path: root/extern/libmv/third_party/ceres/ChangeLog

commit 36f4cd23b24391106e9f3c15b0f9bbcaafc47b20
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Sun Apr 21 09:42:26 2013 -0700

    Disable threads completely if OpenMP is not present.
    
    This reduces the penalty paid by Mutex lock and unlock operations
    in single threaded mode.
    
    Change-Id: I185380bde73fe87e901fc434d152d6c366ff1d5d

commit 24fb32b42683cf711a6683e3cff3540b16bb5019
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Sat Apr 20 09:02:06 2013 -0700

    Add whole program optimization for Clang.
    
    Also reorder the way CERES_CXX_FLAGS is being used for clarity.
    
    Change-Id: I2bbb90e770d30dd18ecae72939ea03b7fa11e6ae

commit 2b7497025096a681d7f0351081f83293398d62ef
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Fri Apr 19 19:52:58 2013 -0700

    Fix a bounds error in the pre-ordering code.
    
    Change-Id: I33c968bb075b60ad50374593302e08f42aeacf25

commit 9189f4ea4bb2d71ea7f6b9d9bd3290415aee323d
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Fri Apr 19 17:09:49 2013 -0700

    Enable pre-ordering for SPARSE_NORMAL_CHOLESKY.
    
    Sparse Cholesky factorization algorithms use a fill-reducing
    ordering to permute the columns of the Jacobian matrix. There
    are two ways of doing this.
    
    1. Compute the Jacobian matrix in some order and then have the
       factorization algorithm permute the columns of the Jacobian.
    
    2. Compute the Jacobian with its columns already permuted.
    
    The first option incurs a significant memory penalty. The
    factorization algorithm has to make a copy of the permuted
    Jacobian matrix.
    
    Starting with this change Ceres pre-permutes the columns of the
    Jacobian matrix and generally speaking, there is no performance
    penalty for doing so.
    
    In some rare cases, it is worth using a more complicated
    reordering algorithm which has slightly better runtime
    performance at the expense of an extra copy of the Jacobian
    matrix. Setting Solver::Options::use_postordering to true
    enables this tradeoff.
    
    This change also removes Solver::Options::use_block_amd
    as an option. All matrices are ordered using their block
    structure. The ability to order them by their scalar
    sparsity structure has been removed.
    
    Here is what performance on looks like on some BAL problems.
    
    Memory
    ======
                                         HEAD         pre-ordering
    16-22106                      137957376.0          113516544.0
    49-7776                        56688640.0           46628864.0
    245-198739                   1718005760.0         1383550976.0
    257-65132                     387715072.0          319512576.0
    356-226730                   2014826496.0         1626087424.0
    744-543562                   4903358464.0         3957878784.0
    1024-110968                   968626176.0          822071296.0
    
    Time
    ====
                                         HEAD         pre-ordering
    16-22106                              3.8                  3.7
    49-7776                               1.9                  1.8
    245-198739                           82.6                 81.9
    257-65132                            14.0                 13.4
    356-226730                           98.8                 95.8
    744-543562                          325.2                301.6
    1024-110968                          42.1                 37.1
    
    Change-Id: I6b2e25f3fed7310f88905386a7898ac94d37467e

commit f7ed22efc3afee36aae71a4f7949b3d327b87f11
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Fri Apr 19 14:24:48 2013 -0700

    Add the ability to order the Program using AMD.
    
    This will allow CHOLMOD to compute the sparse
    Cholesky factorization of J'J without making
    a permuted copy of it.
    
    Change-Id: I25d0e18f5957ab7fdce15c543234bb2f09db482e

commit c8f07905d76d9ac6fb8d7b9b02e180aa2fa0ab32
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Fri Apr 19 08:01:04 2013 -0700

    Refactor SolverImpl::CreateReducedProgram.
    
    Break up CreateReducedProgram into smaller functions in
    preparation for more sophisticated ordering strategies.
    
