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Update docs for 2.2.0.

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Change-Id: Ib8fd3918d7bfda52212aa02c3c7573eb4dace270
This commit is contained in:
Sameer Agarwal
2023-10-12 18:09:20 -07:00
parent 2120eae674
commit 85331393dc
5 changed files with 137 additions and 132 deletions
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CITATION.cff
+1 -1
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@@ -9,7 +9,7 @@ authors:
given-names: Keir given-names: Keir
- name: The Ceres Solver Team - name: The Ceres Solver Team
version: 2.2 version: 2.2
date-released: 2023-10-09 date-released: 2023-10-13
license: Apache-2.0 license: Apache-2.0
repository-code: https://github.com/ceres-solver/ceres-solver repository-code: https://github.com/ceres-solver/ceres-solver
url: http://ceres-solver.org url: http://ceres-solver.org
docs/source/gradient_tutorial.rst
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@@ -76,67 +76,68 @@ algorithm.
.. code-block:: bash .. code-block:: bash
0: f: 2.420000e+01 d: 0.00e+00 g: 2.16e+02 h: 0.00e+00 s: 0.00e+00 e: 0 it: 2.29e-05 tt: 2.29e-05 0: f: 2.420000e+01 d: 0.00e+00 g: 2.16e+02 h: 0.00e+00 s: 0.00e+00 e: 0 it: 1.19e-05 tt: 1.19e-05
1: f: 4.280493e+00 d: 1.99e+01 g: 1.52e+01 h: 2.01e-01 s: 8.62e-04 e: 2 it: 8.39e-05 tt: 1.62e-04 1: f: 4.280493e+00 d: 1.99e+01 g: 1.52e+01 h: 2.01e-01 s: 8.62e-04 e: 2 it: 7.30e-05 tt: 1.72e-04
2: f: 3.571154e+00 d: 7.09e-01 g: 1.35e+01 h: 3.78e-01 s: 1.34e-01 e: 3 it: 2.22e-05 tt: 1.91e-04 2: f: 3.571154e+00 d: 7.09e-01 g: 1.35e+01 h: 3.78e-01 s: 1.34e-01 e: 3 it: 1.60e-05 tt: 1.93e-04
3: f: 3.440869e+00 d: 1.30e-01 g: 1.73e+01 h: 1.36e-01 s: 1.00e+00 e: 1 it: 5.01e-06 tt: 2.01e-04 3: f: 3.440869e+00 d: 1.30e-01 g: 1.73e+01 h: 1.36e-01 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 1.97e-04
4: f: 3.213597e+00 d: 2.27e-01 g: 1.55e+01 h: 1.06e-01 s: 4.59e-01 e: 1 it: 3.81e-06 tt: 2.10e-04 4: f: 3.213597e+00 d: 2.27e-01 g: 1.55e+01 h: 1.06e-01 s: 4.59e-01 e: 1 it: 1.19e-06 tt: 2.00e-04
5: f: 2.839723e+00 d: 3.74e-01 g: 1.05e+01 h: 1.34e-01 s: 5.24e-01 e: 1 it: 4.05e-06 tt: 2.19e-04 5: f: 2.839723e+00 d: 3.74e-01 g: 1.05e+01 h: 1.34e-01 s: 5.24e-01 e: 1 it: 9.54e-07 tt: 2.03e-04
6: f: 2.448490e+00 d: 3.91e-01 g: 1.29e+01 h: 3.04e-01 s: 1.00e+00 e: 1 it: 5.01e-06 tt: 2.28e-04 6: f: 2.448490e+00 d: 3.91e-01 g: 1.29e+01 h: 3.04e-01 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 2.05e-04
7: f: 1.943019e+00 d: 5.05e-01 g: 4.00e+00 h: 8.81e-02 s: 7.43e-01 e: 1 it: 4.05e-06 tt: 2.36e-04 7: f: 1.943019e+00 d: 5.05e-01 g: 4.00e+00 h: 8.81e-02 s: 7.43e-01 e: 1 it: 9.54e-07 tt: 2.08e-04
