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Add changelog for 2.0.0
Change-Id: I8acad62bfe629454ae5032732693e43fe37b97ff
This commit is contained in:
Sameer Agarwal
@@ -9,7 +9,7 @@ Getting the source code
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.. _section-source:
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You can start with the `latest stable release
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<http://ceres-solver.org/ceres-solver-1.14.0.tar.gz>`_ . Or if you want
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<http://ceres-solver.org/ceres-solver-2.0.0.tar.gz>`_ . Or if you want
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the latest version, you can clone the git repository
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.. code-block:: bash
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@@ -163,10 +163,10 @@ We are now ready to build, test, and install Ceres.
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.. code-block:: bash
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tar zxf ceres-solver-1.14.0.tar.gz
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tar zxf ceres-solver-2.0.0.tar.gz
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mkdir ceres-bin
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cd ceres-bin
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cmake ../ceres-solver-1.14.0
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cmake ../ceres-solver-2.0.0
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make -j3
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make test
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# Optionally install Ceres, it can also be exported using CMake which
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@@ -180,7 +180,7 @@ dataset [Agarwal]_.
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.. code-block:: bash
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bin/simple_bundle_adjuster ../ceres-solver-1.14.0/data/problem-16-22106-pre.txt
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bin/simple_bundle_adjuster ../ceres-solver-2.0.0/data/problem-16-22106-pre.txt
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This runs Ceres for a maximum of 10 iterations using the
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``DENSE_SCHUR`` linear solver. The output should look something like
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@@ -197,7 +197,7 @@ this.
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5 1.803399e+04 5.33e+01 1.48e+04 1.23e+01 9.99e-01 8.33e+05 1 1.45e-01 1.08e+00
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6 1.803390e+04 9.02e-02 6.35e+01 8.00e-01 1.00e+00 2.50e+06 1 1.50e-01 1.23e+00
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Ceres Solver v1.14.0 Solve Report
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Ceres Solver v2.0.0 Solve Report
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----------------------------------
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Original Reduced
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Parameter blocks 22122 22122
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@@ -298,10 +298,10 @@ We are now ready to build, test, and install Ceres.
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.. code-block:: bash
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tar zxf ceres-solver-1.14.0.tar.gz
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tar zxf ceres-solver-2.0.0.tar.gz
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mkdir ceres-bin
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cd ceres-bin
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cmake ../ceres-solver-1.14.0
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cmake ../ceres-solver-2.0.0
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make -j3
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make test
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# Optionally install Ceres, it can also be exported using CMake which
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@@ -329,7 +329,7 @@ following:
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.. code-block:: bash
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tar zxf ceres-solver-1.14.0.tar.gz
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tar zxf ceres-solver-2.0.0.tar.gz
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mkdir ceres-bin
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cd ceres-bin
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# Configure the local shell only (not persistent) to use the Homebrew LLVM
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@@ -341,7 +341,7 @@ following:
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export PATH="/usr/local/opt/llvm/bin:$PATH"
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# Force CMake to use the Homebrew version of Clang. OpenMP will be
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# automatically enabled if it is detected that the compiler supports it.
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cmake -DCMAKE_C_COMPILER=/usr/local/opt/llvm/bin/clang -DCMAKE_CXX_COMPILER=/usr/local/opt/llvm/bin/clang++ ../ceres-solver-1.14.0
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cmake -DCMAKE_C_COMPILER=/usr/local/opt/llvm/bin/clang -DCMAKE_CXX_COMPILER=/usr/local/opt/llvm/bin/clang++ ../ceres-solver-2.0.0
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make -j3
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make test
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# Optionally install Ceres. It can also be exported using CMake which
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@@ -430,7 +430,7 @@ dependencies.
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#. Unpack the Ceres tarball into ``ceres``. For the tarball, you
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should get a directory inside ``ceres`` similar to
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``ceres-solver-1.14.0``. Alternately, checkout Ceres via ``git`` to
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``ceres-solver-2.0.0``. Alternately, checkout Ceres via ``git`` to
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get ``ceres-solver.git`` inside ``ceres``.
