diff options
Diffstat (limited to 'extern/ceres/ChangeLog')
| -rw-r--r-- | extern/ceres/ChangeLog | 659 |
1 files changed, 659 insertions, 0 deletions
diff --git a/extern/ceres/ChangeLog b/extern/ceres/ChangeLog new file mode 100644 index 00000000000..0e6c195174c --- /dev/null +++ b/extern/ceres/ChangeLog @@ -0,0 +1,659 @@ +commit aef9c9563b08d5f39eee1576af133a84749d1b48 +Author: Alessandro Gentilini <agentilini@gmail.com> +Date: Tue Oct 6 20:43:45 2015 +0200 + + Add test for Bessel functions. + + Change-Id: Ief5881e8027643d7ef627e60a88fdbad17f3d884 + +commit 49c86018e00f196c4aa9bd25daccb9919917efee +Author: Alessandro Gentilini <agentilini@gmail.com> +Date: Wed Sep 23 21:59:44 2015 +0200 + + Add Bessel functions in order to use them in residual code. + + See "How can I use the Bessel function in the residual function?" at + https://groups.google.com/d/msg/ceres-solver/Vh1gpqac8v0/NIK1EiWJCAAJ + + Change-Id: I3e80d9f9d1cadaf7177076e493ff46ace5233b76 + +commit dfb201220c034fde00a242d0533bef3f73b2907d +Author: Simon Rutishauser <simon.rutishauser@pix4d.com> +Date: Tue Oct 13 07:33:58 2015 +0200 + + Make miniglog threadsafe on non-windows system by using + localtime_r() instead of localtime() for time formatting + + Change-Id: Ib8006c685cd8ed4f374893bef56c4061ca2c9747 + +commit 41455566ac633e55f222bce7c4d2cb4cc33d5c72 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Mon Sep 28 22:43:42 2015 +0100 + + Remove link-time optimisation (LTO). + + - On GCC 4.9+ although GCC supports LTO, it requires use of the + non-default gcc-ar & gcc-ranlib. Whilst we can ensure Ceres is + compiled with these, doing so with GCC 4.9 causes multiple definition + linker errors of static ints inside Eigen when compiling the tests + and examples when they are not also built with LTO. + - On OS X (Xcode 6 & 7) after the latest update to gtest, if LTO + is used when compiling the tests (& examples), two tests fail + due to typeinfo::operator== (things are fine if only Ceres itself is + compiled with LTO). + - This patch disables LTO for all compilers. It should be revisited when + the performance is more stable across our supported compilers. + + Change-Id: I17b52957faefbdeff0aa40846dc9b342db1b02e3 + +commit 89c40005bfceadb4163bd16b7464b3c2ce740daf +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun Sep 27 13:37:26 2015 +0100 + + Only use LTO when compiling Ceres itself, not tests or examples. + + - If Ceres is built as a shared library, and LTO is enabled for Ceres + and the tests, then type_info::operator==() incorrectly returns false + in gtests' CheckedDowncastToActualType() in the following tests: + -- levenberg_marquardt_strategy_test. + -- gradient_checking_cost_function_test. + on at least Xcode 6 & 7 as reported here: + https://github.com/google/googletest/issues/595. + - This does not appear to be a gtest issue, but is perhaps an LLVM bug + or an RTTI shared library issue. Either way, disabling the use of + LTO when compiling the test application resolves the issue. + - Allow LTO to be enabled for GCC, if it is supported. + - Add CMake function to allow easy appending to target properties s/t + Ceres library-specific compile flags can be iteratively constructed. + + Change-Id: I923e6aae4f7cefa098cf32b2f8fc19389e7918c9 + +commit 0794f41cca440f7f65d9a44e671f66f6e498ef7c +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Sat Sep 26 14:10:15 2015 -0700 + + Documentation updates. + + 1. Fix a typo in the Trust Region algorithm. + 2. Add ARL in the list of users. + 3. Update the version history. + + Change-Id: Ic286e8ef1a71af07f3890b7592dd3aed9c5f87ce + +commit 90e32a8dc437dfb0e6747ce15a1f3193c13b7d5b +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Mon Sep 21 21:08:25 2015 +0100 + + Use old minimum iOS version flags on Xcode < 7.0. + + - The newer style, which are more specific and match the SDK names + are not available on Xcode < 7.0. + + Change-Id: I2f07a0365183d2781157cdb05fd49b30ae001ac5 + +commit 26cd5326a1fb99ae02c667eab9942e1308046984 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Mon Sep 21 10:16:01 2015 +0100 + + Add gtest-specific flags when building/using as a shared library. + + - Currently these