8: f: 1.731469e+00 d: 2.12e-01 g: 7.36e+00 h: 1.71e-01 s: 4.60e-01 e: 2 it: 1.22e-05 tt: 2.52e-04 8: f: 1.731469e+00 d: 2.12e-01 g: 7.36e+00 h: 1.71e-01 s: 4.60e-01 e: 2 it: 2.15e-06 tt: 2.11e-04
9: f: 1.503267e+00 d: 2.28e-01 g: 6.47e+00 h: 8.66e-02 s: 1.00e+00 e: 1 it: 5.96e-06 tt: 2.66e-04 9: f: 1.503267e+00 d: 2.28e-01 g: 6.47e+00 h: 8.66e-02 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 2.14e-04
10: f: 1.228331e+00 d: 2.75e-01 g: 2.00e+00 h: 7.70e-02 s: 7.90e-01 e: 1 it: 4.05e-06 tt: 2.75e-04 10: f: 1.228331e+00 d: 2.75e-01 g: 2.00e+00 h: 7.70e-02 s: 7.90e-01 e: 1 it: 0.00e+00 tt: 2.16e-04
11: f: 1.016523e+00 d: 2.12e-01 g: 5.15e+00 h: 1.39e-01 s: 3.76e-01 e: 2 it: 9.06e-06 tt: 2.88e-04 11: f: 1.016523e+00 d: 2.12e-01 g: 5.15e+00 h: 1.39e-01 s: 3.76e-01 e: 2 it: 1.91e-06 tt: 2.25e-04
12: f: 9.145773e-01 d: 1.02e-01 g: 6.74e+00 h: 7.98e-02 s: 1.00e+00 e: 1 it: 5.01e-06 tt: 2.97e-04 12: f: 9.145773e-01 d: 1.02e-01 g: 6.74e+00 h: 7.98e-02 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 2.28e-04
13: f: 7.508302e-01 d: 1.64e-01 g: 3.88e+00 h: 5.76e-02 s: 4.93e-01 e: 1 it: 5.01e-06 tt: 3.05e-04 13: f: 7.508302e-01 d: 1.64e-01 g: 3.88e+00 h: 5.76e-02 s: 4.93e-01 e: 1 it: 9.54e-07 tt: 2.30e-04
14: f: 5.832378e-01 d: 1.68e-01 g: 5.56e+00 h: 1.42e-01 s: 1.00e+00 e: 1 it: 4.77e-06 tt: 3.13e-04 14: f: 5.832378e-01 d: 1.68e-01 g: 5.56e+00 h: 1.42e-01 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 2.33e-04
15: f: 3.969581e-01 d: 1.86e-01 g: 1.64e+00 h: 1.17e-01 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 3.20e-04 15: f: 3.969581e-01 d: 1.86e-01 g: 1.64e+00 h: 1.17e-01 s: 1.00e+00 e: 1 it: 1.19e-06 tt: 2.36e-04
16: f: 3.171557e-01 d: 7.98e-02 g: 3.84e+00 h: 1.18e-01 s: 3.97e-01 e: 2 it: 8.82e-06 tt: 3.33e-04 16: f: 3.171557e-01 d: 7.98e-02 g: 3.84e+00 h: 1.18e-01 s: 3.97e-01 e: 2 it: 1.91e-06 tt: 2.39e-04
17: f: 2.641257e-01 d: 5.30e-02 g: 3.27e+00 h: 6.14e-02 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 3.42e-04 17: f: 2.641257e-01 d: 5.30e-02 g: 3.27e+00 h: 6.14e-02 s: 1.00e+00 e: 1 it: 1.19e-06 tt: 2.42e-04
18: f: 1.909730e-01 d: 7.32e-02 g: 5.29e-01 h: 8.55e-02 s: 6.82e-01 e: 1 it: 1.00e-05 tt: 4.64e-04 18: f: 1.909730e-01 d: 7.32e-02 g: 5.29e-01 h: 8.55e-02 s: 6.82e-01 e: 1 it: 9.54e-07 tt: 2.45e-04
19: f: 1.472012e-01 d: 4.38e-02 g: 3.11e+00 h: 1.20e-01 s: 3.47e-01 e: 2 it: 1.29e-05 tt: 4.87e-04 19: f: 1.472012e-01 d: 4.38e-02 g: 3.11e+00 h: 1.20e-01 s: 3.47e-01 e: 2 it: 1.91e-06 tt: 2.49e-04
20: f: 1.093558e-01 d: 3.78e-02 g: 2.97e+00 h: 8.43e-02 s: 1.00e+00 e: 1 it: 5.01e-06 tt: 4.97e-04 20: f: 1.093558e-01 d: 3.78e-02 g: 2.97e+00 h: 8.43e-02 s: 1.00e+00 e: 1 it: 2.15e-06 tt: 2.52e-04
21: f: 6.710346e-02 d: 4.23e-02 g: 1.42e+00 h: 9.64e-02 s: 8.85e-01 e: 1 it: 4.05e-06 tt: 5.06e-04 21: f: 6.710346e-02 d: 4.23e-02 g: 1.42e+00 h: 9.64e-02 s: 8.85e-01 e: 1 it: 8.82e-06 tt: 2.81e-04
