Sameer Agarwal ba73ce120c Improve the convergence performance of TinySolver ...

1. Default constructor and initialization for Summary.
2. Add Jacobi scaling.
3. Add bounds on the lm diagonal
4. Use the diagonal of J'J as the regularizer instead of identity.
5. Update the computation of rho to match the change in regularization.

As a result of these changes, the performance of TinySolver is
now the same as ceres::Solver, solving 53 out of 54 problems.

Change-Id: Ie08c3389ac2e3964ffa04411734c06b65835358a

2017-10-19 13:52:31 -07:00

..

ceres

Improve the convergence performance of TinySolver

2017-10-19 13:52:31 -07:00