    Change-Id: Ic3897522574fde770646d747fe383f5dbd7a6619

commit 2560b17b7cdda1de28c18049c95e6c3188dbde93
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Fri Apr 19 08:19:11 2013 -0700

    SuiteSparse cleanup.
    
    1. CreateSparseMatrixTransposeView now returns a struct instead
    of a pointer.
    
    2. Add AnalyzeCholeskyWithNaturalOrdering.
    
    Change-Id: If27a5502949c3994edd95be0d25ec7a0d1fa1ae1

commit 7823cf23c765450b79f11ac31fc8a16f875c0d84
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Thu Apr 18 16:13:56 2013 -0700

    Fix a typo in problem.h
    
    Thanks as usual to William Rucklidge.
    
    Change-Id: If6e8628841ee7fa8978ec56918a80d60b4ff660e

commit 3d9546963d7c8c5f5dfb12a2df745f4996fd2ec5
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Thu Apr 18 14:54:55 2013 -0700

    Add the ability to query the Problem about parameter blocks.
    
    Change-Id: Ieda1aefa28e7a1d18fe6c8d1665882e4d9c274f2

commit 69ebad42ebfc212339a22c6f06a12ec5a3368098
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Wed Apr 17 15:38:00 2013 -0700

    Change Minimizer::Options::min_trust_region_radius to double.
    
    This was accidentally an int, which was setting the minimum
    trust region radius to zero and effectively disabling a convergence
    test based on it.
    
    (Thanks to Sergey Sharybin for providing a reproduction for this)
    
    Change-Id: Id0b9e246bcfee074954a5dc6a3a2342adab56c16

commit e6707b2411b9a823b6c748f9f9d0b22225d767bb
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Tue Apr 16 15:44:23 2013 -0700

    Lint fixes from William Rucklidge.
    
    Change-Id: I57a6383bb875b24083cd9b7049333292d26f718c

commit c7e69beb52c2c47182eaf8295025a668d0eefd80
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Tue Apr 16 09:39:16 2013 -0700

    Add a missing mutex lock in the SchurEliminator. This
    was lost somewhere along in the BLAS based refactoring.
    
    Change-Id: I90b94fa9c3a8ea1b900a18f76ef6a7d0dbf24318

commit faa72ace9abea24877173158bfec451d5b46597e
Author: Joydeep Biswas <joydeep.biswas@gmail.com>
Date:   Mon Apr 15 17:34:43 2013 -0400

    Update to compile with stricter gcc checks.
    
    Change-Id: Iecb37cbe7201a4d4f42b21b427fa1d35d0183b1b

commit 487250eb27256a41d38c5037bdac9a09a3160edb
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Fri Apr 5 14:20:37 2013 -0700

    Minor cleanups.
    
    1. Further BLAS and heap allocation cleanups in  schur_eliminator_impl.h
    2. Modularize blas.h using macros.
    3. Lint cleanups from William Rucklidge.
    4. Small changes to jet.h
    5. ResidualBlock now uses blas.h
    
    Performance improvements:
    
    For static and dynamic sized blocks, the peformance is not changed much.
    
    -use_quaternions -ordering user -linear_solver sparse_schur
    
                                            master         change
    problem: 16-22106
    gcc                                        3.4            3.3
    clang                                      2.8            2.7
    
    problem: 49-7776
    gcc                                        1.7            1.7
    clang                                      1.4            1.4
    
    problem: 245-198739
    gcc                                       80.1           79.6
    clang                                     80.6           76.2
    
    problem: 257-65132
    gcc                                       12.2           12.0
    clang                                     10.4           10.2
    
    problem: 356-226730
    gcc                                       99.0           96.8
    clang                                     88.9           88.3
    
    problem: 744-543562
    gcc                                      361.5          356.2
    clang                                    352.7          343.5
    
    problem: 1024-110968
    gcc                                       45.9           45.6
    clang                                     42.6           42.1
    