22: f: 3.993377e-02 d: 2.72e-02 g: 2.30e+00 h: 1.29e-01 s: 4.63e-01 e: 2 it: 1.00e-05 tt: 5.25e-04 22: f: 3.993377e-02 d: 2.72e-02 g: 2.30e+00 h: 1.29e-01 s: 4.63e-01 e: 2 it: 7.87e-06 tt: 2.96e-04
23: f: 2.911794e-02 d: 1.08e-02 g: 2.55e+00 h: 6.55e-02 s: 1.00e+00 e: 1 it: 5.01e-06 tt: 5.34e-04 23: f: 2.911794e-02 d: 1.08e-02 g: 2.55e+00 h: 6.55e-02 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.00e-04
24: f: 1.457683e-02 d: 1.45e-02 g: 2.77e-01 h: 6.37e-02 s: 6.14e-01 e: 1 it: 4.05e-06 tt: 5.42e-04 24: f: 1.457683e-02 d: 1.45e-02 g: 2.77e-01 h: 6.37e-02 s: 6.14e-01 e: 1 it: 1.19e-06 tt: 3.03e-04
25: f: 8.577515e-03 d: 6.00e-03 g: 2.86e+00 h: 1.40e-01 s: 1.00e+00 e: 1 it: 3.81e-06 tt: 5.49e-04 25: f: 8.577515e-03 d: 6.00e-03 g: 2.86e+00 h: 1.40e-01 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.06e-04
26: f: 3.486574e-03 d: 5.09e-03 g: 1.76e-01 h: 1.23e-02 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 5.57e-04 26: f: 3.486574e-03 d: 5.09e-03 g: 1.76e-01 h: 1.23e-02 s: 1.00e+00 e: 1 it: 1.19e-06 tt: 3.09e-04
27: f: 1.257570e-03 d: 2.23e-03 g: 1.39e-01 h: 5.08e-02 s: 1.00e+00 e: 1 it: 3.81e-06 tt: 5.65e-04 27: f: 1.257570e-03 d: 2.23e-03 g: 1.39e-01 h: 5.08e-02 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.12e-04
28: f: 2.783568e-04 d: 9.79e-04 g: 6.20e-01 h: 6.47e-02 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 5.73e-04 28: f: 2.783568e-04 d: 9.79e-04 g: 6.20e-01 h: 6.47e-02 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.15e-04
29: f: 2.533399e-05 d: 2.53e-04 g: 1.68e-02 h: 1.98e-03 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 5.81e-04 29: f: 2.533399e-05 d: 2.53e-04 g: 1.68e-02 h: 1.98e-03 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.17e-04
30: f: 7.591572e-07 d: 2.46e-05 g: 5.40e-03 h: 9.27e-03 s: 1.00e+00 e: 1 it: 5.96e-06 tt: 6.30e-04 30: f: 7.591572e-07 d: 2.46e-05 g: 5.40e-03 h: 9.27e-03 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.20e-04
31: f: 1.902460e-09 d: 7.57e-07 g: 1.62e-03 h: 1.89e-03 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 6.39e-04 31: f: 1.902460e-09 d: 7.57e-07 g: 1.62e-03 h: 1.89e-03 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.23e-04
32: f: 1.003030e-12 d: 1.90e-09 g: 3.50e-05 h: 3.52e-05 s: 1.00e+00 e: 1 it: 3.81e-06 tt: 6.47e-04 32: f: 1.003030e-12 d: 1.90e-09 g: 3.50e-05 h: 3.52e-05 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.26e-04
33: f: 4.835994e-17 d: 1.00e-12 g: 1.05e-07 h: 1.13e-06 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 6.59e-04 33: f: 4.835994e-17 d: 1.00e-12 g: 1.05e-07 h: 1.13e-06 s: 1.00e+00 e: 1 it: 1.19e-06 tt: 3.34e-04
