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14d8297cf968e421c5db4e3fb0543b3b111155d7
ceres-solver/internal/ceres
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Sameer Agarwal 14d8297cf9 Refactor Covariance::Options::algorithm_type. 
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This has been replaced by two enums now.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
2017-04-17 09:43:22 -07:00
..
generated
Fix missing ddd Schur specialization generation code
2017-02-27 11:53:22 -08:00
gmock
Use google::GLOG_WARNING instead of WARNING in tests to support MSVC.
2016-11-20 19:11:48 +00:00
gtest
Update gtest and gmock to a2b8a8e07628e5fd60644b6dd99c1b5e7d7f1f47
2016-11-20 10:57:24 -08:00
miniglog/glog
Make miniglog threadsafe on non-windows system by using
2015-10-15 09:44:53 +02:00
array_utils_test.cc
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2015-03-18 05:43:23 +00:00
array_utils.cc
Ensure that partial evaluation of residuals triggers an error
2017-01-16 10:00:36 -08:00
array_utils.h
Ensure that partial evaluation of residuals triggers an error
2017-01-16 10:00:36 -08:00
autodiff_cost_function_test.cc
Ensure that partial evaluation of residuals triggers an error
2017-01-16 10:00:36 -08:00
autodiff_local_parameterization_test.cc
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2015-03-18 05:43:23 +00:00
autodiff_test.cc
Fix a test error in autodiff_test.cc.
2016-10-18 21:49:26 +01:00
blas.cc
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2015-03-18 05:43:23 +00:00
blas.h
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block_evaluate_preparer.cc
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block_evaluate_preparer.h
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block_jacobi_preconditioner_test.cc
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block_jacobi_preconditioner.cc
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block_jacobi_preconditioner.h
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block_jacobian_writer.cc
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block_jacobian_writer.h
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block_random_access_dense_matrix_test.cc
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block_random_access_dense_matrix.cc
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block_random_access_dense_matrix.h
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2015-03-18 05:43:23 +00:00
block_random_access_diagonal_matrix_test.cc
Revert 81219ff.
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block_random_access_diagonal_matrix.cc
Revert 81219ff.
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block_random_access_diagonal_matrix.h
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block_random_access_matrix.cc
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block_random_access_matrix.h
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block_random_access_sparse_matrix_test.cc
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block_random_access_sparse_matrix.cc
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block_random_access_sparse_matrix.h
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block_sparse_matrix_test.cc
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block_sparse_matrix.cc
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block_sparse_matrix.h
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block_structure.cc
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block_structure.h
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2015-03-18 05:43:23 +00:00
bundle_adjustment_test.cc
Remove spurious conversion from doubles to Jets.
2017-02-10 11:36:58 -08:00
c_api_test.cc
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c_api.cc
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callbacks.cc
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callbacks.h
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canonical_views_clustering_test.cc
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canonical_views_clustering.cc
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canonical_views_clustering.h
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casts.h
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2015-03-18 05:43:23 +00:00
cgnr_linear_operator.h
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2015-03-18 05:43:23 +00:00
cgnr_solver.cc
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cgnr_solver.h
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2015-03-18 05:43:23 +00:00
CMakeLists.txt
Add DynamicSparseNormalCholeskySolver
2017-04-11 11:55:43 -07:00
collections_port.cc
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collections_port.h
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compressed_col_sparse_matrix_utils_test.cc
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compressed_col_sparse_matrix_utils.cc
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compressed_col_sparse_matrix_utils.h
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compressed_row_jacobian_writer.cc
Add missing <iterator> include.
2017-04-10 11:55:05 -07:00
compressed_row_jacobian_writer.h
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2015-03-18 05:43:23 +00:00
compressed_row_sparse_matrix_test.cc
Remove dead code from CompressedRowSparseMatrix.
2017-04-11 12:10:40 -07:00
compressed_row_sparse_matrix.cc
Delinting from William Rucklidge.
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compressed_row_sparse_matrix.h
Delinting from William Rucklidge.
2017-04-13 11:47:01 -07:00
conditioned_cost_function_test.cc
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conditioned_cost_function.cc
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conjugate_gradients_solver.cc
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conjugate_gradients_solver.h
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coordinate_descent_minimizer.cc
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coordinate_descent_minimizer.h
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corrector_test.cc
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corrector.cc
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corrector.h
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2015-03-18 05:43:23 +00:00
cost_function_to_functor_test.cc
Add DynamicCostFunctionToFunctor.
2015-06-18 16:01:15 -07:00
covariance_impl.cc
Refactor Covariance::Options::algorithm_type.
