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1d7185f1306747bf06d162ff8f531e2a8d4f30a1
ceres-solver/internal/ceres
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Sameer Agarwal 1d7185f130 Refactor SparseNormalCholeskySolver 
Now that there is a single piece of code doing the outer product
computation for all three sparse linear algebra backends, move
this code one level up the call stack and there by make the actual
per-library solver code shorter and simpler.

Also fix a minor omission in the outer product computation code
where row/column blocks were not being copied over to the
outer product matrix.

Change-Id: I22a7967bdc659385b741901afefa7af312e676e5
2017-04-27 01:45:05 -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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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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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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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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cgnr_linear_operator.h
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cgnr_solver.cc
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cgnr_solver.h
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CMakeLists.txt
Add InvertPSDMatrix.
2017-04-25 01:30:44 +00:00
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.
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compressed_row_jacobian_writer.h
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compressed_row_sparse_matrix_test.cc
Refactor SparseNormalCholeskySolver
2017-04-27 01:45:05 -07:00
compressed_row_sparse_matrix.cc
Refactor SparseNormalCholeskySolver
2017-04-27 01:45:05 -07:00
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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cost_function_to_functor_test.cc
Add DynamicCostFunctionToFunctor.
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covariance_impl.cc
Refactor Covariance::Options::algorithm_type.
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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.
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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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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
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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.
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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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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
Integrate InvertPSDMatrix into the SchurEliminator.
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implicit_schur_complement.cc
Revert 81219ff.
2015-04-07 14:13:25 -07:00
implicit_schur_complement.h
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integral_types.h
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invert_psd_matrix_test.cc
Add InvertPSDMatrix.
2017-04-25 01:30:44 +00:00
invert_psd_matrix.h
Add InvertPSDMatrix.
2017-04-25 01:30:44 +00:00
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
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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.
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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
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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.
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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
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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.
2017-02-12 12:04:30 -08:00
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.
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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
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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
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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
Integrate InvertPSDMatrix into the SchurEliminator.
2017-04-25 10:08:45 -07:00
schur_complement_solver.h
Update copyright headers with new year and URL
2015-03-18 05:43:23 +00:00
schur_eliminator_impl.h
Integrate InvertPSDMatrix into the SchurEliminator.
2017-04-25 10:08:45 -07:00
schur_eliminator_template.py
Changes from William Rucklidge
2017-02-27 11:09:08 -08:00
schur_eliminator_test.cc
Integrate InvertPSDMatrix into the SchurEliminator.
2017-04-25 10:08:45 -07:00
schur_eliminator.cc
Changes from William Rucklidge
2017-02-27 11:09:08 -08:00
schur_eliminator.h
Integrate InvertPSDMatrix into the SchurEliminator.
2017-04-25 10:08:45 -07:00
schur_jacobi_preconditioner.cc
Integrate InvertPSDMatrix into the SchurEliminator.
2017-04-25 10:08:45 -07:00
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
Refactor SparseNormalCholeskySolver
2017-04-27 01:45:05 -07:00
sparse_normal_cholesky_solver.h
Refactor SparseNormalCholeskySolver
2017-04-27 01:45:05 -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
Integrate InvertPSDMatrix into the SchurEliminator.
2017-04-25 10:08:45 -07:00
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