flags are only used to define the relevant DLL export + prefix for Windows. + + Change-Id: I0c05207b512cb4a985390aefc779b91febdabb38 + +commit c4c79472112a49bc1340da0074af2d15b1c89749 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun Sep 20 18:26:59 2015 +0100 + + Clean up iOS.cmake to use xcrun/xcodebuild & libtool. + + - Substantial cleanup of iOS.cmake to use xcrun & xcodebuild to + determine the SDK & tool paths. + - Use libtool -static to link libraries instead of ar + ranlib, which + is not compatible with Xcode 7+, this change should be backwards + compatible to at least Xcode 6. + - Force locations of unordered_map & shared_ptr on iOS to work around + check_cxx_source_compiles() running in a forked CMake instance without + access to the variables (IOS_PLATFORM) defined by the user. + - Minor CMake style updates. + + Change-Id: I5f83a60607db34d461ebe85f9dce861f53d98277 + +commit 155765bbb358f1d19f072a4b54825faf1c059910 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Wed Sep 16 06:56:08 2015 -0700 + + Import the latest version of gtest and gmock. + + Change-Id: I4b686c44bba823cab1dae40efa99e31340d2b52a + +commit 0c4647b8f1496c97c6b9376d9c49ddc204aa08dd +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Wed Sep 16 20:01:11 2015 +0100 + + Remove FAQ about increasing inlining threshold for Clang. + + - Changing the inlining threshold for Clang as described has a minimal + effect on user performance. + - The problem that originally prompted the belief that it did was + due to an erroneous CXX flag configuration (in user code). + + Change-Id: I03017241c0f87b8dcefb8c984ec3b192afd97fc2 + +commit f4b768b69afcf282568f9ab3a3f0eb8078607468 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Mon Sep 14 13:53:24 2015 -0700 + + Lint changes from William Rucklidge + + Change-Id: I0dac2549a8fa2bfd12f745a8d8a0db623b7ec1ac + +commit 5f2f05c726443e35767d677daba6d25dbc2d7ff8 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Fri Sep 11 22:19:38 2015 -0700 + + Refactor system_test + + 1. Move common test infrastructure into test_util. + 2. system_test now only contains powells function. + 3. Add bundle_adjustment_test. + + Instead of a single function which computes everything, + there is now a test for each solver configuration which + uses the reference solution computed by the fixture. + + Change-Id: I16a9a9a83a845a7aaf28762bcecf1a8ff5aee805 + +commit 1936d47e213142b8bf29d3f548905116092b093d +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Tue Sep 8 23:27:42 2015 +0100 + + Revert increased inline threshold (iff Clang) to exported Ceres target. + + - Increasing the inline threshold results in very variable performance + improvements, and could potentially confuse users if they are trying + to set the inline threshold themselves. + - As such, we no longer export our inline threshold configuration for + Clang, but instead document how to change it in the FAQs. + + Change-Id: I88e2e0001e4586ba2718535845ed1e4b1a5b72bc + +commit a66d89dcda47cefda83758bfb9e7374bec4ce866 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Sat Sep 5 16:50:20 2015 -0700 + + Get ready for 1.11.0RC1 + + Update version numbers. + Drop CERES_VERSION_ABI macro. + + Change-Id: Ib3eadabb318afe206bb196a5221b195d26cbeaa0 + +commit 1ac3dd223c179fbadaed568ac532af4139c75d84 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Sat Sep 5 15:30:01 2015 -0700 + + Fix a bug in CompressedRowSparseMatrix::AppendRows + + The test for CompressedRowSparseMatrix::AppendRows tries to add + a matrix of size zero, which results in an invalid pointer deferencing + even though that pointer is never written to. + + Change-Id: I97dba37082bd5dad242ae1af0447a9178cd92027 + +commit 67622b080c8d37b5e932120a53d4ce76b80543e5 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Sat Sep 5 13:18:38 2015 -0700 + + Fix a pointer access bug in Ridders' algorithm. + + A pointer to an Eigen matrix was being used as an array. + + Change-Id: Ifaea14fa3416eda5953de49afb78dc5a6ea816eb + +commit 5742b7d0f14d2d170054623ccfee09ea214b8ed9 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Wed Aug 26 09:24:33 2015 -0700 + + Improve performance of SPARSE_NORMAL_CHOLESKY + dynamic_sparsity + + The outer product computation logic in SparseNormalCholeskySolver + does not work well with dynamic sparsity. The overhead of computing + the sparsity pattern of the normal equations is only amortized if + the sparsity is constant. If the sparsity can change from call to call + SparseNormalCholeskySolver will actually be more expensive. + + For Eigen and for CXSparse we now explicitly compute the normal + equations using their respective matrix-matrix product routines and solve. + Change-Id: Ifbd8ed78987cdf71640e66ed69500442526a23d4 + +commit d0b6cf657d6ef0dd739e958af9a5768f2eecfd35 +Author: Keir Mierle <mierle@gmail.com> +Date: Fri Sep 4 18:43:41 2015 -0700 + + Fix incorrect detect structure test + + Change-Id: I7062f3639147c40b57947790d3b18331a39a366b + +commit 0e8264cc47661651a11e2dd8570c210082963545 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sat Aug 22 16:23:05 2015 +0100 + + Add increased inline threshold (iff Clang) to exported Ceres target. + + - When compiled with Clang, Ceres and all of the examples are compiled + with an increased inlining-threshold, as the default value can result + in poor Eigen performance. + - Previously, client code using Ceres would typically not use an + increased inlining-threshold (unless the user has specifically added + it themselves). However, increasing the inlining threshold can result + in significant performance improvements in auto-diffed CostFunctions. + - This patch adds the inlining-threshold flags to the interface flags + for the Ceres CMake target s/t any client code using Ceres (via + CMake), and compiled with Clang, will now be compiled with the same + increased inlining threshold as used by Ceres itself. + + Change-Id: I31e8f1abfda140d22e85bb48aa57f028a68a415e + +commit a1b3fce9e0a4141b973f6b4dd9b08c4c13052d52 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Mon Aug 31 14:14:56 2015 +0100 + + Add optional export of Ceres build directory to new features list. + + Change-Id: I6f1e42b41957ae9cc98fd9dcd1969ef64c4cd96f + +commit e46777d8df068866ef80902401a03e29348d11ae +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Mon Aug 31 12:41:54 2015 +0100 + + Credit reporters of buildsystem bugs in version history. + + Change-Id: I16fe7973534cd556d97215e84268ae0b8ec4e11a + +commit 01548282cb620e5e3ac79a63a391cd0afd5433e4 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Sun Aug 30 22:29:27 2015 -0700 + + Update the version history. + + Change-Id: I29873bed31675e0108f1a44f53f7bc68976b7f98 + +commit 2701429f770fce69ed0c77523fa43d7bc20ac6dc +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Sun Aug 30 21:33:57 2015 -0700 + + Use Eigen::Dynamic instead of ceres::DYNAMIC in numeric_diff.h + + Change-Id: Iccb0284a8fb4c2160748dfae24bcd595f1d4cb5c + +commit 4f049db7c2a3ee8cf9910c6eac96be6a28a5999c +Author: Tal Ben-Nun <tbennun@gmail.com> +Date: Wed May 13 15:43:51 2015 +0300 + + Adaptive numeric differentiation using Ridders' method. + + This method numerically computes function derivatives in different + scales, extrapolating between intermediate results to conserve function + evaluations. Adaptive differentiation is essential to produce accurate + results for functions with noisy derivatives. + + Full changelist: + -Created a new type of NumericDiffMethod (RIDDERS). + -Implemented EvaluateRiddersJacobianColumn in NumericDiff. + -Created unit tests with f(x) = x^2 + [random noise] and + f(x) = exp(x). + + Change-Id: I2d6e924d7ff686650272f29a8c981351e6f72091 + +commit 070bba4b43b4b7449628bf456a10452fd2b34d28 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Tue Aug 25 13:37:33 2015 -0700 + + Lint fixes from William Rucklidge + + Change-Id: I719e8852859c970091df842e59c44e02e2c65827 + +commit 887a20ca7f02a1504e35f7cabbdfb2e0842a0b0b +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Wed Aug 12 21:41:43 2015 +0100 + + Build position independent code when compiling Ceres statically. + + - Previously, when Ceres was built as a static library we did not + compile position independent code. This means that the resulting + static library could not be linked against shared libraries, but + could be used by executables. + - To enable