ``MSVC_USE_STATIC_CRT [Default: OFF]`` *Windows Only*: By default
- Ceres will use the Visual Studio default, *shared* C-Run Time (CRT) library.
- Turn this ``ON`` to use the *static* C-Run Time library instead.
+ Ceres will use the Visual Studio default, *shared* C-Run Time (CRT)
+ library. Turn this ``ON`` to use the *static* C-Run Time library
+ instead.
-#. ``LIB_SUFFIX [Default: "64" on non-Debian/Arch based 64-bit Linux, otherwise: ""]``:
- The suffix to append to the library install directory, built from:
+#. ``LIB_SUFFIX [Default: "64" on non-Debian/Arch based 64-bit Linux,
+ otherwise: ""]``: The suffix to append to the library install
+ directory, built from:
``${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}``.
- The filesystem hierarchy standard recommends that 64-bit systems install
- native libraries to lib64 rather than lib. Most Linux distributions follow
- this convention, but Debian and Arch based distros do not. Note that the
- only generally sensible values for ``LIB_SUFFIX`` are "" and "64".
+ The filesystem hierarchy standard recommends that 64-bit systems
+ install native libraries to lib64 rather than lib. Most Linux
+ distributions follow this convention, but Debian and Arch based
+ distros do not. Note that the only generally sensible values for
+ ``LIB_SUFFIX`` are "" and "64".
- Although by default Ceres will auto-detect non-Debian/Arch based 64-bit
- Linux distributions and default ``LIB_SUFFIX`` to "64", this can always be
- overridden by manually specifying LIB_SUFFIX using: ``-DLIB_SUFFIX=<VALUE>``
- when invoking CMake.
+ Although by default Ceres will auto-detect non-Debian/Arch based
+ 64-bit Linux distributions and default ``LIB_SUFFIX`` to "64", this
+ can always be overridden by manually specifying LIB_SUFFIX using:
+ ``-DLIB_SUFFIX=<VALUE>`` when invoking CMake.
Options controlling Ceres dependency locations
----------------------------------------------
-Ceres uses the ``CMake``
-`find_package <http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
+Ceres uses the ``CMake`` `find_package
+<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
function to find all of its dependencies using
-``Find<DEPENDENCY_NAME>.cmake`` scripts which are either included in Ceres
-(for most dependencies) or are shipped as standard with ``CMake``
-(for ``LAPACK`` & ``BLAS``). These scripts will search all of the "standard"
-install locations for various OSs for each dependency. However, particularly
-for Windows, they may fail to find the library, in this case you will have to
-manually specify its installed location. The ``Find<DEPENDENCY_NAME>.cmake``
-scripts shipped with Ceres support two ways for you to do this:
+``Find<DEPENDENCY_NAME>.cmake`` scripts which are either included in
+Ceres (for most dependencies) or are shipped as standard with
+``CMake`` (for ``LAPACK`` & ``BLAS``). These scripts will search all
+of the "standard" install locations for various OSs for each
+dependency. However, particularly for Windows, they may fail to find
+the library, in this case you will have to manually specify its
+installed location. The ``Find<DEPENDENCY_NAME>.cmake`` scripts
+shipped with Ceres support two ways for you to do this:
#. Set the *hints* variables specifying the *directories* to search in
preference, but in addition, to the search directories in the
@@ -663,58 +694,62 @@
``Find<DEPENDENCY_NAME>.cmake`` script, but validation is still
performed.
- These variables are available to set in the ``CMake`` GUI. They
- are visible in the *Standard View* if the library has not been
- found (but the current Ceres configuration requires it), but
- are always visible in the *Advanced View*. They can also be
- set directly via ``-D<VAR>=<VALUE>`` arguments to ``CMake``.
+ These variables are available to set in the ``CMake`` GUI. They are
+ visible in the *Standard View* if the library has not been found
+ (but the current Ceres configuration requires it), but are always
+ visible in the *Advanced View*. They can also be set directly via
+ ``-D<VAR>=<VALUE>`` arguments to ``CMake``.
Building using custom BLAS & LAPACK installs
----------------------------------------------
-If the standard find package scripts for ``BLAS`` & ``LAPACK`` which ship with
-``CMake`` fail to find the desired libraries on your system, try setting
-``CMAKE_LIBRARY_PATH`` to the path(s) to the directories containing the
-``BLAS`` & ``LAPACK`` libraries when invoking ``CMake`` to build Ceres via
-``-D<VAR>=<VALUE>``. This should result in the libraries being found for any
-common variant of each.
+If the standard find package scripts for ``BLAS`` & ``LAPACK`` which
+ship with ``CMake`` fail to find the desired libraries on your system,
+try setting ``CMAKE_LIBRARY_PATH`` to the path(s) to the directories
+containing the ``BLAS`` & ``LAPACK`` libraries when invoking ``CMake``
+to build Ceres via ``-D<VAR>=<VALUE>``. This should result in the
+libraries being found for any common variant of each.
-If you are building on an exotic system, or setting ``CMAKE_LIBRARY_PATH``
-does not work, or is not appropriate for some other reason, one option would be
-to write your own custom versions of ``FindBLAS.cmake`` &
-``FindLAPACK.cmake`` specific to your environment. In this case you must set
-``CMAKE_MODULE_PATH`` to the directory containing these custom scripts when
-invoking ``CMake`` to build Ceres and they will be used in preference to the
-default versions. However, in order for this to work, your scripts must provide
-the full set of variables provided by the default scripts. Also, if you are
-building Ceres with ``SuiteSparse``, the versions of ``BLAS`` & ``LAPACK``
-used by ``SuiteSparse`` and Ceres should be the same.
