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Diffstat (limited to 'extern/libmv/third_party/ceres/ChangeLog')
| -rw-r--r-- | extern/libmv/third_party/ceres/ChangeLog | 937 |
1 files changed, 448 insertions, 489 deletions
diff --git a/extern/libmv/third_party/ceres/ChangeLog b/extern/libmv/third_party/ceres/ChangeLog index 9c6ec324a24..c9f5b3426bc 100644 --- a/extern/libmv/third_party/ceres/ChangeLog +++ b/extern/libmv/third_party/ceres/ChangeLog @@ -1,687 +1,646 @@ -commit 15bf0d5018dfe432ef67e726b248efcf3b58bc4f -Author: Sergey Sharybin <sergey.vfx@gmail.com> -Date: Mon Jan 13 20:38:28 2014 +0600 +commit 8c62487e437b91d3d354cd1ae8957e43fe540732 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Fri May 16 09:44:18 2014 -0700 - Code cleanup: fix no previous declaration warnings + Preparations for 1.9.0 release. - Move internally used functions to an anonymous namespace, + Version bump. + minor docs update. - Change-Id: I84c98facf901e64771d131b088e20e2c033cab70 + Change-Id: I2fbe20ba4af6b2e186fe244c96ce6d6464fe0469 -commit 80a53eebfd28bfc032cedbf7852d5c56eb1d5af5 +commit 0831275a78ab65e4c95979598cb35c54d03d3185 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Jan 9 12:40:54 2014 -0800 +Date: Fri May 16 08:17:54 2014 -0700 - Faster LBFGS. - - 1. Use column major storage for the various matrices used by - LowRankInverseHessian. Since all the operations are on columns. - - 2. Use a circular buffer to keep track of history of the LBFGS updates - so that an update does not require copying the entire history. This - makes the updates O(1) rather than O(rank). + Documentation update. - The implementation has been checked against the denoising code - where it gives numerically identical results. The overhead of the - LBFGS code is now near negligible as compared to the gradient evaluation. + 1. Update iOS build instructions. + 2. Update version history. - On a sample problem - - before 1050ms after: 630ms - - Change-Id: I537ba506ac35fc4960b304c10d923a8dea2ae031 + Change-Id: I49d62e86ecff39190b50c050cb12eef4e2773357 -commit f55780063620e7a3dcfe7e018d6488bf6a5b29da -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Wed Jan 8 10:43:31 2014 -0800 +commit c7c7458625996a20203f1366d11bd701e5fb621b +Author: Jack Feng <jackfengji@gmail.com> +Date: Mon May 12 10:23:56 2014 +0800 - Reduce logging verbosity. + add support for building for ios - When user specifies Solver::Options::logging_type = SILENT, - ensure that the minimizer does not log anything. + use ios-cmake to build for ios - Change-Id: I94e34dae504881ab36d4a66e6adb7a19a227363e + Change-Id: I6b17c33339f3121322a4004d79629b22a62f7a94 -commit 85561eee951c91e578984c6d3eecf0073acabb64 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Tue Jan 7 22:22:14 2014 -0800 +commit 36c2ce87d13b9b7123bd0473b8b45fb3b6ae4271 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Mon Jan 13 21:18:08 2014 +0600 - Use int32 for parameter block sizes. + Libmv 2D homography estimation example application + + Add an example application of homography matrix estimation + from a 2D euclidean correspondences which is done in two + steps: + + - Coarse algebraic estimation + - Fine refinement using Ceres minimizer - CostFunction now uses int32 instead of int16 - to store the size of its parameter blocks. + Nothing terribly exciting apart from an example of how to + use user callbacks. - This is an API breaking change. + User callback is used here to stop minimizer when average + of symmetric geometric distance becomes good enough. + This might be arguable whether it's the best way to go + (in some cases you would want to stop minimizer when + maximal symmetric distance is lower than a threshold) but + for a callback usage example it's good enough to stick + to current logic. - Change-Id: I032ea583bc7ea4b3009be25d23a3be143749c73e + Change-Id: I60c8559cb10b001a0eb64ab71920c08bd68455b8 -commit a7fda3317b1a97702750bea96ac3ef3d1a2afb49 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Mon Jan 6 10:25:42 2014 +0000 +commit d99a3a961e4a6ff7218d0ab749da57cf1a1677bd +Author: Björn Piltz <bjornpiltz@gmail.com> +Date: Wed May 7 14:59:12 2014 +0200 - Fix typos in error messages in line search config checks. + Separate PUBLIC and PRIVATE library dependencies + Do not propagate 3d party libs through + IMPORTED_LINK_INTERFACE_LIBRARIES_[DEBUG/RELEASE] mechanism + when building shared libraries. SuiteSparse, lapack & co + are considered private. Glog still gets propagated since + it is part of the public interface. See documentation of + TARGET_LINK_LIBRARIES(). - Change-Id: I3ae2ae58328e996598e3e32c12869d2b10109ef7 + Change-Id: If0563b0c705b102876f5190e9a86694d10f79283 -commit f695322eb8c5ff118f0d27f68d46d557338e5db1 +commit 1c089e8453583876f417b214f76a5863d7694986 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Sat Jan 4 14:28:23 2014 -0800 +Date: Tue May 13 16:58:25 2014 -0700 - Remove a compilation warning on windows. - - Only define NOMINMAX if it is not already defined. - - Thanks to Pierre Moulon for this fix. + Notational fix in modeling.rst by William Rucklidge. - Change-Id: Ia5dc0f5ff2afe10e4c7e97a57f54297d82052b21 + Change-Id: Iffa127541380fcc32da13fe4ac474692e1e3d0ec -commit b811041d78d80518db153ef3030bcbdbaf80df8d -Author: Sergey Sharybin <sergey.vfx@gmail.com> -Date: Thu Jan 2 15:19:17 2014 +0600 +commit 082d9e2a1b43b26a81157a6c711de0ff34c40ba4 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Mon May 12 20:41:27 2014 -0700 - Code cleanup: fix no previous declaration warnings + Add iOS.cmake from the ios-cmake project. - Moved some internally used functions into an anonymous namespace. + URL: https://github.com/cristeab/ios-cmake + Commit: 86dc085f0d5ed955cd58e2657cc3efc7c1aabbc8 - Change-Id: Ie82df61b0608abac79ccc9f7b14e7f7e04ab733d + Change-Id: I8fe6023d4cb6655b5a724e8b695fdae87ce3b685 -commit f14f6bf9b7d3fbd2cab939cf4ad615b317e93c83 +commit a97056c9752fe7223c8560da58862ecb1fd241ad Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Dec 26 09:50:45 2013 -0800 +Date: Tue May 13 16:45:36 2014 -0700 - Speed up SPARSE_NORMAL_CHOLESKY when using CX_SPARSE. - - When using sparse cholesky factorization to solve the linear - least squares problem: - - Ax = b - - There are two sources of computational complexity. - - 1. Computing H = A'A - 2. Computing the sparse Cholesky factorization of H. - - Doing 1. using CX_SPARSE is particularly expensive, as it uses - a generic cs_multiply function which computes the structure of - the matrix H everytime, reallocates memory and does not take - advantage of the fact that the matrix being computed is a symmetric - outer product. + Various documentation fixes from William Rucklidge. - This change adds a custom symmetric outer product algorithm for - CompressedRowSparseMatrix. - - It has a symbolic phase, where it computes the sparsity structure - of the output matrix and a "program" which allows the actual - multiplication routine to determine exactly which entry in the - values array each term in the product contributes to. - - With these two bits of information, the outer product H = A'A - can be computed extremely fast without any reasoning about - the structure of H. - - Further gains in efficiency are made by exploiting the block - structure of A. - - With this change, SPARSE_NORMAL_CHOLESKY with CX_SPARSE as the - backend results in > 300% speedup for some problems. + Change-Id: I102e98f41f4b5fe2a84d1224d5ed7517fdfdb022 + +commit 2f8fb218f0a08102231ace07ef02b34b4aad7336 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Tue May 13 20:57:39 2014 +0100 + + Adding function to update CMake cache variables and preserve help. - The symbolic analysis phase of the solver is a bit more expensive - now but the increased cost is made up in 3-4 iterations. + - Previously we were replicating the same two lines to update a cache + variable whilst preserving its help string. + - This commit adds a function which wraps up this common operation into + a single line. - Change-Id: I5e4a72b4d03ba41b378a2634330bc22b299c0f12 + Change-Id: Ic78a5adf5d59262bbbcec1e353ded7620391e862 -commit d79f886eb87cb064e19eb12c1ad3d45bbed92198 +commit 8f4dcb25f1be74a8c12c0f9eeb67b6b0755563f5 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Mon Dec 30 07:39:10 2013 -0800 +Date: Tue Apr 29 21:40:57 2014 -0700 - Refactor line search error checking code. + Documentation update. - Move the error checking code into its own function - so that it can be used in upcoming changes. + Update modeling.rst and solving.rst to reflect + changes to the API. - Change-Id: Icf348e5a8bbe8f8b663f04fb8cfc9a2149b12f22 + Change-Id: Id1a8adfed1486f08e5fd67c5af2d29708a26490c -commit 2b16b0080b6e673eaaf9ed478c9e971d9fcd65de -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Fri Dec 20 15:22:26 2013 -0800 +commit d48e7050225730f61eaef851def5b43bc439e991 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Sat May 10 08:58:58 2014 +0100 - CompressedRowSparseMatrix::AppendRows and DeleteRows bugfix. + Configure config.h and include it from the build directory. - CompressedRowSparseMatrix can store the row and column block structure - but the AppendRows and DeleteRows methods did not pay attention to them. - This meant that it was possible to get to a CompressedRowSparseMatrix - whose block structure did not match the contents of the matrix. + - Previously we overwrote the default (empty) config.h in the source + tree with a configured config.h, generated using the current compile + options. + - This was undesirable as it could lead to inadvertant commits of the + generated config.h. - This change fixes this problem. + - This patch moves the default config.h to <src>/config/ceres/internal, + separate from the other headers, thus if Ceres is compiled without + CMake this directory will now also have to be included. This + directory is _not_ added to the CMake include directories for Ceres + (thus the default config.h is never used when compiling with CMake). + - When using CMake, the generated config.h is now placed in + <build>/config/ceres/internal, which is in turn added to the include + directories for Ceres when it is compiled, and the resulting config.h + is copied to ceres/internal when installed. - Change-Id: I1b3c807fc03d8c049ee20511e2bc62806d211b81 + Change-Id: Ib1ba45e66e383ade2ebb08603af9165c1df616f2 -commit 27bb4a8589c47a65b5ea2c01872a903043d0ef74 +commit 11c496164ffe9809306945c2b81276efcd51533d Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Wed Dec 18 13:06:58 2013 -0800 +Date: Fri May 9 16:27:03 2014 -0700 - Handle empty problems consistently. - - Until now Ceres was inconsistent in the way it handled a solve - call on an "empty" Problem. If the problem did not contain - any residual or parameter blocks, it failed. However, if after - constructing the reduced program, the problem was found to not - contain any modifiable parameter blocks, it was considered a valid - problem which had a constant objective function value. + Fix 80cols violation in local_parameterization.h - When creating problems automatically, it is often the case that - an empty problem is a corner case. This change makes handling this - corner case consistent with the rest of Ceres logic. - - Change-Id: Ia9da09fbf5d5cd7eae6b39a92c1976b8645db9fe + Change-Id: I07f59baa9e4aba7c5ae028f0c144ea9ad153d49a -commit dcee120bac04911bf01d8365bddca87c74ce2af9 +commit af3154422b63b7792ecd23b00ca1a0c003764dae Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Sat