the use of a static Ceres library by other shared libraries + as reported in [1], the static library must be generated from + position independent code (except on Windows, where PIC does not + apply). + + [1] https://github.com/Itseez/opencv_contrib/pull/290#issuecomment-130389471 + + Change-Id: I99388f1784ece688f91b162d009578c5c97ddaf6 + +commit 860bba588b981a5718f6b73e7e840e5b8757fe65 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Tue Aug 25 09:43:21 2015 -0700 + + Fix a bug in DetectStructure + + The logic for determing static/dynamic f-block size in + DetectStructure was broken in a corner case, where the very first + row block which was used to initialize the f_block_size contained + more than one f blocks of varying sizes. The way the if block + was structured, no iteration was performed on the remaining + f-blocks and the loop failed to detect that the f-block size + was actually changing. + + If in the remaining row blocks, there were no row blocks + with varying f-block sizes, the function will erroneously + return a static f-block size. + + Thanks to Johannes Schonberger for providing a reproduction for this + rather tricky corner case. + + Change-Id: Ib442a041d8b7efd29f9653be6a11a69d0eccd1ec + +commit b0cbc0f0b0a22f01724b7b647a4a94db959cc4e4 +Author: Johannes Schönberger <hannesschoenberger@gmail.com> +Date: Thu Aug 20 14:21:30 2015 -0400 + + Reduce memory footprint of SubsetParameterization + + Change-Id: If113cb4696d5aef3e50eed01fba7a3d4143b7ec8 + +commit ad2a99777786101411a971e59576ca533a297013 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Sat Aug 22 11:18:45 2015 +0200 + + Fix for reoder program unit test when built without suitesparse + + This commit fixes failure of reorder_program_test when Ceres is built without + any suitesparse. + + Change-Id: Ia23ae8dfd20c482cb9cd1301f17edf9a34df3235 + +commit 4bf3868beca9c17615f72ec03730cddb3676acaa +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Sun Aug 9 15:24:45 2015 -0700 + + Fix a bug in the Schur eliminator + + The schur eliminator treats rows with e blocks and row with + no e blocks separately. The template specialization logic only + applies to the rows with e blocks. + + So, in cases where the rows with e-blocks have a fixed size f-block + but the rows without e-blocks have f-blocks of varying sizes, + DetectStructure will return a static f-block size, but we need to be + careful that we do not blindly use that static f-block size everywhere. + + This patch fixes a bug where such care was not being taken, where + it was assumed that the static f-block size could be assumed for all + f-block sizes. + + A new test is added, which triggers an exception in debug mode. In + release mode this error does not present itself, due to a peculiarity + of the way Eigen works. + + Thanks to Werner Trobin for reporting this bug. + + Change-Id: I8ae7aabf8eed8c3f9cf74b6c74d632ba44f82581 + +commit 1635ce726078f00264b89d7fb6e76fd1c2796e59 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Wed Aug 19 00:26:02 2015 -0700 + + Fix a bug in the reordering code. + + When the user provides an ordering which starts at a non-zero group id, + or has gaps in the groups, then CAMD, the algorithm used to reorder + the program can crash or return garbage results. + + The solution is to map the ordering into grouping constraints, and then + to re-number the groups to be contiguous using a call to + MapValuesToContiguousRange. This was already done for CAMD based + ordering for Schur type solvers, but was not done for SPARSE_NORMAL_CHOLESKY. + + Thanks to Bernhard Zeisl for not only reporting the bug but also + providing a reproduction. + + Change-Id: I5cfae222d701dfdb8e1bda7f0b4670a30417aa89 + +commit 4c3f8987e7f0c51fd367cf6d43d7eb879e79589f +Author: Simon Rutishauser <simon.rutishauser@pix4d.com> +Date: Thu Aug 13 11:10:44 2015 +0200 + + Add missing CERES_EXPORT to ComposedLoss + + Change-Id: Id7db388d41bf53e6e5704039040c9d2c6bf4c29c + +commit 1a740cc787b85b883a0703403a99fe49662acb79 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Tue Aug 11 18:08:05 2015 -0700 + + Add the option to use numeric differentiation to nist and more_garbow_hillstrom + + Change-Id: If0a5caef90b524dcf5e2567c5b681987f5459401 + +commit ea667ede5c038d6bf3d1c9ec3dbdc5072d1beec6 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun Aug 9 16:56:13 2015 +0100 + + Fix EIGENSPARSE option help s/t it displays in CMake ncurses GUI. + + - Shorten description for EIGENSPARSE to a single line, as otherwise + it is not correctly displayed in the ncurses CMake GUI. + - Made explicit in description that this results in an LGPL licensed + version of Ceres (this is also made clear in the CMake log output if + EIGENSPARSE is enabled). + + Change-Id: I11678a9cbc7a817133c22128da01055a3cb8a26d + +commit a14ec27fb28ab2e8d7f1c9d88e41101dc6c0aab5 +Author: Richard Stebbing <richie.stebbing@gmail.com> +Date: Fri Aug 7 08:42:03 2015 -0700 + + Fix SparseNormalCholeskySolver with dynamic sparsity. + + The previous implementation incorrectly cached the outer product matrix + pattern even when `dynamic_sparsity = true`. + + Change-Id: I1e58315a9b44f2f457d07c56b203ab2668bfb8a2 + +commit 3dd7fced44ff00197fa9fcb1f2081d12be728062 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun Aug 9 16:38:50 2015 +0100 + + Remove legacy dependency detection macros. + + - Before the new CMake buildsystem in 1.8, Ceres used non-standard + HINTS variables for dependencies. For backwards compatibility CMake + macros were added to translate these legacy variables into the new + (standard) variables. + - As it has now been multiple releases since the legacy variables + were used and they no longer appear in any of the documentation + support for them has now expired. + + Change-Id: I2cc72927ed711142ba7943df334ee008181f86a2 + +commit 8b32e258ccce1eed2a50bb002add16cad13aff1e +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun Aug 9 15:42:39 2015 +0100 + + Fix failed if() condition expansion if gflags is not found. + + - If a CMake-ified version of gflags is not detected, then + gflags_LIBRARIES is not set and the TARGET condition within a + multiconditional if() statement prevents configuration. + + Change-Id: Ia92e97523d7a1478ab36539726b9540d7cfee5d0 + +commit cc8d47aabb9d63ba4588ba7295058a6191c2df83 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun Aug 9 15:18:42 2015 +0100 + + Update all CMake to lowercase function name style. + + - Updated to new CMake style where function names are all lowercase, + this will be backwards compatible as CMake function names are + case insensitive. + - Updated using Emacs' M-x unscreamify-cmake-buffer. + + Change-Id: If7219816f560270e59212813aeb021353a64a0e2 + +commit 1f106904c1f47460c35ac03258d6506bb2d60838 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun Aug 9 14:55:02 2015 +0100 + + Update minimum iOS version to 7.0 for shared_ptr/unordered_map. + + - In order to correctly detect shared_ptr (& unordered_map) + the iOS version must be >= 7.0 (Xcode 5.0+). This only affects the + SIMULATOR(64) platform builds, as the OS (device) build uses the + latest SDK which is now likely 8.0+. + + Change-Id: Iefec8f03408b8cdc7a495f442ebba081f800adb0 + +commit 16ecd40523a408e7705c9fdb0e159cef2007b8ab +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sat Aug 8 17:32:31 2015 +0100 + + Fix bug in gflags' <= 2.1.2 exported CMake configuration. + + - gflags <= 2.1.2 has a bug in its exported gflags-config.cmake: + https://github.com/gflags/gflags/issues/110 whereby it sets + gflags_LIBRARIES to a non-existent 'gflags' target. + - This causes linker errors if gflags is installed in a non-standard + location (as otherwise CMake resolves gflags to -lgflags which + links if gflags is installed somewhere on the current path). + - We now check for this case, and search for the correct gflags imported + target and update gflags_LIBRARIES to reference it if found, otherwise + proceed on to the original manual search to try to find gflags. + + Change-Id: Iceccc3ee53c7c2010e41cc45255f966e7b13d526 + +commit 56be8de007dfd65ed5a31c795eb4a08ad765f411 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Thu Jun 25 21:31:00 2015 +0100 + + Add docs for new CXX11 option & mask option for Windows. + + - The CXX11 option has no effect on Windows, as there, any new C++11 + features are enabled by default, as