The last item in the 'New Features' section restarts the enumeration
because the indention of the previous subitem is one space short.
Change-Id: Ifa2873d3e2ddd6bac5034b48207775019ef1c462
Skip the test in dynamic_sparsity_test when there are no sparse
linear algebra libraries available.
Also fix a minor typo in version_history.rst
Change-Id: Ie7cc14e655c58b6bd9625ce9f9025f94d0624d2d
Update the version history in preparation for 1.13.0RC1 and
also reformat older parts of the version history file.
Change-Id: I133e5966629e8277631ec5d407165ad188efa1e1
- On GCC 4.9+ although GCC supports LTO, it requires use of the
non-default gcc-ar & gcc-ranlib. Whilst we can ensure Ceres is
compiled with these, doing so with GCC 4.9 causes multiple definition
linker errors of static ints inside Eigen when compiling the tests
and examples when they are not also built with LTO.
- On OS X (Xcode 6 & 7) after the latest update to gtest, if LTO
is used when compiling the tests (& examples), two tests fail
due to typeinfo::operator== (things are fine if only Ceres itself is
compiled with LTO).
- This patch disables LTO for all compilers. It should be revisited when
the performance is more stable across our supported compilers.
Change-Id: I17b52957faefbdeff0aa40846dc9b342db1b02e3
- If Ceres is built as a shared library, and LTO is enabled for Ceres
and the tests, then type_info::operator==() incorrectly returns false
in gtests' CheckedDowncastToActualType() in the following tests:
-- levenberg_marquardt_strategy_test.
-- gradient_checking_cost_function_test.
on at least Xcode 6 & 7 as reported here:
https://github.com/google/googletest/issues/595.
- This does not appear to be a gtest issue, but is perhaps an LLVM bug
or an RTTI shared library issue. Either way, disabling the use of
LTO when compiling the test application resolves the issue.
- Allow LTO to be enabled for GCC, if it is supported.
- Add CMake function to allow easy appending to target properties s/t
Ceres library-specific compile flags can be iteratively constructed.
Change-Id: I923e6aae4f7cefa098cf32b2f8fc19389e7918c9
1. Fix a typo in the Trust Region algorithm.
2. Add ARL in the list of users.
3. Update the version history.
Change-Id: Ic286e8ef1a71af07f3890b7592dd3aed9c5f87ce
The test for CompressedRowSparseMatrix::AppendRows tries to add
a matrix of size zero, which results in an invalid pointer deferencing
even though that pointer is never written to.
Change-Id: I97dba37082bd5dad242ae1af0447a9178cd92027
The outer product computation logic in SparseNormalCholeskySolver
does not work well with dynamic sparsity. The overhead of computing
the sparsity pattern of the normal equations is only amortized if
the sparsity is constant. If the sparsity can change from call to call
SparseNormalCholeskySolver will actually be more expensive.
For Eigen and for CXSparse we now explicitly compute the normal
equations using their respective matrix-matrix product routines and solve.
Change-Id: Ifbd8ed78987cdf71640e66ed69500442526a23d4
Often a parameter block is the Cartesian product of a number of
manifolds. For example, a rigid transformation SE(3) = SO(3) x R^3
In such cases, where you have the local parameterization
of the individual manifolds available,
ProductParameterization can be used to construct a local
parameterization of the cartesian product.
Change-Id: I4b5bcbd2407a38739c7725b129789db5c3d65a20
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
Use Eigen's much more complicated conversion routine
when we encounter cases where the angle of rotation is
close to Pi.
Along the way also fix the way angle_axis vectors are
compared by making the matcher more robust.
Thanks to Tobias Strauss for reporting this.
Change-Id: Ia7e65dafad92c48d29d5f3cd22c4d6534789c183
1. Add information about homebrew/science to the docs.
2. Update version history.
3. Update RPM spec file.
Change-Id: I800b81f9f2c8733a8add338cc0a205b7b8bc8573
1. Complete restructuring of the documentation to account for
GradientProblemSolver.
2. Update the version history to account for changes since 1.9.0.
3. Add links and document the various examples that ship with ceres.
4. Documentation for GradientProblem GradientProblemSolver.
Change-Id: If3a18f2850cbc98be1bc34435e9ea468785b8b27
Its API was broken, and its implementation was an unnecessary
layer of abstraction over CostFunctionToFunctor.
Change-Id: I18fc261fc6a3620b51a9eeb4dde0af03d753af69
Replace SolverImpl with
a. A minimizer specific preprocessor class.
b. A generic Solve function inside solver.cc
c. Presummarize and Postsummarize functions to handle
updates to the summary object.
The existing SolverImpl class was a mixture of the above three
things and was increasingly complicated code to follow. This change,
breaks it into its three separate constituents, with the aims of
better separation of concerns and thus better testability and
reliability.
The call to Solver::Solve() now consists of
1. Presummarize - summarize the given state of the problem and solver
options.
2. Preprocess - Setup everything that is needed to call the minimizer.
This includes, removing redundant parameter and residual blocks,
setting up the reordering for the linear solver, creating the
linear solver, evaluator, inner iteration minimizer etc.
3. Minimize.
4. Post summarize - summarize the result of the preprocessing and the
solve.
Change-Id: I80f35cfc9f2cbf78f1df4aceace27075779d8a3a
Sparse Cholesky factorization is not rank revealing. Therefore
this algorithm cannot reliably tell when the Jacobian matrix is
rank deficient or so poorly conditioned that the covariance matrix
cannot be estimated.
Making things worse, this algorithm works on the normal equations,
which makes the conditioning problem much worse.
This change, deletes the SPARSE_CHOLESKY algorithm in the covariance
estimation code. Also to make the naming consistent, it renames
SPARSE_QR -> SUITE_SPARSE_QR
so that it parallels EIGEN_SPARSE_QR.
Also, since we now have EIGEN_SPARSE_QR, we can default to using
it when SuiteSparse is not available instead of DENSE_SVD, which
generally speaking should only be used by folks who are dealing
with small rank deficient jacobians.
Change-Id: I8b134c7e8a2e86ca374371f185b19f1c3e74349c
1. Update ceres-solver.spec with version bump
and a new package description.
2. Update the docs to refer to 1.9.0
3. Update version history.
4. Change build requirements for Android to be r9d.
Change-Id: Ibab27976b214a11549cb2688b91f791a6388b0b5
Sameer Agarwal