    However, performance when using local parameterizations is
    significantly improved due to residual_block.cc using blas.h
    
    -use_quaternions -use_local_parameterization -ordering user -linear_solver sparse_schur
    
                                            master         change
    problem: 16-22106
    gcc                                        3.6            3.3
    clang                                      3.5            2.8
    
    problem: 49-7776
    gcc                                        1.8            1.6
    clang                                      1.7            1.4
    
    problem: 245-198739
    gcc                                       79.7           76.1
    clang                                     79.7           73.0
    
    problem: 257-65132
    gcc                                       12.8           11.9
    clang                                     12.3            9.8
    
    problem: 356-226730
    gcc                                      101.9           93.5
    clang                                    105.0           86.8
    
    problem: 744-543562
    gcc                                      367.9          350.5
    clang                                    355.3          323.1
    
    problem: 1024-110968
    gcc                                       43.0           40.3
    clang                                     41.0           37.5
    
    Change-Id: I6dcf7476ddaa77cb116558d112a9cf1e832f5fc9

commit eeedd3a59281eb27025d7f9aa944d9aff0666590
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Wed Apr 10 23:58:32 2013 +0600

    Autodiff local parameterization class
    
    This class is used to create local parameterization
    with Jacobians computed via automatic differentiation.
    
    To get an auto differentiated local parameterization,
    class with a templated operator() (a functor) that
    computes
    
     plus_delta = Plus(x, delta);
    
    shall be defined.
    
    Then given such functor, the auto differentiated local
    parameterization can be constructed as
    
     LocalParameterization* local_parameterization =
       new AutoDiffLocalParameterization<PlusFunctor, 4, 3>;
                                                      |  |
                           Global Size ---------------+  |
                           Local Size -------------------+
    
    See autodiff_local_parameterization.h for more information
    and usage example.
    
    Initial implementation by Keir Mierle, finished by self
    and integrated into Ceres and covered with unit tests
    by Sameer Agarwal.
    
    Change-Id: I1b3e48ae89f81e0cf1f51416c5696e18223f4b21

commit d8d541674da5f3ba7a15c4003fa18577479f8f8c
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Wed Apr 10 11:13:27 2013 +0600

    Do not modify cached CMAKE_CXX_FLAGS_RELEASE
    
    Adding compiler's flags and force updating cached value
    of release C++ flags lead to appending special compiler
    flags on every edit of any CMakeList.txt.
    
    For compile result this is harmless, but was annoying
    slight modification of CMakeList.txt triggered full
    project rebuild.
    
    Now modified C++ flags are used for the whole subtree
    starting from the project root, but this doesn't lead
    to flags modified in cache.
    
    Change-Id: Ieb32bd7f96d5a09632f0b2b5325f6567be8cb5a8

commit c290df85a40a8dd117b5eccc515bf22b0d9b1945
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Sun Apr 7 09:17:47 2013 -0700

    Typo fix.
    
    (Thanks to Pieree Moulon for reporting this)
    
    Change-Id: I536724ab4b7e9c97768d5197aa86b41f37a04d38

commit dc3a27fa60ba7c6b152660afd5abe1c8b608dec3
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Sat Apr 6 19:32:47 2013 -0700

    Fix MatrixVectorMultiply and incorrect DCHECKS.
    
    (Thanks to Serget Sharybin for reporting this)
    
    Change-Id: I6bbc41667308fc2932871cf25ad07b431f70801f

commit 585607171f20d591033dfea43b6dd22fea755a6c
Author: Petter Strandmark <petter.strandmark@gmail.com>
Date:   Sun Apr 7 01:24:13 2013 +0200

    <iterator> needed for back_insert_iterator
    
    Adding this header was required to make Ceres compile with VS2010.
    
    Change-Id: I000c860da4fd385d625e70695564225bdfd433c7

commit 520d35ef22dbcb05e344451c03ae64304e524a06
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Thu Apr 4 08:16:02 2013 -0700

    Further BLAS improvements.
    