+If you are building on an exotic system, or setting
+``CMAKE_LIBRARY_PATH`` does not work, or is not appropriate for some
+other reason, one option would be to write your own custom versions of
+``FindBLAS.cmake`` & ``FindLAPACK.cmake`` specific to your
+environment. In this case you must set ``CMAKE_MODULE_PATH`` to the
+directory containing these custom scripts when invoking ``CMake`` to
+build Ceres and they will be used in preference to the default
+versions. However, in order for this to work, your scripts must
+provide the full set of variables provided by the default scripts.
+Also, if you are building Ceres with ``SuiteSparse``, the versions of
+``BLAS`` & ``LAPACK`` used by ``SuiteSparse`` and Ceres should be the
+same.
.. _section-using-ceres:
Using Ceres with CMake
======================
-In order to use Ceres in client code with CMake using
-`find_package() <http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
+In order to use Ceres in client code with CMake using `find_package()
+<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
then either:
-#. Ceres must have been installed with ``make install``.
- If the install location is non-standard (i.e. is not in CMake's default
+#. Ceres must have been installed with ``make install``. If the
+ install location is non-standard (i.e. is not in CMake's default
search paths) then it will not be detected by default, see:
:ref:`section-local-installations`.
- Note that if you are using a non-standard install location you should
- consider exporting Ceres instead, as this will not require any extra
- information to be provided in client code for Ceres to be detected.
+ Note that if you are using a non-standard install location you
+ should consider exporting Ceres instead, as this will not require
+ any extra information to be provided in client code for Ceres to
+ be detected.
-#. Or Ceres' build directory must have been exported
- by enabling the ``EXPORT_BUILD_DIR`` option when Ceres was configured.
+#. Or Ceres' build directory must have been exported by enabling the
+ ``EXPORT_BUILD_DIR`` option when Ceres was configured.
As an example of how to use Ceres, to compile `examples/helloworld.cc
<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/helloworld.cc>`_
-in a separate standalone project, the following CMakeList.txt can be used:
+in a separate standalone project, the following CMakeList.txt can be
+used:
.. code-block:: cmake
@@ -729,22 +764,25 @@
add_executable(helloworld helloworld.cc)
target_link_libraries(helloworld ${CERES_LIBRARIES})
-Irrespective of whether Ceres was installed or exported, if multiple versions
-are detected, set: ``Ceres_DIR`` to control which is used. If Ceres was
-installed ``Ceres_DIR`` should be the path to the directory containing the
-installed ``CeresConfig.cmake`` file (e.g. ``/usr/local/share/Ceres``). If
-Ceres was exported, then ``Ceres_DIR`` should be the path to the exported
-Ceres build directory.
+Irrespective of whether Ceres was installed or exported, if multiple
+versions are detected, set: ``Ceres_DIR`` to control which is used.
+If Ceres was installed ``Ceres_DIR`` should be the path to the
+directory containing the installed ``CeresConfig.cmake`` file
+(e.g. ``/usr/local/share/Ceres``). If Ceres was exported, then
+``Ceres_DIR`` should be the path to the exported Ceres build
+directory.
Specify Ceres components
-------------------------------------
-You can specify particular Ceres components that you require (in order for Ceres
-to be reported as found) when invoking ``find_package(Ceres)``. This allows you
-to specify, for example, that you require a version of Ceres built with
-SuiteSparse support. By definition, if you do not specify any components when
-calling ``find_package(Ceres)`` (the default) any version of Ceres detected will
-be reported as found, irrespective of which components it was built with.
+You can specify particular Ceres components that you require (in order
+for Ceres to be reported as found) when invoking
+``find_package(Ceres)``. This allows you to specify, for example,
+that you require a version of Ceres built with SuiteSparse support.
+By definition, if you do not specify any components when calling
+``find_package(Ceres)`` (the default) any version of Ceres detected
+will be reported as found, irrespective of which components it was
+built with.
The Ceres components which can be specified are:
@@ -801,95 +839,102 @@
-------------------
If Ceres was installed in a non-standard path by specifying
-``-DCMAKE_INSTALL_PREFIX="/some/where/local"``, then the user should add
-the **PATHS** option to the ``find_package()`` command, e.g.,
+``-DCMAKE_INSTALL_PREFIX="/some/where/local"``, then the user should
+add the **PATHS** option to the ``find_package()`` command, e.g.,
.. code-block:: cmake
find_package(Ceres REQUIRED PATHS "/some/where/local/")
Note that this can be used to have multiple versions of Ceres
-installed. However, particularly if you have only a single version of Ceres
-which you want to use but do not wish to install to a system location, you
-should consider exporting Ceres using the ``EXPORT_BUILD_DIR`` option instead
-of a local install, as exported versions of Ceres will be automatically detected
-by CMake, irrespective of their location.
+installed. However, particularly if you have only a single version of
+Ceres which you want to use but do not wish to install to a system
+location, you should consider exporting Ceres using the
+``EXPORT_BUILD_DIR`` option instead of a local install, as exported
+versions of Ceres will be automatically detected by CMake,
+irrespective of their location.
Understanding the CMake Package System
----------------------------------------
-Although a full tutorial on CMake is outside the scope of this guide, here
-we cover some of the most common CMake misunderstandings that crop up
-when using Ceres. For more detailed CMake usage, the following references are
-very useful:
+Although a full tutorial on CMake is outside the scope of this guide,
+here we cover some of the most common CMake misunderstandings that
+crop up when using Ceres. For more detailed CMake usage, the
+following references are very useful:
- The `official CMake tutorial <http://www.cmake.org/cmake-tutorial/>`_
Provides a tour of the core features of CMake.
