Core Solver - Add Ceres LMDER solver

"LMDER" stands for "Levenberg-Marquardt analyic DERivatives".

This solver is intended to parallel the "cminpack_lmder", which has
historically been the faster solver in mmSolver.

We have not yet proven that "ceres_lmder" is always (or mostly) better
than "cminpack_lmder", therefore the default has not been changed.

This also turns off "use_nonmonotonic_steps", which I've tested and
seems to produce worse results in simple cases.

GitHub issue #174.

Author: david-cattermole

INSTALL.md

@@ -106,17 +106,17 @@ for all users loading this module - if the module file is located on
 the network for multiple users changes to this file will affect all
 users.
 
-| Name                       | Description                                                                                            |
-| -------------------------- | ------------------------------------------------------------------------------------------------------ |
-| MMSOLVER_LOAD_AT_STARTUP   | Automatically load mmSolver plug-in at Maya start-up (values of '0' or '1').                           |
-| MMSOLVER_CREATE_SHELF      | Automatically create a Maya shelf at start-up (values of '0' or '1').                                  |
-| MMSOLVER_CREATE_MENU       | Automatically create a Maya menu at start-up (values of '0' or '1').                                   |
-| MMSOLVER_CREATE_HOTKEY_SET | Automatically create a Maya hotkey set at start-up (values of '0' or '1').                             |
-| MMSOLVER_VIEWPORT_MESSAGES | Enable or disable warnings and errors printed to the viewport (values of '0' or '1').                  |
-| MMSOLVER_HELP_SOURCE       | Prefer 'internet' or 'local' source of help? For users with internet restrictions set this to 'local'. |
-| MMSOLVER_DEFAULT_SOLVER    | (Advanced) The default solver to use in mmSolver; 'cminpack_lmdif', 'cminpack_lmder' or 'ceres_lmdif'. |
-| MMSOLVER_DEBUG             | (Advanced) Forces mmSolver to print out debug messages. Not for users, for use by developers only.     |
-| MMSOLVER_LOCATION          | Do not change this variable!!!                                                                         |
+| Name                       | Description                                                                                                           |
+|----------------------------|-----------------------------------------------------------------------------------------------------------------------|
+| MMSOLVER_LOAD_AT_STARTUP   | Automatically load mmSolver plug-in at Maya start-up (values of '0' or '1').                                          |
+| MMSOLVER_CREATE_SHELF      | Automatically create a Maya shelf at start-up (values of '0' or '1').                                                 |
+| MMSOLVER_CREATE_MENU       | Automatically create a Maya menu at start-up (values of '0' or '1').                                                  |
+| MMSOLVER_CREATE_HOTKEY_SET | Automatically create a Maya hotkey set at start-up (values of '0' or '1').                                            |
+| MMSOLVER_VIEWPORT_MESSAGES | Enable or disable warnings and errors printed to the viewport (values of '0' or '1').                                 |
+| MMSOLVER_HELP_SOURCE       | Prefer 'internet' or 'local' source of help? For users with internet restrictions set this to 'local'.                |
+| MMSOLVER_DEFAULT_SOLVER    | (Advanced) The default solver to use in mmSolver; 'cminpack_lmdif', 'cminpack_lmder', 'ceres_lmdif' or 'ceres_lmder'. |
+| MMSOLVER_DEBUG             | (Advanced) Forces mmSolver to print out debug messages. Not for users, for use by developers only.                    |
+| MMSOLVER_LOCATION          | Do not change this variable!!!                                                                                        |
 
 # Install 3DEqualizer Files
 

python/mmSolver/_api/constant.py

@@ -147,12 +147,14 @@
 SOLVER_TYPE_CMINPACK_LMDIF = 1
 SOLVER_TYPE_CMINPACK_LMDER = 2
 SOLVER_TYPE_CERES_LMDIF = 3
+SOLVER_TYPE_CERES_LMDER = 4
 SOLVER_TYPE_DEFAULT = SOLVER_TYPE_CMINPACK_LMDER
 SOLVER_TYPE_LIST = [
     # levmar is not included in this list because it is deprecated.
     SOLVER_TYPE_CMINPACK_LMDIF,
     SOLVER_TYPE_CMINPACK_LMDER,
     SOLVER_TYPE_CERES_LMDIF,
+    SOLVER_TYPE_CERES_LMDER,
 ]
 
 

python/mmSolver/api.py

@@ -157,6 +157,7 @@
     SOLVER_TYPE_CMINPACK_LMDIF,
     SOLVER_TYPE_CMINPACK_LMDER,
     SOLVER_TYPE_CERES_LMDIF,
+    SOLVER_TYPE_CERES_LMDER,
     SOLVER_TYPE_DEFAULT,
     SOLVER_TYPE_LIST,
     SCENE_GRAPH_MODE_AUTO,
@@ -308,6 +309,7 @@
     'SOLVER_TYPE_CMINPACK_LMDIF',
     'SOLVER_TYPE_CMINPACK_LMDER',
     'SOLVER_TYPE_CERES_LMDIF',
+    'SOLVER_TYPE_CERES_LMDER',
     'SOLVER_TYPE_DEFAULT',
     'SOLVER_TYPE_LIST',
     'SCENE_GRAPH_MODE_AUTO',