Dec 7 21:48:56 2013 -0800 +Date: Fri May 9 05:45:03 2014 -0700 - Consolidate SolverTerminationType enum. + Add Alex Stewart as a maintainer. - 1. Rename SolverTerminationType to TerminationType. - 2. Consolidate the enum as - a. CONVERGENCE - subsumes FUNCTION_TOLERANCE, PARAMETER_TOLERANCE and GRADIENT_TOLERANCE - b. NO_CONVERGENCE - c. FAILURE - captures all kinds of failures including DID_NOT_RUN. - d. USER_SUCCESS - e. USER_FAILURE - 3. Solver::Summary::error is renamed to be Solver::Summary::message, to both - reduce confusion as well as capture its true meaning. + Update contributing.rst to mention Alex + as one of the people who can be added + as a reviewer. - Change-Id: I27a382e66e67f5a4750d0ee914d941f6b53c326d + Change-Id: I30ff3e635e8c419e11e8f20394aaea5f284a10d5 -commit d1cf320bb4f032cb14b20114a29ce2d867307492 -Author: Sergey Sharybin <sergey.vfx@gmail.com> -Date: Thu Nov 28 23:11:11 2013 +0600 +commit ea765850685f1ff0431da5212656378fc20d3673 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Wed May 7 20:46:17 2014 +0100 - Made collections port compatible with MSVC2008 + Adding autogenerated Ceres config.h to #define Ceres compile options. - The issue was caused by the fact that in this version - of MSVC unordered_map class is defined in <unordered_map> - header file, but this file declares the class int std::tr1 - namespace. + - Previously we passed all compile options to Ceres via add_definitions + in CMake. This was fine for private definitions (used only by Ceres) + but required additional work for public definitions to ensure they + were correctly propagated to clients via CMake using + target_compile_definitions() (>= 2.8.11) or add_definitions(). + - A drawback to these approaches is that they did not work for chained + dependencies on Ceres, as in if in the users project B <- A <- Ceres, + then although the required Ceres public compile definitions would + be used when compiling A, they would not be propagated to B. - This confused existing assumption that if there's an - existing <unordered_map> file then class is declared - in std namespace. + - This patch replaces the addition of compile definitions via + add_definitions() with an autogenerated config.h header which + is installed with Ceres and defines all of the enabled Ceres compile + options. + - This removes the need for the user to propagate any compile + definitions in their projects, and additionally allows post-install + inspect of the options with which Ceres was compiled. - Added an extra check to CMake which detects whether - it's std or std::tr1 which actually contains class - of unordered_map. - - Change-Id: Ic5cf41913895a6ce8e791cc7602d7cf5492c34de + Change-Id: Idbdb6abdad0eb31e7540370e301afe87a07f2260 -commit 324eccb5f6ce2a1a0061ec9f3c40778a029a2d97 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Tue Dec 3 09:28:14 2013 -0800 +commit cbf955474acf8f275b272da6ff5acd3a629cc806 +Author: Björn Piltz <bjornpiltz@gmail.com> +Date: Wed May 7 17:10:15 2014 +0200 - Restore the state of the Problem after a call to Evaluate. - - Calling Problem::Evaluate mutates the state of the parameter blocks. - In particular, depending on the set and order of parameter blocks - passed to the evaluate call, it will change the internal indexing - used by the Program object used by ProblemImpl. This needs to be - undone before Evaluate returns, otherwise the Problem object - is in an invalid state. + Fixes swapped verboselevel and condition. - To help with testing and debugging in the future, a new method - Program::IsValid has been added which checks whether the problem - has its parameter and residual blocks in the right state. + Change-Id: I296d86e6bbf415be4bfd19d6a0fe0963e3d36d74 + +commit 3209b045744ea31f38d74bd9e9c8f88e605e7f76 +Author: Björn Piltz <bjornpiltz@gmail.com> +Date: Wed May 7 17:02:27 2014 +0200 + + Fixed warning : 'va_copy' : macro redefinition + MSVC 2013 has got va_copy + Compare + http://msdn.microsoft.com/en-us/library/kb57fad8(v=vs.110).aspx + and + http://msdn.microsoft.com/en-us/library/kb57fad8.aspx. - Thanks to Stefan Leutenegger for reporting this. + Change-Id: If0937c76e8d250cde4b343844f3d35c980bf0921 + +commit 1df2f0f5d704f0cc458cf707e2602d495979e3c6 +Author: Björn Piltz <bjornpiltz@gmail.com> +Date: Wed May 7 11:10:30 2014 +0200 + + Removed MSVC warnings + These are warnings which show up when using Ceres. - Change-Id: I209b486a31433f0cbb58b570047649eca6d42b56 + Change-Id: Id1f382f46b8a60743f0b12535b5b3cdf46f988e0 -commit 3b1ad31a1fe89fe0bd78e1fffdf22d47d43faaf5 +commit eca7e1c635581834c858794e09c1e876323b7775 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Mon Dec 2 15:43:20 2013 -0800 +Date: Tue May 6 10:16:19 2014 -0700 - Fix build breakage on old versions of SuiteSparse. + Remove BlockRandomAccessCRSMatrix. + + It is not used anywhere. - Change-Id: I2a061615fc374abef2ed323c298359002a6fc5f1 + Change-Id: I2a8ebbdacf788582f21266825ead3f76646da29e -commit 5fd480692b0a0c87e2af2f5a8754042a14f5f089 +commit 7088a08f5d9e04e75a5a4c3823ef7927e13ff0e4 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Mon Dec 2 12:16:53 2013 -0800 +Date: Mon May 5 09:02:05 2014 -0700 - Add more documentation to the linear solver enums. + Fix some 80col violations and reflow the comments in cmake.in file. - Change-Id: Id57f76f73fa38043c0b6729972b1de8578ad7ede + Change-Id: I4c65c89b794845aeef69159a03350c727e2ee812 -commit d73acd035359886dfa1c5762b01c6f6449edcab8 +commit 95cce0834d5a2d72568e6d2be968a51c244c2787 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Mon Dec 2 12:02:03 2013 -0800 +Date: Mon May 5 08:54:50 2014 -0700 - Lint cleanup from William Rucklidge. + Remove some errant tabs. - Change-Id: