1. Update AutoDiffCostFunction template parameters to be consistent
with NumericDiffCostFunction.
2. Update the documentation for NumericDiffCostFunction and
AutoDiffCostFunction.
Change-Id: I113038abb5bedebb0f6f326f2a4ac31480d785fc
When the Schur complement is of size zero,
i.e. none of the parameter blocks interact
with each other, the ITERATIVE_SCHUR linear
solver crashes due to some checks that are
triggered in the SCHUR_JACOBI preconditioner.
This patch adds logic to detect this condition
and to deal with it and adds tests that verify
the fix.
Thanks to Soohyun Bae for reporting this bug.
Change-Id: If29ddf32463cbb1960414fff0e29bbf0d2ee7989
1. Use CMake FindLAPACK and FindBLAS Modules.
2. Remove SEARCH_HEADERS and SEARCH_LIBS and replace them with
CMAKE variables. This leads to simplification of the FIND_LIBRARY
and FIND_PATH calls.
3. Make miniglog a fallback when glog is not present and the
user indicates MINIGLOG=OFF.
4. Add time.h to miniglog.
5. Remove shared library building.
Change-Id: I8a97156d3d7cf645fbbfe8e571761bc16c89f43f
1. When a LAPACK implementation is present, then
DENSE_QR, DENSE_NORMAL_CHOLESKY and DENSE_SCHUR
can use it for doing dense linear algebra operations.
2. The user can switch dense linear algebra libraries
by setting Solver::Options::dense_linear_algebra_library_type.
3. Solver::Options::sparse_linear_algebra_library is now
Solver::Options::sparse_linear_algebra_library_type to be consistent
with all the other enums in Solver::Options.
4. Updated documentation as well as Solver::Summary::FullReport
to reflect these changes.
Change-Id: I5ab930bc15e90906b648bc399b551e6bd5d6498f
OpenBLAS has subtle issues releated to threading. It
conflicts with the use of threads in the other parts of
the application.
Careful users can still use it by disabling threads via
an environment variable, but by default we want to use
a BLAS/LAPACK that does not suffer from these problems.
Change-Id: I8c1c0ed0b526453564c5f9ea69b646fac32fe027
lm_max_diagonal -> max_lm_diagonal
lm_min_diagonal -> min_lm_diagonal
linear_solver_max_num_iterations -> max_linear_solver_iterations
linear_solver_min_num_iterations -> min_linear_solver_iterations
This follows the pattern for the other parameters in Solver::Options
where, the max/min is the first word followed by the name of the
parameter.
Change-Id: I0893610fceb6b7983fdb458a65522ba7079596a7
Ordering of Problem::RemoveParameterBlock and Problem::RemoveResidualBlock
changed, as RemoveResidualBlock is being referred in RemoveParameterBlock
with "above".
Change-Id: I07f8e7b7e20ba239a72c15ed9e79576f5def090a
This support was broken due to the TrustRegionMinimizer refactoring.
It is now enabled again, with the responsibilty for dumping the
problem shifted to the individual TrustRegionStrategy.
There is however one wrinkle, which is perhaps an indication of
poor design to start with. The LinearLeastSquaresProblemProto
carries in it num_eliminate_blocks, something which does not
exist anymore. More importantly, the TrustRegionStrategy does not
have access to this quantity anymore.
Dealing with this will be the subject of a future change.
Change-Id: I358adf6a2e386f4940b617bf950d6c7e87d2635d
1. Multithread the inversion of J'J.
2. Simplify the dense rank truncation loop.
3. Minor correction to building documentation.
Change-Id: Ide932811c0f28dc6c253809339fb2caa083865b5
1. Further tightening of the Covariance documentation.
2. Documented minimizer progress output.
3. Lint cleanup from William Rucklidge.
4. Updated version history.
Change-Id: I8bc28484675d4edf89a7c050b6379dbac6c39e91
1. Bug fix in NumericDiffCostFunction (Thanks to Nicolas Brodu).
2. Minor documentation update in solver.h
3. Version history update.
4. Bump the version and ABI version.
Change-Id: I951574ddd0b2c4c03b9c79ff33eb9bea549071e7
* Doing 'make ceres_docs' can be used to create the documentation (if the BUILD_DOCUMENTATION=ON)
* Included the copyright boilerplate for FindSphinx.cmake
Change-Id: Iea21eba9e68384b4fe72c85fa88c76b0ba8a7a1d
Sameer Agarwal