python/mmSolver/tools/solver/constant.py

@@ -369,29 +369,34 @@
 SOLVER_TYPE_CMINPACK_LMDIF = mmapi_const.SOLVER_TYPE_CMINPACK_LMDIF
 SOLVER_TYPE_CMINPACK_LMDER = mmapi_const.SOLVER_TYPE_CMINPACK_LMDER
 SOLVER_TYPE_CERES_LMDIF = mmapi_const.SOLVER_TYPE_CERES_LMDIF
+SOLVER_TYPE_CERES_LMDER = mmapi_const.SOLVER_TYPE_CERES_LMDER
 SOLVER_TYPE_LIST = [
     SOLVER_TYPE_DEFAULT,
     SOLVER_TYPE_CMINPACK_LMDIF,
     SOLVER_TYPE_CMINPACK_LMDER,
     SOLVER_TYPE_CERES_LMDIF,
+    SOLVER_TYPE_CERES_LMDER,
 ]
 
 SOLVER_TYPE_DEFAULT_LABEL = 'Default'
 SOLVER_TYPE_CMINPACK_LMDIF_LABEL = 'CMinpack LMDIF'
 SOLVER_TYPE_CMINPACK_LMDER_LABEL = 'CMinpack LMDER'
 SOLVER_TYPE_CERES_LMDIF_LABEL = 'Ceres LMDIF'
+SOLVER_TYPE_CERES_LMDER_LABEL = 'Ceres LMDER'
 SOLVER_TYPE_LABEL_LIST = [
     SOLVER_TYPE_DEFAULT_LABEL,
     SOLVER_TYPE_CMINPACK_LMDIF_LABEL,
     SOLVER_TYPE_CMINPACK_LMDER_LABEL,
     SOLVER_TYPE_CERES_LMDIF_LABEL,
+    SOLVER_TYPE_CERES_LMDER_LABEL,
 ]
 
 SOLVER_TYPE_LABEL_VALUE_LIST = [
     (SOLVER_TYPE_DEFAULT_LABEL, SOLVER_TYPE_DEFAULT),
     (SOLVER_TYPE_CMINPACK_LMDIF_LABEL, SOLVER_TYPE_CMINPACK_LMDIF),
     (SOLVER_TYPE_CMINPACK_LMDER_LABEL, SOLVER_TYPE_CMINPACK_LMDER),
     (SOLVER_TYPE_CERES_LMDIF_LABEL, SOLVER_TYPE_CERES_LMDIF),
+    (SOLVER_TYPE_CERES_LMDER_LABEL, SOLVER_TYPE_CERES_LMDER),
 ]
 
 # Hide the Solver Type mode in the UI.

src/CMakeLists.txt

@@ -26,6 +26,7 @@ set(CMAKE_MACOSX_RPATH 1)
 # Source
 set(SOURCE_FILES
   mmSolver/adjust/adjust_base.cpp
+  mmSolver/adjust/adjust_ceres_lmder.cpp
   mmSolver/adjust/adjust_ceres_lmdif.cpp
   mmSolver/adjust/adjust_cminpack_base.cpp
   mmSolver/adjust/adjust_cminpack_lmder.cpp

src/mmSolver/adjust/adjust_base.cpp

@@ -56,6 +56,7 @@
 #include <mmsolverlibs/debug.h>
 
 // MM Solver
+#include "adjust_ceres_lmder.h"
 #include "adjust_ceres_lmdif.h"
 #include "adjust_cminpack_lmder.h"
 #include "adjust_cminpack_lmdif.h"
@@ -94,6 +95,10 @@ std::vector<SolverTypePair> getSolverTypes() {
     solverType.second = SOLVER_TYPE_CERES_LMDIF_NAME;
     solverTypes.push_back(solverType);
 
+    solverType.first = SOLVER_TYPE_CERES_LMDER;
+    solverType.second = SOLVER_TYPE_CERES_LMDER_NAME;
+    solverTypes.push_back(solverType);
+
     return solverTypes;
 }
 
@@ -125,7 +130,8 @@ SolverTypePair getSolverTypeDefault() {
                 << "Value may be "
                 << "\"" << SOLVER_TYPE_CMINPACK_LMDIF_NAME << "\", "
                 << "\"" << SOLVER_TYPE_CMINPACK_LMDER_NAME << "\", "
-                << "or \"" << SOLVER_TYPE_CERES_LMDIF_NAME << "\"; "
+                << "\"" << SOLVER_TYPE_CERES_LMDIF_NAME << "\", "
+                << "or \"" << SOLVER_TYPE_CERES_LMDER_NAME << "\"; "
                 << "; value=" << defaultSolver);
         }
     }
@@ -1188,6 +1194,10 @@ MStatus solveFrames(
         solve_3d_ceres_lmdif(solverOptions, numberOfParameters, numberOfErrors,
                              out_paramList, out_errorList, paramWeightList,
                              userData, out_cmdResult.solverResult);
+    } else if (solverOptions.solverType == SOLVER_TYPE_CERES_LMDER) {
+        solve_3d_ceres_lmder(solverOptions, numberOfParameters, numberOfErrors,
+                             out_paramList, out_errorList, paramWeightList,
+                             userData, out_cmdResult.solverResult);
     } else {
         MMSOLVER_MAYA_ERR(
             "Solver Type is invalid. solverType=" << solverOptions.solverType);