I8abcfd369f41b895ce746a21a35f250fe05c39d1 + Change-Id: Ie1f7051e99bcb15ad068711b68a9d8f317b12ed7 -commit 3faac6a28cec4c99c41421d3f585f3786be443b3 +commit a536ae76dfa2dbe2bc487900b98cf6c15276c649 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Nov 28 07:13:26 2013 -0800 +Date: Sun May 4 21:18:42 2014 -0700 - More lint cleanups and breakage fixes. + Lazily initialize the bounds arrays in ParameterBlock. + + Problems that do not use bounds do not have to pay the + price of storing bounds constraints. - The previous CL was a premature submit due to lack of coffee. + Also replace the raw pointer access to the upper and + lower bounds arrays with accessors which hides the + lazy initialization from the user. - Change-Id: Id425d0ef332f569a954f0413e6b1ae6087f40f30 + Change-Id: I0325a35de9c29f853559f891e32e7c777686e537 -commit ed92366592a951041bd0367c24006101ef7b6286 +commit 633b50b7af9841607c07133f585e131fba7de177 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Nov 28 06:50:43 2013 -0800 +Date: Fri May 2 22:46:20 2014 -0700 - Lint cleanup from William Rucklidge. + Add the (2,4,8) template specialization. - Change-Id: I745810f5496a1b93263b20ff140f8883da61995e + Change-Id: I058bcebdd1725031d573404133b184d6f27dc005 -commit 34b6359f39884683f2bbf06c93040afd42ae135d -Author: Sergey Sharybin <sergey.vfx@gmail.com> -Date: Thu Nov 28 18:51:34 2013 +0600 +commit 5ffe06019a6c741ee7edc940ffeeceaaeabfa05d +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Thu May 1 12:06:46 2014 +0100 - Fix compilation error after recent enum rename in 33e01b9 + Export Ceres compile definitions to targets compiled against Ceres. - Change-Id: I920aa4754df6b013e86f0e77c61338d7a80e7f45 - -commit 33e01b9c5e1416fe29c55ac0332cdca21c053c83 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Wed Nov 27 10:24:03 2013 -0800 - - Rename LinearSolverTerminationType enums. + - Previously all Ceres compile definitions were private to Ceres, that + is they were not exported to users via the CMake export mechanism. + - Now that we use compile definitions in public (installed) Ceres + headers, we need to export the Ceres compile definitions. + - If we did not do this, then the client's code 'see's' a different + version of the Ceres headers to those which were in fact compiled, + or in the case of shared_ptr, may not find the required header. - This increases clarity, drops redundant enums and makes things - cleaner all around. + - This patch makes use of the new, in CMake 2.8.11, function: + target_compile_definitions() to export all of the Ceres compile + definitions using CMake's export functionality. + - For CMake versions < 2.8.11, we have to use the blunter instrument of + calling add_definitions() in CeresConfig.cmake (invoked by a call to + find_package(Ceres)). This is messy because it ends up adding the + Ceres compile definitions to any target declared in the user's code + after the call to find_package(Ceres). Although this should do no + harm as all of our defines are prefaced with CERES_, so any + unintentional name clashes are unlikely. - Change-Id: I761f195ddf17ea6bd8e4e55bf5a72863660c4c3b + Change-Id: I5dea80949190eaf4fb08ea4ac568ce28c32dd4e0 -commit 068437eb89d495d905465544ccd442efef457b04 +commit 0e811b0881f1f21df0ae04fd745ae4ba5189cac1 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Wed Nov 27 07:05:57 2013 -0800 +Date: Thu May 1 07:54:12 2014 -0700 - Pipe minimizer termination messages to Solver::Summary. + Fix a bug in Minimizer::RunCallbacks. - All minimizer termination messages are now available as - Solver::Summary::error. + Solver::Summary::message was not being updated when the solver + terminated because of a user's iteration callback indicating + success or failure. - This is part of the ongoing refactoring or + Thanks to Sergey Sharybin for reporting this. - Change-Id: I4514c3c042645bbd1471bcde9bd3dbf81d9ee8b0 + Change-Id: I27e6e5eed086920ddf765461b0159417ac79d7b3 -commit 89a592f410fb6f80c03dea84b6b9f1a10bea36c1 +commit 31b503792611d2119bb1acb3528fc8d58c5bd029 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Tue Nov 26 11:35:49 2013 -0800 +Date: Wed Apr 30 15:02:38 2014 -0700 - LinearSolver::Summary::status -> LinearSolver::Summary::message. - - And a bunch of minor lint cleanups as they showed up. + Lint cleanup from William Rucklidge. - Change-Id: I430a6b05710923c72daf6a5df4dfcd16fbf44b3a + Change-Id: If545f114c1a2b07edd660a3c71ecfc16ffa25e43 -commit b16e118b96c55451c0d8556f3c5b52ad36b69cac +commit 15c1210a8bdf3e936b4ef600d75f0fbb70878fb5 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Mon Nov 25 05:47:43 2013 -0800 +Date: Tue Apr 29 08:12:19 2014 -0700 - Better error checking and reporting for linear solvers. - - A lot of error checking cruft has accumulated over the years - in the various linear solvers. This change makes the error reporting - more robust and consistent across the various solvers. - - Preconditioners are not covered by this change and will be the - subject of a future change. + Lint cleanup from Jim Roseborough. - Change-Id: Ibeb2572a1e67758953dde8d12e3abc6d1df9052d + Change-Id: I53f4e0d020602443b397387b8c5908f25649403d -commit 5794d41be2d8d6a67dcdfe607e66050f0ac04c55 +commit b1668067f1c97520d5d28eecf2c11d2afc1b01b3 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Mon Nov 25 13:37:02 2013 -0800 +Date: Tue Apr 29 08:12:19 2014 -0700 - Remove overzealous checks in Summary::FullReport. + Variety of changes to documentation and example code. - Thanks to sebi.koch@gmail.com for reporting this. + 1. Update version history. + 2. Minor changes to the tutorial to reflect the bounds constrained + problem. + 3. Added static factory methods to the SnavelyReprojectionError. + 4. Removed relative gradient