    1. Switch to Eigen's implementation when all dimensions are fixed.
    2. Use lazyProduct for eigen matrix-vector product. This brings
       eigen's performance on iterative_schur closer to what it used
       to be before the last commit. There is however still an
       improvement to be had by using the naive implementation when
       the matrix and vector have dynamic dimensions.
    
    BENCHMARK
                                          HEAD                                       CHANGE
    
    problem-16-22106-pre.txt
    gcc-eigen       sparse_schur         0.859    gcc-eigen       sparse_schur        0.853
    clang-eigen     sparse_schur         0.848    clang-eigen     sparse_schur        0.850
    gcc-blas        sparse_schur         0.956    gcc-blas        sparse_schur        0.865
    clang-blas      sparse_schur         0.954    clang-blas      sparse_schur        0.858
    gcc-eigen       iterative_schur      4.656    gcc-eigen       iterative_schur     3.271
    clang-eigen     iterative_schur      4.664    clang-eigen     iterative_schur     3.307
    gcc-blas        iterative_schur      2.598    gcc-blas        iterative_schur     2.620
    clang-blas      iterative_schur      2.554    clang-blas      iterative_schur     2.567
    
    problem-49-7776-pre.txt
    gcc-eigen       sparse_schur         0.477    gcc-eigen       sparse_schur        0.472
    clang-eigen     sparse_schur         0.475    clang-eigen     sparse_schur        0.479
    gcc-blas        sparse_schur         0.521    gcc-blas        sparse_schur        0.469
    clang-blas      sparse_schur         0.508    clang-blas      sparse_schur        0.471
    gcc-eigen       iterative_schur      3.172    gcc-eigen       iterative_schur     2.088
    clang-eigen     iterative_schur      3.161    clang-eigen     iterative_schur     2.079
    gcc-blas        iterative_schur      1.701    gcc-blas        iterative_schur     1.720
    clang-blas      iterative_schur      1.708    clang-blas      iterative_schur     1.694
    
    problem-245-198739-pre.txt
    gcc-eigen       sparse_schur        28.092    gcc-eigen       sparse_schur       28.233
    clang-eigen     sparse_schur        28.148    clang-eigen     sparse_schur       28.400
    gcc-blas        sparse_schur        30.919    gcc-blas        sparse_schur       28.110
    clang-blas      sparse_schur        31.001    clang-blas      sparse_schur       28.407
    gcc-eigen       iterative_schur     63.095    gcc-eigen       iterative_schur    43.694
    clang-eigen     iterative_schur     63.412    clang-eigen     iterative_schur    43.473
    gcc-blas        iterative_schur     33.353    gcc-blas        iterative_schur    33.321
    clang-blas      iterative_schur     33.276    clang-blas      iterative_schur    33.278
    
    problem-257-65132-pre.txt
    gcc-eigen       sparse_schur         3.687    gcc-eigen       sparse_schur        3.629
    clang-eigen     sparse_schur         3.669    clang-eigen     sparse_schur        3.652
    gcc-blas        sparse_schur         3.947    gcc-blas        sparse_schur        3.673
    clang-blas      sparse_schur         3.952    clang-blas      sparse_schur        3.678
    gcc-eigen       iterative_schur    121.512    gcc-eigen       iterative_schur    76.833
    clang-eigen     iterative_schur    123.547    clang-eigen     iterative_schur    78.763
    gcc-blas        iterative_schur     68.334    gcc-blas        iterative_schur    68.612
    clang-blas      iterative_schur     67.793    clang-blas      iterative_schur    68.266
    
    Notes:
    
    1. Naive BLAS was a bit worse than eigen on fixed sized matrices. We did not see this
       before because of the different inlining thresholds. Fixing this boosted eigen's
       performance. Also the disparity between gcc and clang has gone away.
    