-- `ProjectConfig tutorial <http://www.cmake.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file>`_ and the `cmake-packages documentation <http://www.cmake.org/cmake/help/git-master/manual/cmake-packages.7.html>`_
+- `ProjectConfig tutorial
+ <http://www.cmake.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file>`_
+ and the `cmake-packages documentation
+ <http://www.cmake.org/cmake/help/git-master/manual/cmake-packages.7.html>`_
- Cover how to write a ``ProjectConfig.cmake`` file, discussed below, for
- your own project when installing or exporting it using CMake. It also covers
- how these processes in conjunction with ``find_package()`` are actually
- handled by CMake. The
- `ProjectConfig tutorial <http://www.cmake.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file>`_
- is the older style, currently used by Ceres for compatibility with older
- versions of CMake.
+ Cover how to write a ``ProjectConfig.cmake`` file, discussed below,
+ for your own project when installing or exporting it using CMake.
+ It also covers how these processes in conjunction with
+ ``find_package()`` are actually handled by CMake. The
+ `ProjectConfig tutorial
+ <http://www.cmake.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file>`_
+ is the older style, currently used by Ceres for compatibility with
+ older versions of CMake.
.. NOTE :: **Targets in CMake.**
All libraries and executables built using CMake are represented as
- *targets* created using
- `add_library()
+ *targets* created using `add_library()
<http://www.cmake.org/cmake/help/v3.2/command/add_library.html>`_
- and
- `add_executable()
+ and `add_executable()
<http://www.cmake.org/cmake/help/v3.2/command/add_executable.html>`_.
- Targets encapsulate the rules and dependencies (which can be other targets)
- required to build or link against an object. This allows CMake to
- implicitly manage dependency chains. Thus it is sufficient to tell CMake
- that a library target: ``B`` depends on a previously declared library target
- ``A``, and CMake will understand that this means that ``B`` also depends on
- all of the public dependencies of ``A``.
+ Targets encapsulate the rules and dependencies (which can be other
+ targets) required to build or link against an object. This allows
+ CMake to implicitly manage dependency chains. Thus it is
+ sufficient to tell CMake that a library target: ``B`` depends on a
+ previously declared library target ``A``, and CMake will
+ understand that this means that ``B`` also depends on all of the
+ public dependencies of ``A``.
-When a project like Ceres is installed using CMake, or its build directory is
-exported into the local CMake package registry
-(see :ref:`section-install-vs-export`), in addition to the public
-headers and compiled libraries, a set of CMake-specific project configuration
-files are also installed to: ``<INSTALL_ROOT>/share/Ceres`` (if Ceres is
-installed), or created in the build directory (if Ceres' build directory is
-exported). When `find_package
-<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
-is invoked, CMake checks various standard install locations (including
-``/usr/local`` on Linux & UNIX systems), and the local CMake package registry
-for CMake configuration files for the project to be found (i.e. Ceres in the
-case of ``find_package(Ceres)``). Specifically it looks for:
+When a project like Ceres is installed using CMake, or its build
+directory is exported into the local CMake package registry (see
+:ref:`section-install-vs-export`), in addition to the public headers
+and compiled libraries, a set of CMake-specific project configuration
+files are also installed to: ``<INSTALL_ROOT>/share/Ceres`` (if Ceres
+is installed), or created in the build directory (if Ceres' build
+directory is exported). When `find_package
+<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_ is
+invoked, CMake checks various standard install locations (including
+``/usr/local`` on Linux & UNIX systems), and the local CMake package
+registry for CMake configuration files for the project to be found
+(i.e. Ceres in the case of ``find_package(Ceres)``). Specifically it
+looks for:
-- ``<PROJECT_NAME>Config.cmake`` (or ``<lower_case_project_name>-config.cmake``)
+- ``<PROJECT_NAME>Config.cmake`` (or
+ ``<lower_case_project_name>-config.cmake``)
- Which is written by the developers of the project, and is configured with
- the selected options and installed locations when the project is built and
- defines the CMake variables: ``<PROJECT_NAME>_INCLUDE_DIRS`` &
- ``<PROJECT_NAME>_LIBRARIES`` which are used by the caller to import
- the project.
+ Which is written by the developers of the project, and is
+ configured with the selected options and installed locations when
+ the project is built and defines the CMake variables:
+ ``<PROJECT_NAME>_INCLUDE_DIRS`` & ``<PROJECT_NAME>_LIBRARIES``
+ which are used by the caller to import the project.
-The ``<PROJECT_NAME>Config.cmake`` typically includes a second file installed to
-the same location:
+The ``<PROJECT_NAME>Config.cmake`` typically includes a second file
+installed to the same location:
- ``<PROJECT_NAME>Targets.cmake``
Which is autogenerated by CMake as part of the install process and defines
**imported targets** for the project in the caller's CMake scope.
-An **imported target** contains the same information about a library as a CMake
-target that was declared locally in the current CMake project using
-``add_library()``. However, imported targets refer to objects that have already
-been built by a different CMake project. Principally, an imported
-target contains the location of the compiled object and all of its public
-dependencies required to link against it. Any locally declared target can
-depend on an imported target, and CMake will manage the dependency chain, just
-as if the imported target had been declared locally by the current project.
+An **imported target** contains the same information about a library
+as a CMake target that was declared locally in the current CMake
+project using ``add_library()``. However, imported targets refer to
+objects that have already been built by a different CMake project.
+Principally, an imported target contains the location of the compiled
+object and all of its public dependencies required to link against it.
+Any locally declared target can depend on an imported target, and
+CMake will manage the dependency chain, just as if the imported target
+had been declared locally by the current project.
Crucially, just like any locally declared CMake target, an imported target is
identified by its **name** when adding it as a dependency to another target.