tolerance from types.h as it is + not true anymore. - Change-Id: I1ba9b375e5cf66639e292ba37b34a90446f13162 + Change-Id: I8de386e5278a008c84ef2d3290d2c4351417a9f1 -commit 40ef90304ac200bb948549e8e3748e487d27dc53 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Mon Nov 25 16:36:40 2013 +0000 +commit 658407dacc351a999206980fbb3265099e50e7a3 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Mon Apr 28 13:25:17 2014 -0700 - Adding VLOG output to line search. + Add missing template specializations to the NDK build. - - Previously line search was sparse in terms of debug orientated VLOG - output which made debugging failure cases difficult. + Change-Id: I42bb6c3bd47648050298472af80333aa900e79bf + +commit 5d7eed87b47871bc882af765188fa4fbca976855 +Author: Björn Piltz <bjornpiltz@gmail.com> +Date: Wed Apr 23 22:13:37 2014 +0200 + + Suppport for MSVC DLLs. - Change-Id: Idfabf74d2b3f7b8256f79dff8c6b7fcdc2fcf4d3 + Change-Id: Ibbcc4ba4e59f5bbf1cb91fe81c7d3b9042d03493 -commit 1284a5141426597f3ca1e29ae8548c9b4c43c9c1 +commit c830820a5c2be0d0cecb0822f2cff8b4ffe88f36 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Sun Nov 24 15:09:43 2013 -0800 +Date: Mon Apr 28 10:28:24 2014 -0700 - Use explicit formula to solve quadratic polynomials. - - polynomial.cc implements a companion matrix base method for solving - polynomials. This is both expensive and numerically sensitive. + Add missing files to Android.mk - This change adds a quadratic equation solver. Instead of using the - usual quadratic formula, it uses the formula suggested by BKP Horn - for improved numerical stability. - - Change-Id: I476933ce010d81db992f1c580d2fb23a4457eb3e + Change-Id: Ibdf577c592bcde0fe5c2ce343ed8e9028b82af8f -commit a9334d67d7973c0f56e65f12ae897dd53504ef0d -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Wed Nov 20 10:12:23 2013 -0800 +commit ceb7a3beaad140762b499f9a306fd7230715941a +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Mon Apr 28 13:50:09 2014 +0600 - Fix constant parameter handling in inner iterations. + Fix compilation error when using G++ compiler - There was a bug in the way RemoveFixedBlocksFromProgram was working. - It only removed the constant parameter blocks from the - linear_solver_ordering, it was not even aware of the - inner_iteration_ordering. + This compiler defines shared_ptr in std::tr1 namespace, but + for this <tr1/memory> is to be included. Further, this compiler + also does have <memory> header which confused previous shared + pointer check. - This change fixes this bug. The code for RemoveFixedBlocksFromProgram - is also cleaned up and made more readable and the test have been updated. + Simplified logic around defines now, so currently we've got: + - CERES_TR1_MEMORY_HEADER defined if <tr1/memory> is to be + used for shared_ptr, otherwise <memory> is to be used. + - CERES_TR1_SHARED_PTR defined if shared_ptr is defined in + std::tr1 namespace, otherwise it's defined in std namespace. - Thanks to Mikael Persson for reporting this. + All the shared_ptr checks are now moved to own file FindSharedPtr + which simplifies main CMakeLists. - Change-Id: I454fa89f9b6f4f6320b02d5235e6f322cc15ff51 + Change-Id: I558a74793baaa0bd088801910a356be4ef17c31b -commit 331ff090dcae7096cea50144047b71cab2d3e819 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Mon Nov 25 13:44:53 2013 +0000 +commit 02db9414fb6739857a37e268500083a0546cd0a3 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Mon Apr 28 08:32:51 2014 -0700 - Downgrading log status of BFGS secant condition messages. + Fix the documentation for RandNormal. - - These messages were originally VLOG(2) and were mistakenly upgraded to - WARNINGs when the tolerances were reduced. + As pointed out by Jim Roseborough, this is the Marsaglia Polar + method and not the Box-Muller method. - Change-Id: I89dee666a09bc82cfa89b793dc0907268662f95e + Change-Id: Id5332bcd4b4c23a3885cc296729b44eaa5edd0a8 -commit 9697a08a2bf29531671526b49df73bfbc0d7d237 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Sat Nov 23 10:03:37 2013 +0000 +commit 32530788d08c53f8d2c8a5f9bd61aa60a23d6e03 +Author: Richard Stebbing <richie.stebbing@gmail.com> +Date: Sat Apr 26 07:42:23 2014 +0100 - Defining CERES_FOUND in addition to Ceres_FOUND in CeresConfig. + Add dynamic_sparsity option. - - Previously we relied on FindPackage() to define Ceres_FOUND when - find_package(Ceres) was called. - - This is fine, but users might legitimately expect the variable to be - CERES_FOUND given the form of CERES_INCLUDE_DIRS/LIBRARIES. - - As there is an inconsistency in the CMake recommended names when - FindPackage() is called in Module vs Config form, we now explicltly - define both. + The standard sparse normal Cholesky solver assumes a fixed + sparsity pattern which is useful for a large number of problems + presented to Ceres. However, some problems are symbolically dense + but numerically sparse i.e. each residual is a function of a + large number of parameters but at any given state the residual + only depends on a sparse subset of them. For these class of + problems it is faster to re-analyse the sparsity pattern of the + jacobian at each iteration of the non-linear optimisation instead + of including all of the zero entries in the step computation. - Change-Id: I54bce9aa112b684d26b60a9ae4d11eb7925a6ee5 + The proposed solution adds the dynamic_sparsity option which can + be used with SPARSE_NORMAL_CHOLESKY. A + DynamicCompressedRowSparseMatrix type (which extends + CompressedRowSparseMatrix) has been introduced which allows + dynamic addition and removal of elements. A Finalize method is + provided which then consolidates the matrix so that it can be + used in place of a regular CompressedRowSparseMatrix. An + associated jacobian writer has also been provided. + + Changes that were required to make this extension were adding the + SetMaxNumNonZeros method to CompressedRowSparseMatrix and adding + a JacobianFinalizer template parameter to the ProgramEvaluator. + + Change-Id: Ia5a8a9523fdae8d5b027bc35e70b4611ec2a8d01 -commit 66e15b41d80b155f333f099a0278d50312cdaa15 +commit 2569076ff0bf8ffb3938da8b5df7edc4883aa053 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Fri Nov 22 07:59:23 2013 -0800 +Date: Fri Apr 25 23:54:48 2014 -0700 - Lint cleanup from Jim Roseborough. + More NDK fixes. + + Fix variable names in port.h and fix fpclassify when + using gnustl. This was tested by switching to gnustl + in the JNI build. - Change-Id: I6ddbf5c3d66595d27f7967a309768e5f5dd7e1fd + Thanks to Carlos Hernandez for suggesting the gnustl fixes. + + Change-Id: I690b73caf495ccc79061f45288e416da1604cc72 -commit 79bde35f29291cf464b59f3dc2dd9f1fa88776a9 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Nov 21 21:33:51 2013 -0800 - - SuiteSparse errors do not cause a fatal crash. - - 1. Move LinearSolverTerminationType to ceres::internal. - 2. Add FATAL_ERROR as a new enum to LinearSolverTerminationType. - 3. Pipe SuiteSparse errors via a LinearSolverTerminationType so - to distinguish between fatal and non-fatal errors. - 4. Update levenberg marquardt and dogleg strategies to deal - with FATAL_ERROR. - 5. Update trust_region_minimizer to terminate when FATAL_ERROR - is encountered. - 6. Remove SuiteSparse::SolveCholesky as it screws up the error - handling. - 7. Fix all clients calling SuiteSparse to handle the result of - SuiteSparse::Cholesky correctly. - 8. Remove fatal failures in SuiteSparse when symbolic factorization - fails. - 9. Fix all clients of SuiteSparse to deal with null symbolic factors. - - This is a temporary fix to deal with some production problems. A more - extensive cleanup and testing regime will be put in place in a - subsequent CL. - - Change-Id: I1f60d539799dd95db7ecc340911e261fa4824f92 - -commit a674e0f8534ea6948f70a72fe9718e07b3d039ff +commit e55596f8860a09b12b5e1f949237f15357c1ac59 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Nov 21 22:12:15 2013 -0800 +Date: Fri Apr 25 16:17:19 2014 -0700 - Fix corrector_test.cc. + Change the defaults for shared_ptr. - Fix two death tests dealing with the sign of the gradient. + By default shared_ptr is now assumed to be + in the standard <memory> header and in the + std namespace. - Change-Id: Ic91d54a64cc509307c94fce6d1fca083078936e2 - -commit a8006af3110e98d64fb369e958fc00ec88d771a3 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Wed Nov 20 19:56:06 2013 +0000 - - Adding threads libraries to exported dependencies if using OpenMP. + Previously the way the ifdefs were structured if the appropriate + variable was not defined, it would default to <t1/memory>. - - Previously we were only adding the flags to the link flags for the - Ceres project, which resulted in them not being exported. Thus - projects importing Ceres (if using OpenMP) would have to manually - specify them in addition to CERES_LIBRARIES. + The new defaults are more future proof. - Change-Id: If0354cc07e84dbebfc870a8862e1a8ca64659791 + Change-Id: If457806191196be2b6425b8289ea7a3488a27445 -commit 6c0d96424e2c27326757936a3738f9efc37c6c24 +commit bb05be341b8436f611e4b69954a529edcca5b577 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Wed Nov 20 11:52:01 2013 -0800 +Date: Sun Apr 13 14:22:19 2014 -0700 - Minor documentation fix. + Solver::Options uses shared_ptr to handle ownership. - Thanks to Satya Mallick. + Solver::Options::linear_solver_ordering and + Solver::Options::inner_iteration_ordering + were bare pointers even though Solver::Options took ownership of these + objects. - Change-Id: I556f1c141bf16739d54450351b0f29fd4ea40014 - -commit 7747bb0e6b0e54366933ed75c1bcafe6a1109c3d -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Wed Nov 20 11:29:22 2013 -0800 - - Minor corrections to the documentation. + This lead to buggy user code and the inability to copy Solver::Options + objects around. + + With this change, these naked pointers have been replaced by a + shared_ptr object which will managed the lifetime of these objects. This + also leads to simplification of the lifetime handling of these objects + inside the solver. - Thanks to Satya Mallick for reporting these. + The Android.mk and Application.mk files have also been updated + to use a newer NDK revision which ships with LLVM's libc++. - Change-Id: Ia52e08a7e21d5247dc475cfbf10bf57265aa118f + Change-Id: I25161fb3ddf737be0b3e5dfd8e7a0039b22548cd -commit 3fca2c4b2fae9abcaa9611f2bd3885ce6b11963b -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Mon Nov 18 10:26:49 2013 +0000 +commit 8e0991381ea3a2baddea017cd07b333f0c5de595 +Author: Joydeep Biswas <joydeep.biswas@gmail.com> +Date: Tue Apr 22 10:40:47 2014 -0400 - Decreasing update threshold for BFGS as per L-BFGS. + Added a simplified robotics example for DynamicAutoDiffCostFunction. - - Improves performance of BFGS on NIST, as per L-BFGS. - - Adding explanation of origin and purpose of Secant condition - tolerance check for Hessian update in (L)BFGS. + Change-Id: I9520e0a9a8d9743285c5114523fbafa6ffa5b0bd + +commit cc9d3bba1008066e51502cabd956985c6bdedfe8 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Fri Apr 18 22:58:09 2014 -0700 + + Remove a comment from conf.py - Change-Id: If57b9957d31d8629c772c19a069e1e56e727b350 + Change-Id: I675f7e8fc5dd2143eab74901bc7241e02e37285f -commit 54fcbf893852272ba2158d6a56572a2eb3ccc41f +commit c4cd29dd7c80ade5b3ac7a1f6ee7df22c8869ab5 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Tue Nov 19 10:12:05 2013 -0800 +Date: Wed Apr 16 