2017-04-17 09:43:22 -07:00
covariance_impl.h
Add covariance matrix for a vector of parameters
2016-01-04 20:26:40 +00:00
covariance_test.cc
Refactor Covariance::Options::algorithm_type.
2017-04-17 09:43:22 -07:00
covariance.cc
Add covariance matrix for a vector of parameters
2016-01-04 20:26:40 +00:00
cubic_interpolation_test.cc
A refactor of the cubic interpolation code
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cxsparse.cc
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cxsparse.h
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2015-03-18 05:43:23 +00:00
dense_jacobian_writer.h
Remove confusing code from DenseJacobianWriter
2015-04-09 21:05:22 -07:00
dense_normal_cholesky_solver.cc
Revert 81219ff.
2015-04-07 14:13:25 -07:00
dense_normal_cholesky_solver.h
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dense_qr_solver.cc
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dense_qr_solver.h
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dense_sparse_matrix_test.cc
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dense_sparse_matrix.cc
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dense_sparse_matrix.h
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2015-03-18 05:43:23 +00:00
detect_structure_test.cc
Fix incorrect detect structure test
2015-09-04 18:43:41 -07:00
detect_structure.cc
Fix a bug in DetectStructure
2015-08-25 11:14:10 -07:00
detect_structure.h
Fix a bug in the Schur eliminator
2015-08-20 23:34:26 -07:00
dogleg_strategy_test.cc
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dogleg_strategy.cc
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dogleg_strategy.h
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dynamic_autodiff_cost_function_test.cc
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dynamic_compressed_row_finalizer.h
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dynamic_compressed_row_jacobian_writer.cc
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dynamic_compressed_row_jacobian_writer.h
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dynamic_compressed_row_sparse_matrix_test.cc
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dynamic_compressed_row_sparse_matrix.cc
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dynamic_compressed_row_sparse_matrix.h
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dynamic_numeric_diff_cost_function_test.cc
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dynamic_sparse_normal_cholesky_solver.cc
Delinting from William Rucklidge.
2017-04-13 11:47:01 -07:00
dynamic_sparse_normal_cholesky_solver.h
Add DynamicSparseNormalCholeskySolver
2017-04-11 11:55:43 -07:00
evaluator_test_utils.cc
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evaluator_test_utils.h
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evaluator_test.cc
Occured -> Occurred.
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evaluator.cc
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evaluator.h
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execution_summary.h
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file.cc
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file.h
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2015-03-18 05:43:23 +00:00
generate_template_specializations.py
Fix missing ddd Schur specialization generation code
2017-02-27 11:53:22 -08:00
gmock_gtest_all.cc
Update gtest and gmock to a2b8a8e07628e5fd60644b6dd99c1b5e7d7f1f47
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gmock_main.cc
Update gtest and gmock to a2b8a8e07628e5fd60644b6dd99c1b5e7d7f1f47
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gradient_checker_test.cc
Fix an exact equality test causing breakage in gradient_checker_test.
2016-11-01 07:42:56 -07:00
gradient_checker.cc
Removing duplicate include directive.
2016-09-08 13:35:19 +00:00
gradient_checking_cost_function_test.cc
Use google::GLOG_WARNING instead of WARNING in tests to support MSVC.
2016-11-20 19:11:48 +00:00
gradient_checking_cost_function.cc
Gradient checker multithreading bugfix.
2016-08-31 20:25:44 +00:00
gradient_checking_cost_function.h
Occured -> Occurred.
2016-10-19 04:45:23 -07:00
gradient_problem_evaluator.h
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gradient_problem_solver_test.cc
Add a small test to make sure GradientProblemSolver works correctly.
2015-05-04 16:11:35 +02:00
gradient_problem_solver.cc
Add GradientProblemSolver::Options::parameter_tolerance.
2016-11-01 12:56:19 +00:00
gradient_problem_test.cc
Add simple unit tests for GradientProblem.
2015-05-04 09:21:33 +02:00
gradient_problem.cc
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2015-03-18 05:43:23 +00:00
graph_algorithms_test.cc
Fix typo. indepdendent -> independent
2016-11-13 21:10:45 +08:00
graph_algorithms.h
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graph_test.cc
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graph.h
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householder_vector_test.cc
Add Homogeneous vector parameterization.
2015-03-20 22:08:15 +00:00
householder_vector.h
Add Homogeneous vector parameterization.
2015-03-20 22:08:15 +00:00
implicit_schur_complement_test.cc
Revert 81219ff.
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implicit_schur_complement.cc
Revert 81219ff.