34: f: 1.885250e-22 d: 4.84e-17 g: 2.69e-10 h: 1.45e-08 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 6.67e-04 34: f: 1.885250e-22 d: 4.84e-17 g: 2.69e-10 h: 1.45e-08 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.37e-04
Solver Summary (v 2.1.0-eigen-(3.4.0)-lapack-suitesparse-(5.10.1)-cxsparse-(3.2.0)-acceleratesparse-eigensparse-no_openmp) Solver Summary (v 2.2.0-eigen-(3.4.0)-lapack-suitesparse-(7.1.0)-metis-(5.1.0)-acceleratesparse-eigensparse)
Parameters 2 Parameters 2
Line search direction LBFGS (20) Line search direction LBFGS (20)
Line search type CUBIC WOLFE Line search type CUBIC WOLFE
Cost: Cost:
Initial 2.420000e+01 Initial 2.420000e+01
Final 1.955192e-27 Final 1.955192e-27
Change 2.420000e+01 Change 2.420000e+01
Minimizer iterations 36 Minimizer iterations 36
Time (in seconds): Time (in seconds):
Cost evaluation 0.000000 (0) Cost evaluation 0.000000 (0)
Gradient & cost evaluation 0.000005 (44) Gradient & cost evaluation 0.000000 (44)
Polynomial minimization 0.000041 Polynomial minimization 0.000061
Total 0.000368 Total 0.000438
Termination: CONVERGENCE (Parameter tolerance reached. Relative step_norm: 1.890726e-11 <= 1.000000e-08.) Termination: CONVERGENCE (Parameter tolerance reached. Relative step_norm: 1.890726e-11 <= 1.000000e-08.)
Initial x: -1.2 y: 1
Final x: 1 y: 1
Initial x: -1.2 y: 1
Final x: 1 y: 1
docs/source/installation.rst
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@@ -185,54 +185,54 @@ this.
.. code-block:: bash .. code-block:: bash
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.185660e+06 0.00e+00 1.09e+08 0.00e+00 0.00e+00 1.00e+04 0 7.59e-02 3.37e-01 0 4.185660e+06 0.00e+00 1.09e+08 0.00e+00 0.00e+00 1.00e+04 0 2.18e-02 6.57e-02
1 1.062590e+05 4.08e+06 8.99e+06 5.36e+02 9.82e-01 3.00e+04 1 1.65e-01 5.03e-01 1 1.062590e+05 4.08e+06 8.99e+06 0.00e+00 9.82e-01 3.00e+04 1 5.07e-02 1.16e-01
2 4.992817e+04 5.63e+04 8.32e+06 3.19e+02 6.52e-01 3.09e+04 1 1.45e-01 6.48e-01 2 4.992817e+04 5.63e+04 8.32e+06 3.19e+02 6.52e-01 3.09e+04 1 4.75e-02 1.64e-01
3 1.899774e+04 3.09e+04 1.60e+06 1.24e+02 9.77e-01 9.26e+04 1 1.43e-01 7.92e-01 3 1.899774e+04 3.09e+04 1.60e+06 1.24e+02 9.77e-01 9.26e+04 1 4.74e-02 2.11e-01
4 1.808729e+04 9.10e+02 3.97e+05 6.39e+01 9.51e-01 2.78e+05 1 1.45e-01 9.36e-01 4 1.808729e+04 9.10e+02 3.97e+05 6.39e+01 9.51e-01 2.78e+05 1 4.75e-02 2.59e-01
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 5 1.803399e+04 5.33e+01 1.48e+04 1.23e+01 9.99e-01 8.33e+05 1 4.74e-02 3.06e-01
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 6 1.803390e+04 9.02e-02 6.35e+01 8.00e-01 1.00e+00 2.50e+06 1 4.76e-02 3.54e-01
Solver Summary (v 2.2.0-eigen-(3.4.0)-lapack-suitesparse-(5.10.1)-acceleratesparse-eigensparse-no_openmp) Solver Summary (v 2.2.0-eigen-(3.4.0)-lapack-suitesparse-(7.1.0)-metis-(5.1.0)-acceleratesparse-eigensparse)