    2. SPARSE_SCHUR performance remains the same, since it is only testing static sized
       matrices.
    
    3. ITERATIVE_SCHUR performance goes up substantially due to the lazyProduct change,
       but even there, since most of the products are dynamic sized, the naive implementation
       wins handily.
    
    Change-Id: Idc17f35b9c68aaebb1b2e131adf3af8374a85a4c

commit 25ac54807eedf16fd6c34efc390901ee549a7d14
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Wed Apr 3 18:51:27 2013 -0700

    Speed up Jets.
    
    Change-Id: I101bac1b1a1cf72ca49ffcf843b73c0ef5a6dfcb

commit 3d6eceb45cf27024865908f0c10a5c2b0f8719cf
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Tue Apr 2 21:45:48 2013 -0700

    Replace more instances of Eigen GEMV with Ceres BLAS.
    
    With this ITERATIVE_SCHUR with JACOBI preconditioner went down from
    280 seconds to 150 seconds on problem-744-543562-pre.txt.
    
    Change-Id: I4f319c1108421e8d59f58654a4c0576ad65df609

commit 296fa9b1279ee1900c8ae32d70e97cd10fc0b46b
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Tue Apr 2 09:44:15 2013 -0700

    Replace Eigen block operations with small GEMM and GEMV loops.
    
    1. Add Matrix-Matrix and Matrix-Vector multiply functions.
    2. Replace Eigen usage in SchurEliminator with these custom
       matrix operations.
    3. Save on some memory allocations in ChunkOuterProduct.
    4. Replace LDLT with LLT.
    
    As a result on problem-16-22106-pre.txt, the linear solver time
    goes down from 1.2s to 0.64s.
    
    Change-Id: I2daa667960e0a1e8834489965a30be31f37fd87f

commit 222ca20e8facf706582fe696b7f41247391eac12
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Mon Apr 1 09:11:07 2013 -0700

    SuiteSparse cleanup.
    
    1. Silence CHOLMOD's indefiniteness warnings.
    2. Add a comment about how the error handling in suitesparse.cc
       needs to be improved.
    3. Move the analysis logging into suitesparse.cc and out of the
       three callsites.
    
    Change-Id: Idd396b8ea4bf59fc1ffc7f9fcbbc7b38ed71643c

commit b7ba93459b7f584eedb1a9f42f3d06bccabd33dc
Author: Petter Strandmark <petter.strandmark@gmail.com>
Date:   Tue Feb 19 12:52:58 2013 +0100

    Enable larger tuple sizes for Visual Studio 2012.
    
    Visual Studio 2012 does not have variadic templates and implements
    tuples differently. By default, only sizes up to 5 are supported,
    which conflicts with Gtest.
    
    Change-Id: Ieb8d59e4329863cbfa2729d8a76db0714c08d259

commit 564a83fcc690ac8383bf52a782c45757ae7fa2ad
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Tue Mar 26 11:11:43 2013 -0700

    Lint cleanup from William Rucklidge.
    
    Change-Id: I8d4a0aa3e264775d20e99a6b5265f3023de92560

commit cbe64827becbbaab5b435a71bf00353b4ddd026b
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Mon Mar 25 17:39:53 2013 -0700

    Update documentation
    
    Change-Id: Iea3c4b5409e593b1fb070a491ba8a479db32ca58

commit 802639c89603c9541e624766349d1989a1f641c0
Author: Pablo Speciale <pablo.speciale@gmail.com>
Date:   Mon Mar 25 20:53:45 2013 -0700

    ceresproblem label was incorrect
    
    Change-Id: I3e210375adba4fa50ff3c25398b20a65d241cb35

commit 6bcb8d9c304a3b218f8788018dfdfe368bb7d60c
Author: Pablo Speciale <pablo.speciale@gmail.com>
Date:   Mon Mar 25 16:40:26 2013 -0700

    Compiling against static or shared library
    
    Change-Id: I3fb35e9a49f90b8894f59dde49c90a7c2dd74b0a

commit 619cfe692020c078275b68eac2167232fafdfffb
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Mon Mar 25 14:03:41 2013 -0700