23:40:12 2014 -0700 - Relax the requirements on loss functiond derivatives. + Merge landing page with introduction. - We now require that the first derivative of the loss function - be positive only if the second derivative is non-zero. This is - because when the second derivative is non-positive, we do not use - the second order correction suggested by BANS and instead use - a simpler first order strategy which does not use a division by - the gradient of the loss function. + The existing introduction was a bit redundant and also + was not really an introduction. Also updated the build + instructions to reflect the new reality on Mac OSX. - Change-Id: I3d65713f152611998e196ff389a7081acfdfd8c1 + Also updated the beginning of the tutorial to be a bit + gentler and updated the history to be more consistent + + Change-Id: Ife38c1949252cf9f4c6301856957f2d38365f313 -commit db98425b94c9eff9b125bf4a854545162e8c1aec +commit 46ccfb376ac52ac159f9187e0f7384ef68c1cbdd Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Fri Nov 15 14:14:09 2013 -0800 +Date: Sat Apr 12 21:56:51 2014 -0700 - Small bugfix to logging.h from Scott Ettinger. + Cleanup block_structure.h/cc + + 1. Remove obsolete Proto conversion functions. + 2. Fix a strict weak ordering bug. - Change-Id: Ie6d51e7883adf36c6fc7a78ff95afab6a78e488b + Change-Id: I1ce6d4b06e29cf475df1d5bd37c79f66f20f8d93 -commit 4d0e626b55f36ab8f44a4acc8157b85cfecd4673 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Fri Nov 15 13:53:44 2013 +0000 +commit 7d489fdb073937ac05c0693c1902fbcb9eeb7dfc +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Mon Apr 7 11:14:51 2014 -0700 - Fixing gflags HINTS variable names (adding missing “_DIR”). + Refactor the landing page to be a bit more compact. - - The HINTS variables for gflags were incorrectly used as - GFLAGS_[INCLUDE/LIBRARY]_HINTS when they should have been - GFLAGS_[INCLUDE/LIBRARY]_DIR_HINTS as per the docs. - - Also removing a completed TODO in the main CMakeLists. - - Updating method of extracting current directory in CeresConfig.cmake - to avoid use of CMAKE_CURRENT_LIST_DIR, which was not present in - CMake =< v2.8.3. + Also minor changes to the introduction. - Change-Id: I42ae696e3b785febe48688d912f0f343e8947cb0 + Change-Id: Iaa71f576b95c869f075d6837dbb60ba4bb608ee7 -commit bf4c1b76e4926c738fc805e9ff4be0ed584d9eee -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Thu Nov 14 21:27:20 2013 +0000 +commit 406ac7816730c15425db20d994ac0d60d932ab6c +Author: Keir Mierle <mierle@gmail.com> +Date: Mon Apr 7 08:36:07 2014 +0000 - Decreasing threshold at which L-BFGS Hessian is updated. + Rework Ceres documentation as new website - - Decreasing threshold at which L-BFGS Hessian is updated from 1e-10 - to 1e-14 results in a very significant improvement in NIST scores - (43 -> 53 for CUBIC). - - Adding comment in FindPolynomialRoots() explaining why behaviour - is correct. + This reworks the Ceres Sphinx documentation such that it can + function as the main Ceres website, now hosted at + ceres-solver.org. This also changes to the theme sphinx_rtd_theme + used by Read The Docs; this theme has strong mobile support and is + well enough designed. - Change-Id: If668e087e7a86d29659aa74e8528b192b604c841 + Change-Id: I63232d985859a6dac94ff58f08bf81eb2b9e7f99 -commit 7124c3474cd201134c3a3350b46aca468f1edafa -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Thu Nov 7 16:10:02 2013 +0000 - - Fixes for some line search bugs & corner cases. - - - Increase precision of numeric values output in error messages to - allow for easier debugging. - - Ensure termination after Wolfe search bracketing phase if bracket - width has been shrunk to below tolerance. - - Cleaned up return value for BracketingPhase(), now false iff - optimisation should stop, true otherwise. - - Fix bug whereby we would mark a step size as satisfying the Wolfe - conditions when it did not due to numerical issues in the cost - function. - - Adding explanation of a subtlety in which a zoom could still be - acceptably invoked with bracket_low.f > bracket_high.f. - - Replacing hard check of a pre-condition of ZoomPhase() with a - conditional return if not satisfied to address issue whereby a - bracket could be incorrectly identified due to inconsistent values - & gradients returned from the cost function. - - Adding missing check for step size validity in line search minimizer. - - Adding ToDebugString() for FunctionSample. - - Change-Id: Iad98e635749877f80c079ebad126bf022d82232d - -commit 54fc9423673886ac9ed3fe329a80f07544aeea70 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Thu Nov 14 11:42:00 2013 +0000 +commit 3e60a998ac970da659d590bac2ff892ee619aa1b +Author: Richard Bowen <rsbowen@google.com> +Date: Tue Apr 1 16:22:49 2014 -0700 - Removing incorrect specialisation of install dirs on Windows. - - - Previously on Windows the leaf include & lib install directories - passed to CeresConfig.cmake.in when configured where capitalised on - Windows. - - This capitalisation was incorrect, as the actual paths used are - specified in the install() statements and are always in the standard - lower-case form. - - This likely did not cause any issues previously as although NTFS is - case sensitive, the Win32 API is not, and most applications access - files through the Win32 API, and are thus not case-sensitive. + Added support and tests: row and column blocks for sparse matrix + transpose. - Change-Id: I335b6e2d10a1c64f320c2a1a68eeda1b22344e73 + Change-Id: Ife641b08a9e86826478521a405f21ba60667f0e8 -commit fcbbb11e37386097b1427dc3aa89f264d6951ded -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Wed Nov 13 22:22:30 2013 +0000 +commit 5ecb1c3f1dfde6e8ed4b493eafef7b43dad19e72 