Original Reduced Original Reduced
Parameter blocks 22122 22122 Parameter blocks 22122 22122
Parameters 66462 66462 Parameters 66462 66462
Residual blocks 83718 83718 Residual blocks 83718 83718
Residuals 167436 167436 Residuals 167436 167436
Minimizer TRUST_REGION Minimizer TRUST_REGION
Dense linear algebra library EIGEN Dense linear algebra library EIGEN
Trust region strategy LEVENBERG_MARQUARDT Trust region strategy LEVENBERG_MARQUARDT
Given Used
Linear solver DENSE_SCHUR DENSE_SCHUR
Threads 1 1
Linear solver ordering AUTOMATIC 22106,16
Schur structure 2,3,9 2,3,9
Given Used Cost:
Linear solver DENSE_SCHUR DENSE_SCHUR Initial 4.185660e+06
Threads 1 1 Final 1.803390e+04
Linear solver ordering AUTOMATIC 22106,16 Change 4.167626e+06
Schur structure 2,3,9 2,3,9
Cost: Minimizer iterations 7
Initial 4.185660e+06 Successful steps 7
Final 1.803390e+04 Unsuccessful steps 0
Change 4.167626e+06
Minimizer iterations 7 Time (in seconds):
Successful steps 7 Preprocessor 0.043895
Unsuccessful steps 0
Time (in seconds): Residual only evaluation 0.029855 (7)
Preprocessor 0.121654 Jacobian & residual evaluation 0.120581 (7)
Linear solver 0.153665 (7)
Minimizer 0.339275
Residual only evaluation 0.065968 (7) Postprocessor 0.000540
Jacobian & residual evaluation 0.303356 (7) Total 0.383710
Linear solver 0.436650 (7)
Minimizer 0.890535
Postprocessor 0.001684 Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769759e-09 <= 1.000000e-06)
Total 1.013873
Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769756e-09 <= 1.000000e-06)
.. section-macos: .. section-macos:
docs/source/nnls_tutorial.rst
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@@ -379,62 +379,65 @@ gives us:
Initial x1 = 3, x2 = -1, x3 = 0, x4 = 1 Initial x1 = 3, x2 = -1, x3 = 0, x4 = 1
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.075000e+02 0.00e+00 1.55e+02 0.00e+00 0.00e+00 1.00e+04 0 4.95e-04 2.30e-03 0 1.075000e+02 0.00e+00 1.55e+02 0.00e+00 0.00e+00 1.00e+04 0 2.91e-05 3.40e-04
1 5.036190e+00 1.02e+02 2.00e+01 2.16e+00 9.53e-01 3.00e+04 1 4.39e-05 2.40e-03 1 5.036190e+00 1.02e+02 2.00e+01 0.00e+00 9.53e-01 3.00e+04 1 4.98e-05 3.99e-04
2 3.148168e-01 4.72e+00 2.50e+00 6.23e-01 9.37e-01 9.00e+04 1 9.06e-06 2.43e-03 2 3.148168e-01 4.72e+00 2.50e+00 6.23e-01 9.37e-01 9.00e+04 1 2.15e-06 4.06e-04
3 1.967760e-02 2.95e-01 3.13e-01 3.08e-01 9.37e-01 2.70e+05 1 8.11e-06 2.45e-03 3 1.967760e-02 2.95e-01 3.13e-01 3.08e-01 9.37e-01 2.70e+05 1 9.54e-07 4.10e-04
4 1.229900e-03 1.84e-02 3.91e-02 1.54e-01 9.37e-01 8.10e+05 1 6.91e-06 2.48e-03 4 1.229900e-03 1.84e-02 3.91e-02 1.54e-01 9.37e-01 8.10e+05 1 1.91e-06 4.14e-04
