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Sameer Agarwal
125a0e9be5
Manifolds are now part of the public API and co-exist with LocalParameterizations. 1. Add Manifolds to the Problem API. a. AddParameterBlock(double*, int, Manifold*) b. SetParameterization(double*, Manifold*) b. GetManifold(const double*) c. HasManifold(const double*) 2. Internally Ceres now only uses Manifolds. When the user uses a LocalParameterization, it is wrapped in a ManifoldAdapter. 3. To preserve the API semantics while keeping the internals clean we need a new map in ProblemImpl which stores the association between parameter blocks and local parameterizations. This is temporary, it will go away once this transition is complete. 4. There are NO algorithmic changes, as in we are not using any of the expanded interface of the Manifold objects yet. That will come later. 5. All tests that use LocalParameterization have been duplicated to use Manifolds, and when this transition is complete the LocalParameterization based tests will be deleted. 6. Public documentation for the API has been updated. Deprecation notices to the documentation as well as C++ annotations will come later. 7. Similar changes have been made to GradientProblem. Change-Id: I8e03c8ced6e141876ef3eca5740c113afa788f0c
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.