@@ -901,41 +946,46 @@
find_package(Ceres REQUIRED)
message("CERES_LIBRARIES = ${CERES_LIBRARIES}")
-You would see the output: ``CERES_LIBRARIES = ceres``. **However**, here
-``ceres`` is an **imported target** created when ``CeresTargets.cmake`` was
-read as part of ``find_package(Ceres REQUIRED)``. It does **not** refer
-(directly) to the compiled Ceres library: ``libceres.a/so/dylib/lib``. This
-distinction is important, as depending on the options selected when it was
-built, Ceres can have public link dependencies which are encapsulated in the
-imported target and automatically added to the link step when Ceres is added
-as a dependency of another target by CMake. In this case, linking only against
-``libceres.a/so/dylib/lib`` without these other public dependencies would
-result in a linker error.
+You would see the output: ``CERES_LIBRARIES = ceres``. **However**,
+here ``ceres`` is an **imported target** created when
+``CeresTargets.cmake`` was read as part of ``find_package(Ceres
+REQUIRED)``. It does **not** refer (directly) to the compiled Ceres
+library: ``libceres.a/so/dylib/lib``. This distinction is important,
+as depending on the options selected when it was built, Ceres can have
+public link dependencies which are encapsulated in the imported target
+and automatically added to the link step when Ceres is added as a
+dependency of another target by CMake. In this case, linking only
+against ``libceres.a/so/dylib/lib`` without these other public
+dependencies would result in a linker error.
-Note that this description applies both to projects that are **installed**
-using CMake, and to those whose **build directory is exported** using
-`export() <http://www.cmake.org/cmake/help/v3.2/command/export.html>`_
-(instead of
-`install() <http://www.cmake.org/cmake/help/v3.2/command/install.html>`_).
-Ceres supports both installation and export of its build directory if the
-``EXPORT_BUILD_DIR`` option is enabled, see :ref:`section-customizing`.
+Note that this description applies both to projects that are
+**installed** using CMake, and to those whose **build directory is
+exported** using `export()
+<http://www.cmake.org/cmake/help/v3.2/command/export.html>`_ (instead
+of `install()
+<http://www.cmake.org/cmake/help/v3.2/command/install.html>`_). Ceres
+supports both installation and export of its build directory if the
+``EXPORT_BUILD_DIR`` option is enabled, see
+:ref:`section-customizing`.
.. _section-install-vs-export:
Installing a project with CMake vs Exporting its build directory
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-When a project is **installed**, the compiled libraries and headers are copied
-from the source & build directory to the install location, and it is these
-copied files that are used by any client code. When a project's build directory
-is **exported**, instead of copying the compiled libraries and headers, CMake
-creates an entry for the project in the
-`user's local CMake package registry <http://www.cmake.org/cmake/help/v3.2/manual/cmake-packages.7.html#user-package-registry>`_,
-``<USER_HOME>/.cmake/packages`` on Linux & OS X, which contains the path to
-the project's build directory which will be checked by CMake during a call to
-``find_package()``. The effect of which is that any client code uses the
-compiled libraries and headers in the build directory directly, **thus not
-requiring the project to be installed to be used**.
+When a project is **installed**, the compiled libraries and headers
+are copied from the source & build directory to the install location,
+and it is these copied files that are used by any client code. When a
+project's build directory is **exported**, instead of copying the
+compiled libraries and headers, CMake creates an entry for the project
+in the `user's local CMake package registry
+<http://www.cmake.org/cmake/help/v3.2/manual/cmake-packages.7.html#user-package-registry>`_,
+``<USER_HOME>/.cmake/packages`` on Linux & OS X, which contains the
+path to the project's build directory which will be checked by CMake
+during a call to ``find_package()``. The effect of which is that any
+client code uses the compiled libraries and headers in the build
+directory directly, **thus not requiring the project to be installed
+to be used**.
Installing / Exporting a project that uses Ceres
--------------------------------------------------
@@ -945,25 +995,28 @@
represents Ceres. If you are installing / exporting your *own* project which
*uses* Ceres, it is important to understand that:
-**imported targets are not (re)exported when a project which imported them is
+**Imported targets are not (re)exported when a project which imported them is
exported**.
Thus, when a project ``Foo`` which uses Ceres is exported, its list of
-dependencies as seen by another project ``Bar`` which imports ``Foo`` via:
-``find_package(Foo REQUIRED)`` will contain: ``ceres``. However, the
-definition of ``ceres`` as an imported target is **not (re)exported** when Foo
-is exported. Hence, without any additional steps, when processing ``Bar``,
-``ceres`` will not be defined as an imported target. Thus, when processing
-``Bar``, CMake will assume that ``ceres`` refers only to:
-``libceres.a/so/dylib/lib`` (the compiled Ceres library) directly if it is on
-the current list of search paths. In which case, no CMake errors will occur,
-but ``Bar`` will not link properly, as it does not have the required public link
-dependencies of Ceres, which are stored in the imported target defintion.
+dependencies as seen by another project ``Bar`` which imports ``Foo``
+via: ``find_package(Foo REQUIRED)`` will contain: ``ceres``. However,
+the definition of ``ceres`` as an imported target is **not
+(re)exported** when Foo is exported. Hence, without any additional
+steps, when processing ``Bar``, ``ceres`` will not be defined as an
+imported target. Thus, when processing ``Bar``, CMake will assume
+that ``ceres`` refers only to: ``libceres.a/so/dylib/lib`` (the
+compiled Ceres library) directly if it is on the current list of
+search paths. In which case, no CMake errors will occur, but ``Bar``
+will not link properly, as it does not have the required public link
+dependencies of Ceres, which are stored in the imported target
+defintion.