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Tue Apr 1 09:20:35 2014 -0700 - Ensure build paths for dependencies are searched in FindPackage(Ceres) + Add Problem::IsParameterBlockPresent. - - Append to hint locations used by FindPackage scripts for public - dependencies (glog & Eigen) the locations of the dependencies when - Ceres was built. - - This means that the user should not have to supply them again when - using find_package(Ceres) even if they are installed in a - non-standard location. + This allows the user to query the Problem to see if a + parameter block is already present or not. - Change-Id: I9550de91025ba47f01f1ea3c3fefe80fe38d14ff + Change-Id: If786f6c008cc644f3398597901d718d12a6d865d -commit 7899e45d378f589a67ad8e042bf6a7cb7e15df00 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Wed Nov 13 21:08:27 2013 +0000 +commit 75e2232b29ff2ea42c8406c9d45b138a7e7a0048 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Fri Mar 28 11:21:02 2014 -0700 - Fixing a documentation typo, DIRS -> DIR in HINTS variables. + Fix spacing in building.rst - Change-Id: I42b75a5e0b8a451c3a43ab29d0c14856e4b86ab8 + Change-Id: I4c68d732c80d7ff2bdbc812bf0b7c7fb98c43957 -commit 1a041c35b780e60c3b497eb096b72ad20f47960e -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Tue Nov 12 14:17:52 2013 -0800 +commit b555b489b8447434294a8a6676272289140d6a1d +Author: Richard Bowen <rsbowen@google.com> +Date: Thu Mar 27 15:51:28 2014 -0700 - Update to 1.8.0. + Changes documentation to reflect changes in output format. - Change-Id: Id42e594f03e3575d06e18c1ef66df64f43d86839 + Change-Id: Ic0ba234283e791edcad29aec067905dcb2130813 -commit 36b26139296060511718b3ef0da03a52706db481 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Thu Nov 7 16:57:36 2013 +0000 +commit 1cfb600bfc3be8342f85f155b2b219a595ee58da +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Wed Mar 26 12:55:11 2014 -0700 - Fix ordering of ParseCommandLineFlags() & InitGoogleTest() for Windows. + Add the (2,4,9) template specialization for PartitionedMatrixView + and SchurEliminator. - - On Windows gtest passes additional non-gflags command line flags - for death-tests, to avoid gflags invoking an error for these flags - InitGoogleTest() must be called before ParseCommandLineFlags() to - handle and remove them before gflags parses the remaining flags. + Also update the comment inside generate_partitioned_matrix_view_specializations.py - Change-Id: I0c705ecd3aa029b70a2589b592e6a2c192745c0e + Change-Id: I99a7ab4256091b1da48553da3076e5996a5757ed -commit 8c155d51fab099ee7bf64f4bdbfeda82881925a5 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Fri Nov 8 08:04:44 2013 -0800 +commit 195e49351b386ffc23020d406883eaa6511e29b3 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Wed Mar 26 11:36:11 2014 +0000 - Speed up the application of robust loss functions. + Check validity of residual block before removal in RemoveResidualBlock. - Since we added special handling for the case for rho[2] < 0, - the bulk of CorrectJacobian is pointless in the common case. - So add a simple one dimensional loop which rescales the Jacobian. - This speeds up this method immensely. + - Breaking change: Problem::Options::enable_fast_parameter_block_removal + is now Problem::Options::enable_fast_removal, as it now controls + the behaviour for both parameter and residual blocks. - The robustification of a Jacobian gets speeded up by > 50%. + - Previously we did not check that the specified residual block to + remove in RemoveResidualBlock actually represented a valid residual + for the problem. + - This meant that Ceres would die unexpectedly if the user passed an + uninitialised residual_block, or more likely attempted to remove a + residual block that had already been removed automatically after + the user removed a parameter block upon on which it was dependent. + - RemoveResidualBlock now verifies the validity of the given + residual_block to remove. Either by checking against a hash set of + all residuals maintained in ProblemImpl iff enable_fast_removal + is enabled. Or by a full scan of the residual blocks if not. - Change-Id: I97c4e897ccbb5521c053e1fb931c5d0d32f542c7 + Change-Id: I9ab178e2f68a74135f0a8e20905b16405c77a62b -commit 58792dc8ee0e4b56331f33f753f1b1932c5c2960 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Wed Nov 6 09:42:46 2013 -0800 +commit 74762b60332d4a1c08ec5aef75ec718da9d305a2 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Thu Mar 20 14:50:25 2014 +0000 - Update to 1.8.0rc2. + Allow construction of an AutoDiffLocalParameterization with a functor. - Change-Id: Ifbf5312377bf1791a29aefd3edc3a765999c5824 + - Previously AutoDiffLocalParameterization would internally instantiate + a functor instance whenever one was required. This prohibits the + user passing arguments to the constructor of the functor. + - Now AutoDiffLocalParameterization can take over ownership of an + allocated functor which the user created. This mimics the behaviour + of AutoDiffCostFunction. + + Change-Id: I264e1face44ca5d5e71cc20c77cc7654d3f74cc0 -commit af04d7f18740faf452e9171af530aa1bdead44bb +commit 4f603fb0d82317a53fa9d96abe6a97b2e69bff36 Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Tue Nov 5 13:47:30 2013 -0800 +Date: Wed Mar 19 17:16:43 2014 -0700 - Remove DCHECK_GE checks from fixed_array.h - - This triggers -Wtype-limits warnings on comparisons - which are always true, since the test being done is - n >= 0, where n is of type size_t, which is always - true. - - This causes problems when compiling Ceres on linux - with miniglog. + Grammer fixes from William Rucklidge. - Change-Id: Ia1d1d1483e03469c71fde029b62ca6d84e9b27e0 + Change-Id: Ia40df7a1d141eb2552694510453d1431bb0c8dce |