5 7.687123e-05 1.15e-03 4.89e-03 7.69e-02 9.37e-01 2.43e+06 1 7.87e-06 2.50e-03 5 7.687123e-05 1.15e-03 4.89e-03 7.69e-02 9.37e-01 2.43e+06 1 1.91e-06 4.18e-04
6 4.804625e-06 7.21e-05 6.11e-04 3.85e-02 9.37e-01 7.29e+06 1 5.96e-06 2.52e-03 6 4.804625e-06 7.21e-05 6.11e-04 3.85e-02 9.37e-01 7.29e+06 1 1.19e-06 4.21e-04
7 3.003028e-07 4.50e-06 7.64e-05 1.92e-02 9.37e-01 2.19e+07 1 5.96e-06 2.55e-03 7 3.003028e-07 4.50e-06 7.64e-05 1.92e-02 9.37e-01 2.19e+07 1 1.91e-06 4.25e-04
8 1.877006e-08 2.82e-07 9.54e-06 9.62e-03 9.37e-01 6.56e+07 1 5.96e-06 2.57e-03 8 1.877006e-08 2.82e-07 9.54e-06 9.62e-03 9.37e-01 6.56e+07 1 9.54e-07 4.28e-04
9 1.173223e-09 1.76e-08 1.19e-06 4.81e-03 9.37e-01 1.97e+08 1 7.87e-06 2.60e-03 9 1.173223e-09 1.76e-08 1.19e-06 4.81e-03 9.37e-01 1.97e+08 1 9.54e-07 4.32e-04
10 7.333425e-11 1.10e-09 1.49e-07 2.40e-03 9.37e-01 5.90e+08 1 6.20e-06 2.63e-03 10 7.333425e-11 1.10e-09 1.49e-07 2.40e-03 9.37e-01 5.90e+08 1 9.54e-07 4.35e-04
11 4.584044e-12 6.88e-11 1.86e-08 1.20e-03 9.37e-01 1.77e+09 1 6.91e-06 2.65e-03 11 4.584044e-12 6.88e-11 1.86e-08 1.20e-03 9.37e-01 1.77e+09 1 9.54e-07 4.38e-04
12 2.865573e-13 4.30e-12 2.33e-09 6.02e-04 9.37e-01 5.31e+09 1 5.96e-06 2.67e-03 12 2.865573e-13 4.30e-12 2.33e-09 6.02e-04 9.37e-01 5.31e+09 1 2.15e-06 4.42e-04
13 1.791438e-14 2.69e-13 2.91e-10 3.01e-04 9.37e-01 1.59e+10 1 7.15e-06 2.69e-03 13 1.791438e-14 2.69e-13 2.91e-10 3.01e-04 9.37e-01 1.59e+10 1 1.91e-06 4.45e-04
14 1.120029e-15 1.68e-14 3.64e-11 1.51e-04 9.37e-01 4.78e+10 1 2.15e-06 4.48e-04
Solver Summary (v 2.2.0-eigen-(3.4.0)-lapack-suitesparse-(7.1.0)-metis-(5.1.0)-acceleratesparse-eigensparse)
Ceres Solver v1.12.0 Solve Report
----------------------------------
Original Reduced Original Reduced
Parameter blocks 4 4 Parameter blocks 4 4
Parameters 4 4 Parameters 4 4
Residual blocks 4 4 Residual blocks 4 4
Residual 4 4 Residuals 4 4
Minimizer TRUST_REGION Minimizer TRUST_REGION
Dense linear algebra library EIGEN Dense linear algebra library EIGEN
Trust region strategy LEVENBERG_MARQUARDT Trust region strategy LEVENBERG_MARQUARDT
Given Used Given Used
Linear solver DENSE_QR DENSE_QR Linear solver DENSE_QR DENSE_QR
Threads 1 1 Threads 1 1
Linear solver threads 1 1 Linear solver ordering AUTOMATIC 4
Cost: Cost:
Initial 1.075000e+02 Initial 1.075000e+02
Final 1.791438e-14 Final 1.120029e-15
Change 1.075000e+02 Change 1.075000e+02
Minimizer iterations 14 Minimizer iterations 15
Successful steps 14 Successful steps 15
Unsuccessful steps 0 Unsuccessful steps 0
Time (in seconds): Time (in seconds):
Preprocessor 0.002 Preprocessor 0.000311
Residual evaluation 0.000 Residual only evaluation 0.000002 (14)
Jacobian evaluation 0.000 Jacobian & residual evaluation 0.000023 (15)