such to avoid confusion we only + present the option for non-Windows. + + Change-Id: I38925ae3bb8c16682d404468ba95c611a519b9b9 + +commit cf863b6415ac4dbf3626e70adeac1ac0f3d87ee5 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Thu Aug 6 14:52:18 2015 -0700 + + Remove the spec file needed for generating RPMs. + + Now that ceres is part of RawHide, there is no need to carry + this spec file with the ceres distribution. + + Change-Id: Icc400b9874ba05ba05b353e2658f1de94c72299e + +commit 560940fa277a469c1ab34f1aa303ff1af9c3cacf +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Sat Jul 11 22:21:31 2015 -0700 + + A refactor of the cubic interpolation code + + 1. Push the boundary handling logic into the underlying array + object. This has two very significant impacts: + + a. The interpolation code becomes extremely simple to write + and to test. + + b. The user has more flexibility in implementing how out of bounds + values are handled. We provide one default implementation. + + Change-Id: Ic2f6cf9257ce7110c62e492688e5a6c8be1e7df2 + +commit dfdf19e111c2b0e6daeb6007728ec2f784106d49 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Wed Aug 5 15:20:57 2015 -0700 + + Lint cleanup from Jim Roseborough + + Change-Id: Id6845c85644d40e635ed196ca74fc51a387aade4 + +commit 7444f23ae245476a7ac8421cc2f88d6947fd3e5f +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Mon Aug 3 12:22:44 2015 -0700 + + Fix a typo in small_blas.h + + The reason this rather serious looking typo has not + caused any problems uptil now is because NUM_ROW_B is + computed but never actually used. + + Thanks to Werner Trobin for pointing this out. + + Change-Id: Id2b4d9326ec21baec8a85423e3270aefbafb611e + +commit 5a48b92123b30a437f031eb24b0deaadc8f60d26 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sat Jul 4 17:59:52 2015 +0100 + + Export Ceres build directory into local CMake package registry. + + - Optionally use CMake's export() functionality to export the Ceres + build directory as a package into the local CMake package registry. + - This enables the detection & use of Ceres from CMake *without* + requiring that Ceres be installed. + + Change-Id: Ib5a7588446f490e1b405878475b6b1dd13accd1f + +commit d9790e77894ea99d38137d359d6118315b2d1601 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Sun Jul 12 19:39:47 2015 -0700 + + Add ProductParameterization + + Often a parameter block is the Cartesian product of a number of + manifolds. For example, a rigid transformation SE(3) = SO(3) x R^3 + In such cases, where you have the local parameterization + of the individual manifolds available, + ProductParameterization can be used to construct a local + parameterization of the cartesian product. + + Change-Id: I4b5bcbd2407a38739c7725b129789db5c3d65a20 + +commit 7b4fb69dad49eaefb5d2d47ef0d76f48ad7fef73 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sun Jun 28 21:43:46 2015 +0100 + + Cleanup FindGflags & use installed gflags CMake config if present. + + - Split out gflags namespace detection methods: + check_cxx_source_compiles() & regex, into separate functions. + - Use installed/exported gflags CMake configuration (present for + versions >= 2.1) if available, unless user expresses a preference not + to, or specifies search directories, in which case fall back to manual + search for components. + -- Prefer installed gflags CMake configurations over exported gflags + build directories on all OSs. + - Remove custom version of check_cxx_source_compiles() that attempted + to force the build type of the test project. This only worked for + NMake on Windows, not MSVC as msbuild ignored our attempts to force + the build type. Now we always use the regex method on Windows if + we cannot find an installed gflags CMake configuration which works + even on MSVC by bypassing msbuild. + - Add default search paths for gflags on Windows. + + Change-Id: I083b267d97a7a5838a1314f3d41a61ae48d5a2d7 + +commit b3063c047906d4a44503dc0187fdcbbfcdda5f38 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Wed Jul 15 20:56:56 2015 +0100 + + Add default glog install location on Windows to search paths. + + Change-Id: I083d368be48986e6780c11460f5a07b2f3b6c900 |