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implicit_schur_complement.h
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integral_types.h
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is_close_test.cc
Gradient checking cleanup and local parameterization bugfix
2016-08-18 06:18:43 +00:00
is_close.cc
Gradient checking cleanup and local parameterization bugfix
2016-08-18 06:18:43 +00:00
is_close.h
Gradient checking cleanup and local parameterization bugfix
2016-08-18 06:18:43 +00:00
iterative_schur_complement_solver_test.cc
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iterative_schur_complement_solver.cc
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iterative_schur_complement_solver.h
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jet_test.cc
Require Eigen >= 3.3 to define ScalarBinaryOpTraits in Jet.
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lapack.cc
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lapack.h
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levenberg_marquardt_strategy_test.cc
Fix ambiguous reference to WARNING when using miniglog.
2017-03-09 11:56:50 +00:00
levenberg_marquardt_strategy.cc
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levenberg_marquardt_strategy.h
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line_search_direction.cc
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line_search_direction.h
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line_search_minimizer_test.cc
Add a test for LineSearchMinimizer
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line_search_minimizer.cc
Fix when LineSearchMinimizer adds the IterationSummary to Solver::Summary
2017-03-19 00:38:01 -07:00
line_search_minimizer.h
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line_search_preprocessor_test.cc
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line_search_preprocessor.cc
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line_search_preprocessor.h
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line_search.cc
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line_search.h
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linear_least_squares_problems.cc
Fix a bug in the Schur eliminator
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linear_least_squares_problems.h
Fix a bug in the Schur eliminator
2015-08-20 23:34:26 -07:00
linear_operator.cc
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linear_operator.h
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linear_solver.cc
Add DynamicSparseNormalCholeskySolver
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linear_solver.h
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local_parameterization_test.cc
Relax the tolerance in QuaternionParameterizationTestHelper.
2016-10-20 00:16:18 +01:00
local_parameterization.cc
Allow SubsetParameterization to hold all parameters constant
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loss_function_test.cc
Allow the LossFunction contained in a LossFunctionWrapper to be NULL.
2015-05-19 17:13:57 +02:00
loss_function.cc
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low_rank_inverse_hessian.cc
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low_rank_inverse_hessian.h
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map_util.h
FindWithDefault returns by value rather than reference.
2016-09-01 16:05:06 -07:00
minimizer_test.cc
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minimizer.cc
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minimizer.h
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mutex.h
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normal_prior_test.cc
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normal_prior.cc
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numeric_diff_cost_function_test.cc
Ensure that partial evaluation of residuals triggers an error
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numeric_diff_test_utils.cc
Adaptive numeric differentiation using Ridders' method.
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numeric_diff_test_utils.h
Adaptive numeric differentiation using Ridders' method.
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ordered_groups_test.cc
Bug fix for reversing OrderedGroups.
2015-03-21 17:00:40 +00:00
parameter_block_ordering_test.cc
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parameter_block_ordering.cc
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parameter_block_ordering.h
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parameter_block_test.cc
Allow SubsetParameterization to hold all parameters constant
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parameter_block.h
Allow SubsetParameterization to hold all parameters constant
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partitioned_matrix_view_impl.h
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partitioned_matrix_view_template.py
Changes from William Rucklidge
2017-02-27 11:09:08 -08:00
partitioned_matrix_view_test.cc
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partitioned_matrix_view.cc
Changes from William Rucklidge
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partitioned_matrix_view.h
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2015-03-18 05:43:23 +00:00
polynomial_test.cc
Actually fix the rawhide tolerance bug.
2015-07-09 21:20:40 -07:00
polynomial.cc
A hacky fix for the Eigen::FullPivLU changes.
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polynomial.h
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preconditioner.cc
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preconditioner.h
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preprocessor.cc
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preprocessor.h
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problem_impl.cc
Add IsParameterBlockConstant to the ceres::Problem class.
2016-04-06 23:52:18 +02:00
problem_impl.h
Add IsParameterBlockConstant to the ceres::Problem class.
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problem_test.cc
Add IsParameterBlockConstant to the ceres::Problem class.
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problem.cc
Add IsParameterBlockConstant to the ceres::Problem class.