Linear solver 0.000 Linear solver 0.000043 (14)
Minimizer 0.001 Minimizer 0.000163
Postprocessor 0.000 Postprocessor 0.000012
Total 0.005 Total 0.000486
Termination: CONVERGENCE (Gradient tolerance reached. Gradient max norm: 3.642190e-11 <= 1.000000e-10) Termination: CONVERGENCE (Gradient tolerance reached. Gradient max norm: 3.642190e-11 <= 1.000000e-10)
Final x1 = 0.000292189, x2 = -2.92189e-05, x3 = 4.79511e-05, x4 = 4.79511e-05 Final x1 = 0.000146222, x2 = -1.46222e-05, x3 = 2.40957e-05, x4 = 2.40957e-05
It is easy to see that the optimal solution to this problem is at It is easy to see that the optimal solution to this problem is at
:math:`x_1=0, x_2=0, x_3=0, x_4=0` with an objective function value of :math:`x_1=0, x_2=0, x_3=0, x_4=0` with an objective function value of
@@ -864,23 +867,23 @@ directory contains a number of other examples:
measurement and the predicted measurement is: measurement and the predicted measurement is:
.. math:: r_{ab} = .. math:: r_{ab} =
\left[ \left[
\begin{array}{c} \begin{array}{c}
R_a^T\left(p_b - p_a\right) - \hat{p}_{ab} \\ R_a^T\left(p_b - p_a\right) - \hat{p}_{ab} \\
\mathrm{Normalize}\left(\psi_b - \psi_a - \hat{\psi}_{ab}\right) \mathrm{Normalize}\left(\psi_b - \psi_a - \hat{\psi}_{ab}\right)
\end{array} \end{array}
\right] \right]
where the function :math:`\mathrm{Normalize}()` normalizes the angle in the range where the function :math:`\mathrm{Normalize}()` normalizes the angle in the range
:math:`[-\pi,\pi)`, and :math:`R` is the rotation matrix given by :math:`[-\pi,\pi)`, and :math:`R` is the rotation matrix given by
.. math:: R_a = .. math:: R_a =
\left[ \left[
\begin{array}{cc} \begin{array}{cc}
\cos \psi_a & -\sin \psi_a \\ \cos \psi_a & -\sin \psi_a \\
\sin \psi_a & \cos \psi_a \\ \sin \psi_a & \cos \psi_a \\
\end{array} \end{array}
\right] \right]
To finish the cost function, we need to weight the residual by the To finish the cost function, we need to weight the residual by the
uncertainty of the measurement. Hence, we pre-multiply the residual by the uncertainty of the measurement. Hence, we pre-multiply the residual by the
docs/source/version_history.rst
+1
View File
@@ -50,6 +50,7 @@ Backward Incompatible API Changes
Bug Fixes & Minor Changes Bug Fixes & Minor Changes
------------------------- -------------------------
#. Optimize the computation of the LM diagonal in TinySolver
#. Improvements to multi-threaded performance for small problems that #. Improvements to multi-threaded performance for small problems that
had regressed due to changes to threading (Dmitrity Korchemkin) had regressed due to changes to threading (Dmitrity Korchemkin)
#. Fix handling of M_PI for MSVC (Sergiu Deitsch) #. Fix handling of M_PI for MSVC (Sergiu Deitsch)