-The solution to this is for ``Foo`` (i.e., the project that uses Ceres) to
-invoke ``find_package(Ceres)`` in ``FooConfig.cmake``, thus ``ceres`` will be
-defined as an imported target when CMake processes ``Bar``. An example of the
-required modifications to ``FooConfig.cmake`` are show below:
+The solution to this is for ``Foo`` (i.e., the project that uses
+Ceres) to invoke ``find_package(Ceres)`` in ``FooConfig.cmake``, thus
+``ceres`` will be defined as an imported target when CMake processes
+``Bar``. An example of the required modifications to
+``FooConfig.cmake`` are show below:
.. code-block:: cmake
diff --git a/docs/source/license.rst b/docs/source/license.rst
index d1099fa..2abbcec 100644
--- a/docs/source/license.rst
+++ b/docs/source/license.rst
@@ -4,7 +4,7 @@
Ceres Solver is licensed under the New BSD license, whose terms are as follows.
-Copyright 2015 Google Inc. All rights reserved.
+Copyright 2016 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:
diff --git a/docs/source/modeling_faqs.rst b/docs/source/modeling_faqs.rst
new file mode 100644
index 0000000..ee4e62c
--- /dev/null
+++ b/docs/source/modeling_faqs.rst
@@ -0,0 +1,134 @@
+.. _chapter-modeling_faqs:
+
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+========
+Modeling
+========
+
+#. Use analytical/automatic derivatives.
+
+ This is the single most important piece of advice we can give to
+ you. It is tempting to take the easy way out and use numeric
+ differentiation. This is a bad idea. Numeric differentiation is
+ slow, ill-behaved, hard to get right, and results in poor
+ convergence behaviour.
+
+ Ceres allows the user to define templated functors which will
+ be automatically differentiated. For most situations this is enough
+ and we recommend using this facility. In some cases the derivatives
+ are simple enough or the performance considerations are such that
+ the overhead of automatic differentiation is too much. In such
+ cases, analytic derivatives are recommended.
+
+ The use of numerical derivatives should be a measure of last
+ resort, where it is simply not possible to write a templated
+ implementation of the cost function.
+
+ In many cases it is not possible to do analytic or automatic
+ differentiation of the entire cost function, but it is generally
+ the case that it is possible to decompose the cost function into
+ parts that need to be numerically differentiated and parts that can
+ be automatically or analytically differentiated.
+
+ To this end, Ceres has extensive support for mixing analytic,
+ automatic and numeric differentiation. See
+ :class:`CostFunctionToFunctor`.
+
+#. When using Quaternions, consider using :class:`QuaternionParameterization`.
+
+ `Quaternions <https://en.wikipedia.org/wiki/Quaternion>`_ are a
+ four dimensional parameterization of the space of three dimensional
+ rotations :math:`SO(3)`. However, the :math:`SO(3)` is a three
+ dimensional set, and so is the tangent space of a
+ Quaternion. Therefore, it is sometimes (not always) benefecial to
+ associate a local parameterization with parameter blocks
+ representing a Quaternion. Assuming that the order of entries in
+ your parameter block is :math:`w,x,y,z`, you can use
+ :class:`QuaternionParameterization`.
+
+ .. NOTE::
+
+ If you are using `Eigen's Quaternion
+ <http://eigen.tuxfamily.org/dox/classEigen_1_1Quaternion.html>`_
+ object, whose layout is :math:`x,y,z,w`, then you should use
+ :class:`EigenQuaternionParameterization`.
+
+
+#. How do I solve problems with general linear & non-linear
+ **inequality** constraints with Ceres Solver?
+
+ Currently, Ceres Solver only supports upper and lower bounds
+ constraints on the parameter blocks.
+
+ A crude way of dealing with inequality constraints is have one or
+ more of your cost functions check if the inequalities you are
+ interested in are satisfied, and if not return false instead of
+ true. This will prevent the solver from ever stepping into an
+ infeasible region.
+
+ This requires that the starting point for the optimization be a
+ feasible point. You also risk pre-mature convergence using this
+ method.
+
+#. How do I solve problems with general linear & non-linear **equality**
+ constraints with Ceres Solver?
+
+ There is no built in support in ceres for solving problems with
+ equality constraints. Currently, Ceres Solver only supports upper
+ and lower bounds constraints on the parameter blocks.
+
+ The trick described above for dealing with inequality
+ constraints will **not** work for equality constraints.
+
+#. How do I set one or more components of a parameter block constant?
+
+ Using :class:`SubsetParameterization`.
+
+#. Putting `Inverse Function Theorem
+ <http://en.wikipedia.org/wiki/Inverse_function_theorem>`_ to use.
+
+ Every now and then we have to deal with functions which cannot be
+ evaluated analytically. Computing the Jacobian in such cases is
+ tricky. A particularly interesting case is where the inverse of the
+ function is easy to compute analytically. An example of such a
+ function is the Coordinate transformation between the `ECEF
+ <http://en.wikipedia.org/wiki/ECEF>`_ and the `WGS84
+ <http://en.wikipedia.org/wiki/World_Geodetic_System>`_ where the
+ conversion from WGS84 to ECEF is analytic, but the conversion
+ back to WGS84 uses an iterative algorithm. So how do you compute the
+ derivative of the ECEF to WGS84 transformation?
+
+ One obvious approach would be to numerically
+ differentiate the conversion function. This is not a good idea. For
+ one, it will be slow, but it will also be numerically quite
+ bad.
+
+ Turns out you can use the `Inverse Function Theorem
+ <http://en.wikipedia.org/wiki/Inverse_function_theorem>`_ in this
+ case to compute the derivatives more or less analytically.
+
+ The key result here is. If :math:`x = f^{-1}(y)`, and :math:`Df(x)`
+ is the invertible Jacobian of :math:`f` at :math:`x`. Then the
+ Jacobian :math:`Df^{-1}(y) = [Df(x)]^{-1}`, i.e., the Jacobian of
+ the :math:`f^{-1}` is the inverse of the Jacobian of :math:`f`.
+
+ Algorithmically this means that given :math:`y`, compute :math:`x =
+ f^{-1}(y)` by whatever means you can. Evaluate the Jacobian of
+ :math:`f` at :math:`x`. If the Jacobian matrix is invertible, then
+ its inverse is the Jacobian of :math:`f^{-1}(y)` at :math:`y`.
