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Sameer Agarwal
0040434507
Introduce IsSetConstantByUser method which indicates whether the user set the parameter block constant or not. Changed the definition of IsConstant() to indicate if the parameter block is effectively constant or not, which is now the uniion of two conditions - the user set it to be constant or the local tangent space is of size zero. Currently this change has no effect as we do not allow local parameterizations with zero tangent space size, but thats an inconsistency we are working on fixing. A variety of code cleans up to parameter_block.h 1. Remove an old TODO comment which is not really actionable. 2. Remove Init() method. 3. NULL -> nullptr 4. memcpy -> std::copy Change-Id: I12973ee0f053fa22f09908cf36e9aa57d9d8dd74
Ceres Solver
Ceres Solver is an open source C++ library for modeling and solving large, complicated optimization problems. It is a feature rich, mature and performant library which has been used in production at Google since 2010. Ceres Solver can solve two kinds of problems.
- Non-linear Least Squares problems with bounds constraints.
- General unconstrained optimization problems.
Please see ceres-solver.org for more information.