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Diffstat (limited to 'extern/libmv/third_party/ceres/ChangeLog')
| -rw-r--r-- | extern/libmv/third_party/ceres/ChangeLog | 261 |
1 files changed, 133 insertions, 128 deletions
diff --git a/extern/libmv/third_party/ceres/ChangeLog b/extern/libmv/third_party/ceres/ChangeLog index 854712fe228..e80015534d6 100644 --- a/extern/libmv/third_party/ceres/ChangeLog +++ b/extern/libmv/third_party/ceres/ChangeLog @@ -1,3 +1,136 @@ +commit 80a53eebfd28bfc032cedbf7852d5c56eb1d5af5 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Thu Jan 9 12:40:54 2014 -0800 + + 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). + + 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. + + On a sample problem + + before 1050ms after: 630ms + + Change-Id: I537ba506ac35fc4960b304c10d923a8dea2ae031 + +commit f55780063620e7a3dcfe7e018d6488bf6a5b29da +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Wed Jan 8 10:43:31 2014 -0800 + + Reduce logging verbosity. + + When user specifies Solver::Options::logging_type = SILENT, + ensure that the minimizer does not log anything. + + Change-Id: I94e34dae504881ab36d4a66e6adb7a19a227363e + +commit 85561eee951c91e578984c6d3eecf0073acabb64 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Tue Jan 7 22:22:14 2014 -0800 + + Use int32 for parameter block sizes. + + CostFunction now uses int32 instead of int16 + to store the size of its parameter blocks. + + This is an API breaking change. + + Change-Id: I032ea583bc7ea4b3009be25d23a3be143749c73e + +commit a7fda3317b1a97702750bea96ac3ef3d1a2afb49 +Author: Alex Stewart <alexs.mac@gmail.com> +Date: Mon Jan 6 10:25:42 2014 +0000 + + Fix typos in error messages in line search config checks. + + Change-Id: I3ae2ae58328e996598e3e32c12869d2b10109ef7 + +commit f695322eb8c5ff118f0d27f68d46d557338e5db1 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Sat Jan 4 14:28:23 2014 -0800 + + Remove a compilation warning on windows. + + Only define NOMINMAX if it is not already defined. + + Thanks to Pierre Moulon for this fix. + + Change-Id: Ia5dc0f5ff2afe10e4c7e97a57f54297d82052b21 + +commit b811041d78d80518db153ef3030bcbdbaf80df8d +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Thu Jan 2 15:19:17 2014 +0600 + + Code cleanup: fix no previous declaration warnings + + Moved some internally used functions into an anonymous namespace. + + Change-Id: Ie82df61b0608abac79ccc9f7b14e7f7e04ab733d + +commit f14f6bf9b7d3fbd2cab939cf4ad615b317e93c83 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Thu Dec 26 09:50:45 2013 -0800 + + 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. + + 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. + + The symbolic analysis phase of the solver is a bit more expensive + now but the increased cost is made up in 3-4 iterations. + + Change-Id: I5e4a72b4d03ba41b378a2634330bc22b299c0f12 + +commit d79f886eb87cb064e19eb12c1ad3d45bbed92198 +Author: Sameer Agarwal <sameeragarwal@google.com> +Date: Mon Dec 30 07:39:10 2013 -0800 + + Refactor line search error checking code. + + Move the error checking code into its own function + so that it can be used in upcoming changes. + + Change-Id: Icf348e5a8bbe8f8b663f04fb8cfc9a2149b12f22 + commit 2b16b0080b6e673eaaf9ed478c9e971d9fcd65de Author: Sameer Agarwal <sameeragarwal@google.com> Date: Fri Dec 20 15:22:26 2013 -0800 @@ -553,131 +686,3 @@ Date: Tue Nov 5 13:10:27 2013 +0000 information as to which sub-modules are missing. Change-Id: I6eed94af49263540b8f87917b75c41b8f49658a0 - -commit 9ba0b352a282f08b1b6368a5690434407d7c81af -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Tue Nov 5 13:04:56 2013 -0800 - - Lint and other cleanups from William Rucklidge - - Change-Id: I7fb23c2db85f0f121204560b79f1966f3d584431 - -commit 69bd65ff4368ce2841519f00ff48c5284c1743a3 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Mon Nov 4 23:01:14 2013 +0000 - - Downgrading warning messages when optional deps are not found. - - - Now when find_package() is called for a dependency without the - REQUIRED or QUIET qualifiers, we emit no priority (above STATUS, but - below WARNING) messages and continue. - - Change-Id: I8cdeda7a8f6c91d45fb7f24fb366244c6c9b66e1 - -commit b0a8731fcdde31e6c37a54e8c1e1c00f853c0d5c -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Mon Nov 4 20:32:40 2013 +0000 - - Removing duplicate SuiteSparse found message. - - - Also flipping ordering of variables in - find_package_handle_standard_args() so that the automatically - generated message prints the include directories, not TRUE. - - Change-Id: I2bf62eacd5c96f27152e9542b9a74651243a584e - -commit 6fed9fe0de9d1737095c24e19ad8df9735b7e572 -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Mon Nov 4 18:33:05 2013 +0000 - - Fix FindPackage scripts to emit warnings, not errors if not found. - - - Previously we used message priority: SEND_ERROR when a package was - not found and find_package() was called without QUIET or REQUIRED, - which emits an error message, and prevents generation, but continues - configuration. - - The fact SEND_ERROR induces an error message was confusing for users - as it implies that something bad has happened and they cannot - continue, when in fact we were disabling the option in question - and were thus able to continue, all they had to do was re-configure. - - - This commit also reorders the search lists for includes/libraries - so that we always search user installed locations (e.g. /usr/local) - before system installed locations. Thus we will now always prefer - a user install to a system install if both are available, which is - likely to be the users desired intention. - - Change-Id: Ide84919f27d3373f31282f70c685720cd77a6723 - -commit cada337149cbc4b9e6f2bae14593b87ecf8f1a5c -Author: Alex Stewart <alexs.mac@gmail.com> -Date: Mon Nov 4 18:08:24 2013 +0000 - - Fixing CXSparse include directories statement. - - - Reported as issue #135: - https://code.google.com/p/ceres-solver/issues/detail?id=135. - - CXSPARSE_INCLUDE was the legacy include directory variable, since - the buildsystem updates we now use the CMake standard: - CXSPARSE_INCLUDE_DIRS. - - Change-Id: Iab0c2de14d524bb9e9da230bc574b5e6f09e1f31 - -commit c71085ed326239dc2d318d848ded9a99e4e3c107 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Thu Oct 31 13:56:38 2013 -0700 - - Update to 1.8.0rc1. - - Change-Id: Iaa10fd5a20be2ef84aca0119306c44669d87cc5d - -commit 88a703f44ff0d6d5d4601584fa77f5ce853025f4 -Author: Petter Strandmark <petter.strandmark@gmail.com> -Date: Thu Oct 31 21:13:48 2013 +0100 - - Fix compilation in Visual C++ 2013. - - I had to fix the following things to make Ceres compile in 2013: - * Not link to 'm' (GNU math library). - * Excplicitly convert an std::ostream to bool. - * Include <algorithm> for std::max. - - Change-Id: I3ff65413baf8711364360d46dd71fd553fa63e72 - -commit f06b9face5bfbbc2b338aa2460bee2298a3865c5 -Author: Sameer Agarwal <sameeragarwal@google.com> -Date: Sun Oct 27 21:38:13 2013 -0700 - - Add support for multiple visibility clustering algorithms. - - The original visibility based preconditioning paper and - implementation only used the canonical views algorithm. - - This algorithm for large dense graphs can be particularly - expensive. As its worst case complexity is cubic in size - of the graph. - - Further, for many uses the SCHUR_JACOBI preconditioner - was both effective enough while being cheap. It however - suffers from a fatal flaw. If the camera parameter blocks - are split between two or more parameter blocks, e.g, - extrinsics and intrinsics. The preconditioner because - it is block diagonal will not capture the interactions - between them. - - Using CLUSTER_JACOBI or CLUSTER_TRIDIAGONAL will fix - this problem but as mentioned above this can be quite - expensive depending on the problem. - - This change extends the visibility based preconditioner - to allow for multiple clustering algorithms. And adds - a simple thresholded single linkage clustering algorithm - which allows you to construct versions of CLUSTER_JACOBI - and CLUSTER_TRIDIAGONAL preconditioners that are cheap - to construct and are more effective than SCHUR_JACOBI. - - Currently the constants controlling the threshold above - which edges are considered in the single linkage algorithm - are not exposed. This would be done in a future change. - - Change-Id: I7ddc36790943f24b19c7f08b10694ae9a822f5c9 |