+
+ One can put this into practice with the following code fragment.
+
+ .. code-block:: c++
+
+ Eigen::Vector3d ecef; // Fill some values
+ // Iterative computation.
+ Eigen::Vector3d lla = ECEFToLLA(ecef);
+ // Analytic derivatives
+ Eigen::Matrix3d lla_to_ecef_jacobian = LLAToECEFJacobian(lla);
+ bool invertible;
+ Eigen::Matrix3d ecef_to_lla_jacobian;
+ lla_to_ecef_jacobian.computeInverseWithCheck(ecef_to_lla_jacobian, invertible);
diff --git a/docs/source/nnls_modeling.rst b/docs/source/nnls_modeling.rst
index 911bd63..972ea5b 100644
--- a/docs/source/nnls_modeling.rst
+++ b/docs/source/nnls_modeling.rst
@@ -370,7 +370,7 @@
NumericDiffOptions. Update DynamicNumericDiffOptions in a similar
manner.
- .. code-block:: c++
+ .. code-block:: c++
template <typename CostFunctor,
NumericDiffMethodType method = CENTRAL,
@@ -389,15 +389,15 @@
SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> {
};
- To get a numerically differentiated :class:`CostFunction`, you must
- define a class with a ``operator()`` (a functor) that computes the
- residuals. The functor must write the computed value in the last
- argument (the only non-``const`` one) and return ``true`` to
- indicate success. Please see :class:`CostFunction` for details on
- how the return value may be used to impose simple constraints on
- the parameter block. e.g., an object of the form
+ To get a numerically differentiated :class:`CostFunction`, you must
+ define a class with a ``operator()`` (a functor) that computes the
+ residuals. The functor must write the computed value in the last
+ argument (the only non-``const`` one) and return ``true`` to
+ indicate success. Please see :class:`CostFunction` for details on
+ how the return value may be used to impose simple constraints on the
+ parameter block. e.g., an object of the form
- .. code-block:: c++
+ .. code-block:: c++
struct ScalarFunctor {
public:
@@ -406,19 +406,19 @@
double* residuals) const;
}
- For example, consider a scalar error :math:`e = k - x'y`, where
- both :math:`x` and :math:`y` are two-dimensional column vector
- parameters, the prime sign indicates transposition, and :math:`k`
- is a constant. The form of this error, which is the difference
- between a constant and an expression, is a common pattern in least
- squares problems. For example, the value :math:`x'y` might be the
- model expectation for a series of measurements, where there is an
- instance of the cost function for each measurement :math:`k`.
+ For example, consider a scalar error :math:`e = k - x'y`, where both
+ :math:`x` and :math:`y` are two-dimensional column vector
+ parameters, the prime sign indicates transposition, and :math:`k` is
+ a constant. The form of this error, which is the difference between
+ a constant and an expression, is a common pattern in least squares
+ problems. For example, the value :math:`x'y` might be the model
+ expectation for a series of measurements, where there is an instance
+ of the cost function for each measurement :math:`k`.
- To write an numerically-differentiable class:`CostFunction` for the
- above model, first define the object
+ To write an numerically-differentiable class:`CostFunction` for the
+ above model, first define the object
- .. code-block:: c++
+ .. code-block:: c++
class MyScalarCostFunctor {
MyScalarCostFunctor(double k): k_(k) {}
@@ -434,39 +434,39 @@
double k_;
};
- Note that in the declaration of ``operator()`` the input parameters
- ``x`` and ``y`` come first, and are passed as const pointers to
- arrays of ``double`` s. If there were three input parameters, then
- the third input parameter would come after ``y``. The output is
- always the last parameter, and is also a pointer to an array. In
- the example above, the residual is a scalar, so only
- ``residuals[0]`` is set.
+ Note that in the declaration of ``operator()`` the input parameters
+ ``x`` and ``y`` come first, and are passed as const pointers to
+ arrays of ``double`` s. If there were three input parameters, then
+ the third input parameter would come after ``y``. The output is
+ always the last parameter, and is also a pointer to an array. In the
+ example above, the residual is a scalar, so only ``residuals[0]`` is
+ set.
- Then given this class definition, the numerically differentiated
- :class:`CostFunction` with central differences used for computing
- the derivative can be constructed as follows.
+ Then given this class definition, the numerically differentiated
+ :class:`CostFunction` with central differences used for computing
+ the derivative can be constructed as follows.
- .. code-block:: c++
+ .. code-block:: c++
- CostFunction* cost_function
- = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, 1, 2, 2>(
- new MyScalarCostFunctor(1.0)); ^ ^ ^ ^
- | | | |
- Finite Differencing Scheme -+ | | |
- Dimension of residual ------------+ | |
- Dimension of x ----------------------+ |
- Dimension of y -------------------------+
+ CostFunction* cost_function
+ = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, 1, 2, 2>(
+ new MyScalarCostFunctor(1.0)); ^ ^ ^ ^
+ | | | |
+ Finite Differencing Scheme -+ | | |
+ Dimension of residual ------------+ | |
+ Dimension of x ----------------------+ |
+ Dimension of y -------------------------+
- In this example, there is usually an instance for each measurement
- of `k`.
+ In this example, there is usually an instance for each measurement
+ of `k`.
- In the instantiation above, the template parameters following
- ``MyScalarCostFunctor``, ``1, 2, 2``, describe the functor as
- computing a 1-dimensional output from two arguments, both
- 2-dimensional.
+ In the instantiation above, the template parameters following
+ ``MyScalarCostFunctor``, ``1, 2, 2``, describe the functor as
+ computing a 1-dimensional output from two arguments, both
+ 2-dimensional.
