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Sameer Agarwal
2f946a582a
Refactor the core automatic and numeric differentiation internal helpers to utilize C++17 features for improved readability and maintainability: - Added IntegerSequenceTraits to provide a uniform compile-time interface for accessing head and tail of std::integer_sequence. - Eliminated recursive template meta-programming in autodiff.h, replacing it with fold expressions and std::index_sequence. - Simplified core helper functions like Make1stOrderPerturbation into unrolled loops. - Refactored EvaluateJacobianForParameterBlocks from a recursive struct to a recursive function template using if constexpr. - Updated NumericDiffCostFunction and NumericDiffFirstOrderFunction to use the modernized internal helper API. Change-Id: I934034f7434fc05a8855565b2b534d325f920584
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.