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synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
14d8297cf9
THIS IS AN API BREAKING CHANGE. Decouple the algorithm from the sparse linear algebra library being used to perform the computation. Before this change Covariance::AlgorithmType had values DENSE_SVD EIGEN_SPARSE_QR SUITE_SPARSE_QR This has been replaced by two enums now. Covariance::Options::sparse_linear_algebra_library_type which can take values EIGEN_SPARSE, SUITE_SPARSE or CX_SPARSE. The last one is currently not supported. And Covariance::Options::algorithm_type takes values DENSE_SVD SPARSE_QR This sets the stage for future extensions of the covariance computation algorithm. Also as part of this change, the covariance computation chapter has been made a top level chapter on its own instead of being buried deep inside the Solving Non-linear Least Squares problem. Change-Id: Ibfbf60902d8d17694d9ff585047a5a57d329ab22
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.
WARNING - Do not make GitHub pull requests!
Ceres development happens on Gerrit, including both repository hosting and code reviews. The GitHub Repository is a continuously updated mirror which is primarily meant for issue tracking. Please see our Contributing to Ceres Guide for more details.
The upstream Gerrit repository is
https://ceres-solver.googlesource.com/ceres-solver