- NumericDiffCostFunction also supports cost functions with a
- runtime-determined number of residuals. For example:
+ NumericDiffCostFunction also supports cost functions with a
+ runtime-determined number of residuals. For example:
.. code-block:: c++
@@ -483,42 +483,44 @@
Dimension of y ---------------------------------------------------+
- The framework can currently accommodate cost functions of up to 10
- independent variables, and there is no limit on the dimensionality
- of each of them.
+ The framework can currently accommodate cost functions of up to 10
+ independent variables, and there is no limit on the dimensionality
+ of each of them.
- There are three available numeric differentiation schemes in ceres-solver:
+ There are three available numeric differentiation schemes in ceres-solver:
- The ``FORWARD`` difference method, which approximates :math:`f'(x)`
- by computing :math:`\frac{f(x+h)-f(x)}{h}`, computes the cost function
- one additional time at :math:`x+h`. It is the fastest but least accurate
- method.
+ The ``FORWARD`` difference method, which approximates :math:`f'(x)`
+ by computing :math:`\frac{f(x+h)-f(x)}{h}`, computes the cost
+ function one additional time at :math:`x+h`. It is the fastest but
+ least accurate method.
- The ``CENTRAL`` difference method is more accurate at
- the cost of twice as many function evaluations than forward
- difference, estimating :math:`f'(x)` by computing
- :math:`\frac{f(x+h)-f(x-h)}{2h}`.
+ The ``CENTRAL`` difference method is more accurate at the cost of
+ twice as many function evaluations than forward difference,
+ estimating :math:`f'(x)` by computing
+ :math:`\frac{f(x+h)-f(x-h)}{2h}`.
- The ``RIDDERS`` difference method[Ridders]_ is an adaptive scheme that
- estimates derivatives by performing multiple central differences
- at varying scales. Specifically, the algorithm starts at a certain
- :math:`h` and as the derivative is estimated, this step size decreases.
- To conserve function evaluations and estimate the derivative error, the
- method performs Richardson extrapolations between the tested step sizes.
- The algorithm exhibits considerably higher accuracy, but does so by
- additional evaluations of the cost function.
+ The ``RIDDERS`` difference method[Ridders]_ is an adaptive scheme
+ that estimates derivatives by performing multiple central
+ differences at varying scales. Specifically, the algorithm starts at
+ a certain :math:`h` and as the derivative is estimated, this step
+ size decreases. To conserve function evaluations and estimate the
+ derivative error, the method performs Richardson extrapolations
+ between the tested step sizes. The algorithm exhibits considerably
+ higher accuracy, but does so by additional evaluations of the cost
+ function.
- Consider using ``CENTRAL`` differences to begin with. Based on the
- results, either try forward difference to improve performance or
- Ridders' method to improve accuracy.
+ Consider using ``CENTRAL`` differences to begin with. Based on the
+ results, either try forward difference to improve performance or
+ Ridders' method to improve accuracy.
- **WARNING** A common beginner's error when first using
- NumericDiffCostFunction is to get the sizing wrong. In particular,
- there is a tendency to set the template parameters to (dimension of
- residual, number of parameters) instead of passing a dimension
- parameter for *every parameter*. In the example above, that would
- be ``<MyScalarCostFunctor, 1, 2>``, which is missing the last ``2``
- argument. Please be careful when setting the size parameters.
+ **WARNING** A common beginner's error when first using
+ :class:`NumericDiffCostFunction` is to get the sizing wrong. In
+ particular, there is a tendency to set the template parameters to
+ (dimension of residual, number of parameters) instead of passing a
+ dimension parameter for *every parameter*. In the example above,
+ that would be ``<MyScalarCostFunctor, 1, 2>``, which is missing the
+ last ``2`` argument. Please be careful when setting the size
+ parameters.
Numeric Differentiation & LocalParameterization
diff --git a/docs/source/solving_faqs.rst b/docs/source/solving_faqs.rst
new file mode 100644
index 0000000..64604c4
--- /dev/null
+++ b/docs/source/solving_faqs.rst
@@ -0,0 +1,171 @@
+.. _chapter-solving_faqs:
+
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+=======
+Solving
+=======
+
+#. How do I evaluate the Jacobian for a solved problem?
+
+ Using :func:`Problem::Evaluate`.
+
+#. How do I choose the right linear solver?
+
+ When using the ``TRUST_REGION`` minimizer, the choice of linear
+ solver is an important decision. It affects solution quality and
+ runtime. Here is a simple way to reason about it.
+
+ 1. For small (a few hundred parameters) or dense problems use
+ ``DENSE_QR``.
+
+ 2. For general sparse problems (i.e., the Jacobian matrix has a
+ substantial number of zeros) use
+ ``SPARSE_NORMAL_CHOLESKY``. This requires that you have
+ ``SuiteSparse`` or ``CXSparse`` installed.
+
+ 3. For bundle adjustment problems with up to a hundred or so
+ cameras, use ``DENSE_SCHUR``.
+
+ 4. For larger bundle adjustment problems with sparse Schur
+ Complement/Reduced camera matrices use ``SPARSE_SCHUR``. This
+ requires that you build Ceres with support for ``SuiteSparse``,
+ ``CXSparse`` or Eigen's sparse linear algebra libraries.
+
+ If you do not have access to these libraries for whatever
+ reason, ``ITERATIVE_SCHUR`` with ``SCHUR_JACOBI`` is an
+ excellent alternative.
+
+ 5. For large bundle adjustment problems (a few thousand cameras or
+ more) use the ``ITERATIVE_SCHUR`` solver. There are a number of
+ preconditioner choices here. ``SCHUR_JACOBI`` offers an
+ excellent balance of speed and accuracy. This is also the
+ recommended option if you are solving medium sized problems for
+ which ``DENSE_SCHUR`` is too slow but ``SuiteSparse`` is not
+ available.