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#. Install ``CMake``,
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@@ -4,6 +4,155 @@
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Version History
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===============
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2.0.0
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=====
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New Features
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------------
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#. Ceres Solver now requires a C++14 compatible compiler, Eigen
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version > 3.3 & CMake version >= 3.5, XCode version >= 11.2 (Sameer
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Agarwal, Alex Stewart & Keir Mierle)
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#. C++ threading based multi-threading support. (Mike Vitus)
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#. :func:`Problem::AddResidualBlock`, :class:`SizedFunction`,
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:class:`AutoDiffCostFunction`, :class:`NumericDiffCostFunction`
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support an arbitrary number of parameter blocks using variadic
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templates (Johannes Beck)
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#. On Apple platforms, support for Apple's Accelerate framework as a
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sparse linear algebra library. (Alex Stewart)
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#. Significantly faster AutoDiff (Darius Rueckert)
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#. Mixed precision solves when using
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``SPARSE_NORMAL_CHOLESKY``. (Sameer Agarwal)
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#. ``LocalParameterization`` objects can have a zero sized tangent
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size, which effectively makes the parameter block constant. In
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particular, this allows for a ``SubsetParameterization`` that holds
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all the coordinates of a parameter block constant. (Sameer Agarwal
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& Emil Ernerfeldt)
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#. Visibility based preconditioning now works with ``Eigen`` and
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``CXSparse``. (Sameer Agarwal)
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#. Added :func:`Problem::EvaluateResidualBlock` and
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:func:`Problem::EvaluateResidualBlockAssumingParametersUnchanged`. (Sameer
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Agarwal)
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#. ``GradientChecker`` now uses ``RIDDERS`` method for more accurate
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numerical derivatives. (Sameer Agarwal)
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#. Covariance computation uses a faster SVD algorithm (Johannes Beck)
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#. A new local parameterization for lines (Johannes Beck)
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#. A new (``SUBSET``) preconditioner for problems with general
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sparsity. (Sameer Agarwal)
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#. Faster Schur elimination using faster custom BLAS routines for
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small matrices. (yangfan)
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#. Automatic differentiation for ``FirstOrderFunction`` in the form of
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:class:`AutoDiffFirstOrderFunction`. (Sameer Agarwal)
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#. ``TinySolverAutoDiffFunction`` now supports dynamic number of residuals
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just like ``AutoDiffCostFunction``. (Johannes Graeter)
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Backward Incompatible API Changes
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---------------------------------
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#. ``EvaluationCallback`` has been moved from ``Solver::Options`` to
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``Problem::Options`` for a more correct API.
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#. Removed ``Android.mk`` based build.
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#. Remove ``Solver::Options::num_linear_solver_threads`` is no more.
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Bug Fixes & Minor Changes
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-------------------------
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#. Various documentation improvements (Sameer Agarwal, Carl Dehlin,
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Bayes Nie, Chris Choi, Frank, Kuang Fangjun, Dmitriy Korchemkin,
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huangqinjin, Patrik Huber)
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#. Huge number of build system simplification & cleanups (Alex
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Stewart, NeroBurner, Alastair Harrison, Linus Mårtensson, Nikolaus Demmel)
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#. Intel TBB based threading removed (Mike Vitus)
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#. Allow :class:`SubsetParameterization` to accept an empty vector of
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constant parameters. (Sameer Agarwal & Frédéric Devernay)
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#. Fix a bug in DynamicAutoDiffCostFunction when all parameters are
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constant (Ky Waegel & Sameer Agarwal)
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#. Fixed incorrect argument name in ``RotationMatrixToQuaternion``
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(Alex Stewart & Frank Dellaert)
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#. Do not export class template LineParameterization (huangqinjin)
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#. Change the type of parameter index/offset to match their getter/setter (huangqinjin)
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#. Initialize integer variables with integer instead of double (huangqinjin)
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#. Add std::numeric_limit specialization for Jets (Sameer Agarwal)
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#. Fix a MSVC type deduction bug in ComputeHouseholderVector (Sameer Agarwal)
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#. Allow LocalParameterizations to have zero local size. (Sameer Agarwal)
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#. Add photometric and relative-pose residuals to autodiff benchmarks (Nikolaus Demmel)
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#. Add a constant cost function to the autodiff benchmarks (Darius Rueckert)
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#. Add const to GetCovarianceMatrix#. (Johannes Beck)
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#. Fix Tukey loss function (Enrique Fernandez)
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#. Fix 3+ nested Jet constructor (Julian Kent)
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#. Fix windows MSVC build. (Johannes Beck)
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#. Fix invert PSD matrix. (Johannes Beck)
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#. Remove not used using declaration (Johannes Beck)
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#. Let Problem::SetParameterization be called more than once. (Sameer Agarwal)
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#. Make Problem movable. (Sameer Agarwal)
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#. Make EventLogger more efficient. (Sameer Agarwal)
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#. Remove a CHECK failure from covariance_impl.cc (Sameer Agarwal)
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#. Add a missing cast in rotation.h (Sameer Agarwal)
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#. Add a specialized SchurEliminator and integrate it for the case <2,3,6> (Sameer Agarwal)
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#. Remove use of SetUsage as it creates compilation problems. (Sameer Agarwal)
