Solver::Options::numeric_derivative_relative_step_size to
Solver::Options::gradient_check_numeric_derivative_relative_step_size
Change-Id: Ib89ae3f87e588d4aba2a75361770d2cec26f07aa
Change the Ceres gradient checking API to make is useful for
unit testing, clean up code duplication and fix interaction between
gradient checking and local parameterizations.
There were two gradient checking implementations, one being used
when using the check_gradients flag in the Solver, the other
being a standalone class. The standalone version was restricted
to cost functions with fixed parameter sizes at compile time, which
is being lifted here. This enables it to be used inside the
GradientCheckingCostFunction as well.
In addition, this installs new hooks in the Solver to ensure
that Solve will fail if any incorrect gradients are detected. This
way, you can set the check_gradient flags to true and detect
errors in an automated way, instead of just printing error information
to the log. The error log is now also returned in the Solver summary
instead of being printed directly. The user can then decide what to
do with it. The existing hooks for user callbacks are used for
this purpose to keep the internal API changes minimal and non-invasive.
The last and biggest change is the way the the interaction between
local parameterizations and the gradient checker works. Before,
local parameterizations would be ignored by the checker. However,
if a cost function does not compute its Jacobian along the null
space of the local parameterization, this wil not have any effect
on the solver, but would result in a gradient checker error.
With this change, the Jacobians are multiplied by the Jacobians
of the respective local parameterization and thus being compared
in the tangent space only.
The typical use case for this are quaternion parameters, where
a cost function will typically assume that the quaternion is
always normalized, skipping the correct computation of the Jacobian
along the normal to save computation cost.
Change-Id: I5e1bb97b8a899436cea25101efe5011b0bb13282
Accumulate the number of steps of the line search algorithm
and report it as part of Summary::FullReport.
Change-Id: I1de12784009a3e08f2a2c2aff5085d57a3c73828
1. Add answers to a number of FAQs.
2. Add a note to the documentation for NumericDiffCostFunction that
NumericDiffOptions needs to be documented and mentioned.
3. Update the docs for Solver::Options::numeric_derivative_relative_step_size
to indicate that this setting only applies to the gradient checker.
4. Remove deprecated constructors from NumericDiffCostFunction and
DynamicNumericDiffCostFunction.
Change-Id: If8fc011b2a5996dbc2c51268aa477550ed014a1c
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
This CL is required to build Tango.
Inspired by this commit in RedwoodInternal repository:
commit 09dde53c248e04f432b5eccceea5daeedb706aea
Author: Mike Vitus <mike@hidof.com>
Date: Wed Apr 23 11:05:17 2014 -0700
Change-Id: I328b6634969de4ccdd71947945aa67a49ee9073f
- Previously we had no defined default value for
sparse_linear_algebra_library_type in Solver::Options if Ceres
was compiled with no sparse library available. Thus in that case,
the default value (dependent upon the compiler) would indicate that
one was available.
- Now we have an explicit option that means no sparse library is
available, which is now the default value in Solver::Options in this
case.
- Add a warning in CMake when the user disables all sparse libraries.
- Fix typos in trust_region_preprocessor_test:
(SUITE/CX)_SPARSE -> (SUITE/CX)SPARSE that induced failures when
no sparse libraries were available.
Change-Id: I869c399a12d42bfc44220cbb25ce6d6dd80236bd
1. Fix the release script to ignore the version.h checking.
2. Fix some ceres documentation formatting errors.
Change-Id: I3fd6b85e771b242f463d6a36c3efd8d691f9242f
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
Sameer Agarwal