Below fixes are required to compile Ceres as a dynamic library using
MSVC.
1. Added CERES_EXPORT to EigenQuaternionParameterization.
2. Removed CERES_EXPORT from CubicInterpolator and BicubicInterpolator.
EigenQuaternionParameterization has its source embedded in ceres.dll
whereas Cubic+BicubicInterpolators are defined in the header file and
therefore do not require __declspec(dllimport).
Change-Id: Idd1f387890c36aab51a1a4177ea7c06933b96f39
They were present as debugging checks but were causing problems
with the build on 32bit i386 due to numerical cancellation issues,
where x ~ -epsilon.
Removing these checks only changes the behaviour in Debug mode.
We are already handling such small negative numbers in production
if they occur. All that this change does is to remove the crash.
https://github.com/ceres-solver/ceres-solver/issues/212
Thanks to @NeroBurner and @debalance for reporting this.
Change-Id: I66480e86d4fa0a4b621204f2ff44cc3ff8d01c04
1. Push the boundary handling logic into the underlying array
object. This has two very significant impacts:
a. The interpolation code becomes extremely simple to write
and to test.
b. The user has more flexibility in implementing how out of bounds
values are handled. We provide one default implementation.
Change-Id: Ic2f6cf9257ce7110c62e492688e5a6c8be1e7df2
1. Add documentation for cubic_interpolation.h
2. Remove the list of publications. It is an incomplete list which is
a pain to maintain.
3. Add a note about the interaction between manifolds and
NumericDiffCostFunction.
4. Fix some of the comments in cubic_interpolation.h to better reflect reality.
5. Updated the version history.
Change-Id: I0b4a5a6f3361d3fc85f1b4aec685cd80540934f1
Since Ceres is moving to using GitHub for issues, and the Google
Code URL in the current copyright header will soon become invalid,
update all the headers.
Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
MSVC 2013 compiler crashed when not specifying the
template parameter of CubicHermiteSpline explicitly.
Change-Id: I6ab79aea47f55373df5cb7b89e38f8b326ff21c9
This has a measurable impact on interpolation performance.
Also remove an accidentally named enum with an anonymous enum.
Change-Id: Ied6a4b2b06bb27a7f004bd0e01353742e1f84034
The key change is that there is a new layer of abstract,
a Array object that the interpolator depends on.
The Array provides a one dimension or two dimensional
array like interface independent of the underlying representation
of the data.
Also included here is support for vector valued functions.
Change-Id: Ica68f03778cf0d84192db00cd55653f8b4124d51
Example code demonstrates how a sampled function can be
minimized. Also, in the process uncovered some deficiencies
in the CubicInterpolator and BicubicInterpolator interfaces and
fixed them.
Change-Id: I18c8f670fbee076bf1e94d1f45c7477fd71640e8
This bi-cubic interpolation implementation is based
on the cubic convolution algorithm of keys, which allows
us to implement a bi-cubic spline like interpolation scheme
using five one dimensional cubic spline operations.
Change-Id: I116aa8036191c3e654af788323fc8298ae8252a6
Add a cubic interpolator based on the Catmull-Rom spline,
with support for automatic differentiation.
Change-Id: I02ae4c4ea37805ff1f717b05ea805989b474bd59
Je Hyeong Hong