mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Keir Mierle
69 lines
3.1 KiB
TeX
69 lines
3.1 KiB
TeX
%!TEX root = ceres-solver.tex
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\chapter{Version History}
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\section*{1.2.1}
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\subsection{New Features}
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\begin{itemize}
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\item Powell's Dogleg solver
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\item Documentation now has a brief overview of Trust Region methods and how the Levenberg-Marquardt and Dogleg methods work.
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\end{itemize}
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\subsection{Bug Fixes}
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\begin{itemize}
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\item Destructor for TrustRegionStrategy was not virtual (Thanks Markus Moll)
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\item Invalid DCHECK in suitesparse.cc (Thanks Markus Moll)
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\item Iteration callbacks were not properly invoked (Thanks to Luis Alberto Zarrabeiti for the report)
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\item Logging level changes in ConjugateGradientsSolver
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\item VisibilityBasedPreconditioner setup does not account for skipped camera pairs. This was debugging code.
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\item Enable SSE support on MacOS
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\item \texttt{system\_test} was taking too long and too much memory (Thanks Koichi Akabe)
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\end{itemize}
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\section*{1.2.0}
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\subsection{New Features}
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\begin{itemize}
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\item \texttt{CXSparse} support.
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\item Block oriented fill reducing orderings. This
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reduces the factorization time for sparse
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\texttt{CHOLMOD} significantly.
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\item New Trust region loop with support for multiple
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trust region step strategies. Currently only Levenberg-Marquardt is supported, but this refactoring opens the door for Dog-leg, Stiehaug and others.
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\item \texttt{Cmake} file restructuring. Builds in \texttt{Release} mode by default, and now has platform specific tuning flags.
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\item Re-organized documentation. No new content, but better organization.
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\end{itemize}
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\subsection{Bug Fixes}
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\begin{itemize}
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\item Fixed integer overflow bug in \texttt{block\_random\_access\_sparse\_matrix.cc}.
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\item Renamed some macros to prevent name conflicts.
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\item Fixed incorrent input to \texttt{StateUpdatingCallback}.
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\item Fixes to AutoDiff tests.
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\item Various internal cleanups.
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\end{itemize}
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\section*{1.1.1}
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\subsection{Bug Fixes}
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\begin{itemize}
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\item Fix a bug in the handling of constant blocks. Thanks to Louis Simard for reporting this.
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\item Add an optional lower bound to the Levenberg-Marquardt regularizer to prevent oscillating between well and ill posed linear problems.
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\item Some internal refactoring and test fixes.
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\end{itemize}
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\section{1.1.0}
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\subsection{New Features}
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\begin{itemize}
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\item New iterative linear solver for general sparse problems - \texttt{CGNR} and a block Jacobi preconditioner for it.
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\item Changed the semantics of how \texttt{SuiteSparse} dependencies are checked and used. Now \texttt{SuiteSparse} is built by default, only if all of its dependencies are present.
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\item Automatic differentiation now supports dynamic number of residuals.
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\item Support for writing the linear least squares problems to disk in text format so that they can loaded into \texttt{MATLAB}.
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\item Linear solver results are now checked for nan and infinities.
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\item Added \texttt{.gitignore} file.
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\item A better more robust build system.
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\end{itemize}
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\subsection{Bug Fixes}
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\begin{itemize}
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\item Fixed a strict weak ordering bug in the schur ordering.
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\item Grammar and typos in the documents and code comments.
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\item Fixed tests which depended on exact equality between floating point values.
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\end{itemize}
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\section*{1.0.0}
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Initial Release.
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