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#. Protect declarations of lapack functions under CERES_NO_LAPACK (Sameer Agarwal)
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#. Drop ROS dependency on catkin (Scott K Logan)
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#. Explicitly delete the copy constructor and copy assignment operator (huangqinjin)
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#. Use selfAdjoingView<Upper> in InvertPSDMatrix. (Sameer Agarwal)
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#. Speed up InvertPSDMatrix (Sameer Agarwal)
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#. Allow Solver::Options::max_num_line_search_step_size_iterations = 0. (Sameer Agarwal)
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#. Make LineSearchMinizer work correctly with negative valued functions. (Sameer Agarwal)
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#. Fix missing declaration warnings in Ceres code (Sergey Sharybin)
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#. Modernize ProductParameterization. (Johannes Beck)
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#. Add some missing string-to-enum-to-string convertors. (Sameer Agarwal)
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#. Add checks in rotation.h for inplace operations. (Johannes Beck)
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#. Update Bazel WORKSPACE for newest Bazel (Keir Mierle)
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#. TripletSparseMatrix: guard against self-assignment (ngoclinhng)
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#. Fix Eigen alignment issues. (Johannes Beck)
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#. Add the missing <array> header to fixed_array.h (Sameer Agarwal)
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#. Switch to FixedArray implementation from abseil. (Johannes Beck)
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#. IdentityTransformation -> IdentityParameterization (Sameer Agarwal)
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#. Reorder initializer list to make -Wreorder happy (Sam Hasinoff)
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#. Reduce machoness of macro definition in cost_functor_to_function_test.cc (Sameer Agarwal)
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#. Enable optional use of sanitizers (Alex Stewart)
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#. Fix a typo in cubic_interpolation.h (Sameer Agarwal)
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#. Update googletest/googlemock to db9b85e2. (Sameer Agarwal)
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#. Fix Jacobian evaluation for constant parameter (Johannes Beck)
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#. AutoDiffCostFunction: use static_assert to check if the correct overload of the constructor is used. (Christopher Wecht)
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#. Avoid additional memory allocation in gradient checker (Justin Carpentier)
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#. Swap the order of definition of IsValidParameterDimensionSequence. (Sameer Agarwal)
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#. Add ParameterBlock::IsSetConstantByUser() (Sameer Agarwal)
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#. Add parameter dims for variadic sized cost function (Johannes Beck)
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#. Remove trailing zero parameter block sizes (Johannes Beck)
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#. Adding integer sequence and algorithms (Johannes Beck)
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#. Improve readability of LocalParameterization code. (Sameer Agarwal)
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#. Simplifying Init in manual contructor (Johannes Beck)
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#. Fix typo in NIST url. (Alessandro Gentilini)
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#. Add a .clang-format file. (Sameer Agarwal)
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#. Make ConditionedCostFunction compatible with repeated CostFunction. (Sameer Agarwal)
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#. Remove conversions from a double to a Jet. (Kuang Fangjun)
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#. close the file on return. (Kuang Fangjun)
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#. Fix an error in the demo code for ceres::Jet. (Kuang Fangjun)
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#. Recheck the residual after a new call. (Kuang Fangjun)
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#. avoid recomputation. (Kuang Fangjun)
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#. Fix calculation of Solver::Summary::num_threads_used. (Alex Stewart)
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#. Convert calls to CHECK_NOTNULL to CHECK. (Sameer Agarwal)
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#. Add a missing <cstdint> to block_structure.h (Sameer Agarwal)
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#. Fix an uninitialized memory error in EvaluationCallbackTest (Sameer Agarwal)
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#. Respect bounds when using Solver::Options::check_gradients (Sameer Agarwal)
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#. Relax the limitation that SchurEliminator::Eliminate requires a rhs. (Sameer Agarwal)
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#. Fix three out of bounds errors in CompressedRowSparseMatrix. (Sameer Agarwal)
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#. Add Travis CI support. (Alex Stewart)
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#. Refactor Ceres threading option configuration. (Alex Stewart)
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#. Handle NULL permutation from SuiteSparseQR (Pau Gargallo)
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#. Remove chunk shuffle in multithreaded SchurEliminator (Norbert Wenzel)
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#. Add /bigobj to nist on MSVC. (Alex Stewart)
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#. Fix 'xxx.cc has no symbols' warnings. (Alex Stewart)
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#. Add a typedef to expose the scalar type used in a Jet. (Sameer Agarwal)
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#. Fix a use after free bug in the tests. (Sameer Agarwal)
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#. Simplify integration tests. (Sameer Agarwal)
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#. Converts std::unique_lock to std::lock_guard. (Mike Vitus)
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#. Bring the Bazel build in sync with the CMake build. (Sameer Agarwal)
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#. Adds a ParallelFor wrapper for no threads and OpenMP. (Mike Vitus)
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#. Improve the test coverage in small_blas_test (Sameer Agarwal)
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#. Handle possible overflow in TrustRegionStepEvaluator. (Sameer Agarwal)
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#. Fix lower-bound on result of minimising step-size polynomial. (Alex Stewart)
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#. Adds missing functional include in thread_pool.h (Mike Vitus)
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1.14.0
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======
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@@ -966,7 +1115,7 @@ Backward Incompatible API Changes
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NULL, /* No cost */
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&initial_residuals,
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NULL, /* No gradient */
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NULL /* No jacobian */ );
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NULL /* No jacobian */);
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Solver::Options options;
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Solver::Summary summary;
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@@ -977,7 +1126,7 @@ Backward Incompatible API Changes
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NULL, /* No cost */
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&final_residuals,
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NULL, /* No gradient */
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NULL /* No jacobian */ );
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NULL /* No jacobian */);
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New Features
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