+
+ .. NOTE::
+
+ If you are solving small to medium sized problems, consider
+ setting ``Solver::Options::use_explicit_schur_complement`` to
+ ``true``, it can result in a substantial performance boost.
+
+ If you are not satisfied with ``SCHUR_JACOBI``'s performance try
+ ``CLUSTER_JACOBI`` and ``CLUSTER_TRIDIAGONAL`` in that
+ order. They require that you have ``SuiteSparse``
+ installed. Both of these preconditioners use a clustering
+ algorithm. Use ``SINGLE_LINKAGE`` before ``CANONICAL_VIEWS``.
+
+#. Use :func:`Solver::Summary::FullReport` to diagnose performance problems.
+
+ When diagnosing Ceres performance issues - runtime and convergence,
+ the first place to start is by looking at the output of
+ ``Solver::Summary::FullReport``. Here is an example
+
+ .. code-block:: bash
+
+ ./bin/bundle_adjuster --input ../data/problem-16-22106-pre.txt
+
+ iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
+ 0 4.185660e+06 0.00e+00 2.16e+07 0.00e+00 0.00e+00 1.00e+04 0 7.50e-02 3.58e-01
+ 1 1.980525e+05 3.99e+06 5.34e+06 2.40e+03 9.60e-01 3.00e+04 1 1.84e-01 5.42e-01
+ 2 5.086543e+04 1.47e+05 2.11e+06 1.01e+03 8.22e-01 4.09e+04 1 1.53e-01 6.95e-01
+ 3 1.859667e+04 3.23e+04 2.87e+05 2.64e+02 9.85e-01 1.23e+05 1 1.71e-01 8.66e-01
+ 4 1.803857e+04 5.58e+02 2.69e+04 8.66e+01 9.93e-01 3.69e+05 1 1.61e-01 1.03e+00
+ 5 1.803391e+04 4.66e+00 3.11e+02 1.02e+01 1.00e+00 1.11e+06 1 1.49e-01 1.18e+00
+
+ Ceres Solver v1.12.0 Solve Report
+ ----------------------------------
+ Original Reduced
+ Parameter blocks 22122 22122
+ Parameters 66462 66462
+ Residual blocks 83718 83718
+ Residual 167436 167436
+
+ Minimizer TRUST_REGION
+
+ Sparse linear algebra library SUITE_SPARSE
+ Trust region strategy LEVENBERG_MARQUARDT
+
+ Given Used
+ Linear solver SPARSE_SCHUR SPARSE_SCHUR
+ Threads 1 1
+ Linear solver threads 1 1
+ Linear solver ordering AUTOMATIC 22106, 16
+
+ Cost:
+ Initial 4.185660e+06
+ Final 1.803391e+04
+ Change 4.167626e+06
+
+ Minimizer iterations 5
+ Successful steps 5
+ Unsuccessful steps 0
+
+ Time (in seconds):
+ Preprocessor 0.283
+
+ Residual evaluation 0.061
+ Jacobian evaluation 0.361
+ Linear solver 0.382
+ Minimizer 0.895
+
+ Postprocessor 0.002
+ Total 1.220
+
+ Termination: NO_CONVERGENCE (Maximum number of iterations reached.)
+
+ Let us focus on run-time performance. The relevant lines to look at
+ are
+
+
+ .. code-block:: bash
+
+ Time (in seconds):
+ Preprocessor 0.283
+
+ Residual evaluation 0.061
+ Jacobian evaluation 0.361
+ Linear solver 0.382
+ Minimizer 0.895
+
+ Postprocessor 0.002
+ Total 1.220
+
+
+ Which tell us that of the total 1.2 seconds, about .3 seconds was
+ spent in the linear solver and the rest was mostly spent in
+ preprocessing and jacobian evaluation.
+
+ The preprocessing seems particularly expensive. Looking back at the
+ report, we observe
+
+ .. code-block:: bash
+
+ Linear solver ordering AUTOMATIC 22106, 16
+
+ Which indicates that we are using automatic ordering for the
+ ``SPARSE_SCHUR`` solver. This can be expensive at times. A straight
+ forward way to deal with this is to give the ordering manually. For
+ ``bundle_adjuster`` this can be done by passing the flag
+ ``-ordering=user``. Doing so and looking at the timing block of the
+ full report gives us
+
+ .. code-block:: bash
+
+ Time (in seconds):
+ Preprocessor 0.051
+
+ Residual evaluation 0.053
+ Jacobian evaluation 0.344
+ Linear solver 0.372
+ Minimizer 0.854
+
+ Postprocessor 0.002
+ Total 0.935
+
+
+
+ The preprocessor time has gone down by more than 5.5x!.
diff --git a/scripts/make_docs.py b/scripts/make_docs.py
index bb51620..c1e711f 100644
--- a/scripts/make_docs.py
+++ b/scripts/make_docs.py
@@ -76,7 +76,7 @@
# The title for the homepage is not ideal, so change it.
('<title>Ceres Solver — Ceres Solver</title>',
- '<title>Ceres Solver — A Nonlinear Least Squares Minimizer</title>')
+ '<title>Ceres Solver — A Large Scale Non-linear Optimization Library</title>')
]
# This is a nasty hack to strip the breadcrumb navigation. A better strategy is
@@ -86,7 +86,7 @@
'''<div role="navigation" aria-label="breadcrumbs navigation">
<ul class="wy-breadcrumbs">
<li><a href="index.html">Docs</a> »</li>
-
+
<li>'''
# The index page has a slightly different breadcrumb.
@@ -95,7 +95,7 @@
breadcrumb_end = \
'''</li>
<li class="wy-breadcrumbs-aside">
-
+
</li>
</ul>
<hr/>