2016-04-06 23:52:18 +02:00
program_evaluator.h
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program_test.cc
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program.cc
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program.h
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random.h
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reorder_program_test.cc
Lint fixes from William Rucklidge
2015-08-25 13:37:33 -07:00
reorder_program.cc
Add additional logging for analyzing orderings
2016-08-02 10:12:04 -07:00
reorder_program.h
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residual_block_test.cc
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residual_block_utils_test.cc
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residual_block_utils.cc
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residual_block_utils.h
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residual_block.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
residual_block.h
Improve logging in CompressedRowJacobianWriter on crash
2015-12-17 11:51:50 -08:00
rotation_test.cc
Gradient checking cleanup and local parameterization bugfix
2016-08-18 06:18:43 +00:00
schur_complement_solver_test.cc
Fix a bug in the Schur eliminator
2015-08-20 23:34:26 -07:00
schur_complement_solver.cc
Add logging for sparse Cholesky factorization using Eigen
2015-12-17 20:22:48 +00:00
schur_complement_solver.h
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
schur_eliminator_impl.h
Fix a bug in the Schur eliminator
2015-08-20 23:34:26 -07:00
schur_eliminator_template.py
Changes from William Rucklidge
2017-02-27 11:09:08 -08:00
schur_eliminator_test.cc
Fix a bug in the Schur eliminator
2015-08-20 23:34:26 -07:00
schur_eliminator.cc
Changes from William Rucklidge
2017-02-27 11:09:08 -08:00
schur_eliminator.h
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
schur_jacobi_preconditioner.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
schur_jacobi_preconditioner.h
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
schur_templates.cc
Changes from William Rucklidge
2017-02-27 11:09:08 -08:00
schur_templates.h
Improvements to Schur template specializations
2017-02-23 14:52:59 -08:00
scratch_evaluate_preparer.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
scratch_evaluate_preparer.h
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
single_linkage_clustering_test.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
single_linkage_clustering.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
single_linkage_clustering.h
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
small_blas_test.cc
Increase tolerance in small_blas test for Cygwin.
2015-03-30 19:54:26 +01:00
small_blas.h
Fix a typo in small_blas.h
2015-08-03 12:24:25 -07:00
solver_test.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
solver_utils.cc
Make CERES_EIGEN_VERSION macro independent of CMake.
2015-04-05 23:35:04 -07:00
solver_utils.h
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
solver.cc
Two bug fixes.
2017-02-27 15:01:25 -08:00
sparse_matrix.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
sparse_matrix.h
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
sparse_normal_cholesky_solver.cc
Delinting from William Rucklidge.
2017-04-13 11:47:01 -07:00
sparse_normal_cholesky_solver.h
Improve performance of SPARSE_NORMAL_CHOLESKY + dynamic_sparsity
2015-09-05 14:31:52 -07:00
split.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
split.h
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
stl_util.h
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
stringprintf.cc
Fix use of va_copy() if compiling with explicit C++ version < C++11.
2016-01-21 19:30:58 +00:00
stringprintf.h
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
suitesparse.cc
Add a storage type to CompressedRowSparseMatrix
2017-04-11 11:47:42 -07:00
suitesparse.h
Add a storage type to CompressedRowSparseMatrix
2017-04-11 11:47:42 -07:00
symmetric_linear_solver_test.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
system_test.cc
Lint cleanup from William Rucklidge
2017-02-15 11:01:27 -08:00
test_util.cc
Update ExpectArraysClose to use ExpectClose instead of EXPECT_NEAR
2016-09-03 02:01:10 +00:00
test_util.h
Lint changes from William Rucklidge
2015-09-14 13:53:24 -07:00
triplet_sparse_matrix_test.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
triplet_sparse_matrix.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
triplet_sparse_matrix.h
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
trust_region_minimizer_test.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
trust_region_minimizer.cc
Fix step norm evaluation in LineSearchMinimizer
2016-04-19 00:08:06 +00:00
trust_region_minimizer.h
Add more documentation.
2016-03-06 21:13:42 -08:00
trust_region_preprocessor_test.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
trust_region_preprocessor.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
trust_region_preprocessor.h
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
trust_region_step_evaluator.cc
A complete refactoring of TrustRegionMinimizer.
2016-02-04 10:05:12 -08:00
trust_region_step_evaluator.h
Add more documentation.
2016-03-06 21:13:42 -08:00
trust_region_strategy.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
trust_region_strategy.h
A complete refactoring of TrustRegionMinimizer.
2016-02-04 10:05:12 -08:00
types.cc
Refactor Covariance::Options::algorithm_type.
2017-04-17 09:43:22 -07:00
unsymmetric_linear_solver_test.cc
Optimize J' * J in sparse_normal_cholesky_solver.
2017-04-10 09:50:34 -07:00
visibility_based_preconditioner_test.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
visibility_based_preconditioner.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
visibility_based_preconditioner.h
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
visibility_test.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
visibility.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
visibility.h
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
wall_time.cc
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
wall_time.h
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00