    Update version history
    
    Change-Id: I1d036efad1507efd19d8581f147b38170b1f0543

commit 6ae34757850a5fa8213e0d1a540d9d75d6840a08
Author: Pablo Speciale <pablo.speciale@gmail.com>
Date:   Sun Mar 24 22:30:52 2013 -0700

    Added documentation regarding the use of Ceres with cmake (once installed)
    Commets about the flag ``BUILD_DOCUMENTATION=ON``
    
    Change-Id: I8814927e60af190c8043bfc36e77fe76bfe6f562

commit f46de9e697eb5b8756084615e29ded48600a4d39
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Thu Mar 21 15:31:35 2013 +0600

    Silent no previous declaration warning for FindParameterBlockOrDie
    
    Use anonymous namespace for this. Also move some surrounding static
    function to this anonymous namespace.
    
    Change-Id: Ie235eb7936976563a9db115ec13c59e6e6869b96

commit 16636efeffacdd69d075a60ea8a94d98fd81c6fd
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Thu Mar 21 15:12:01 2013 +0600

    Compilation fix for msvc2010
    
    Usage of back_inserter requires <iterator> header when using msvc2010
    
    Change-Id: I92ee1649795ce0468ce337fc414eb0ca6e90c51e

commit ac0d416991274ed67fe85371f09b07f706a6db9a
Author: Pablo Speciale <pablo.speciale@gmail.com>
Date:   Wed Mar 20 18:32:14 2013 -0700

    google-glog link wasn't working, 'http://' twice
    
    Change-Id: I9cd96d3609f9b1ba31cd480fef1702972be86741

commit 55b6c966c4f697cb5d11982201733aa3bce7a5a7
Author: Pablo Speciale <pablo.speciale@gmail.com>
Date:   Wed Mar 20 17:44:04 2013 -0700

    * Fixed the location of the Ceres doc (once installed with 'make install')
    * Doing 'make ceres_docs' can be used to create the documentation (if the BUILD_DOCUMENTATION=ON)
    * Included the copyright boilerplate for FindSphinx.cmake
    
    Change-Id: Iea21eba9e68384b4fe72c85fa88c76b0ba8a7a1d

commit a986912555b304a47dd0c2a02892046fde15d091
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Wed Mar 20 11:50:34 2013 -0700

    Update version history
    
    Change-Id: I238279719219a26d0d1bb32e0610f41007d3dcef

commit 16dbf11626c52c013f1dca6375f993a554e31d51
Author: Pablo Speciale <pablo.speciale@gmail.com>
Date:   Mon Mar 11 14:44:02 2013 -0700

    Added CeresConfig.cmake based on this example:
        https://projects.kde.org/projects/kde/kdeexamples/repository/revisions/master/show/buildsystem/HowToInstallALibrary
    
    Change-Id: I130cac5d43d9fbbf359abc04d3691e25c4e2bb63

commit 015d57f173fab7ea040ee01474101e208ff72be6
Author: Pablo Speciale <pablo.speciale@gmail.com>
Date:   Tue Mar 19 14:05:14 2013 -0700

    Avoiding the Warning: "deprecated conversion from string constant to char*"
    
    Change-Id: Ifa47f9b0724f79c5c695828628c89818ddefd844

commit c51b11c1046366035e7da95e4d8a78100ef3f153
Author: Pablo Speciale <pablo.speciale@gmail.com>
Date:   Tue Mar 12 00:56:56 2013 -0700

    Sphinx and CMake, based on this example:
       http://ericscottbarr.com/blog/2012/03/sphinx-and-cmake-beautiful-documentation-for-c-projects/
    
    The 'docs/CMakeLists.txt' file was deleted in this commit: 0abfb8f46f534b05413bb4d64b960d6fd0a9befb
    
    Thanks to Arnaud Gelas, he has passed some links:
       https://github.com/InsightSoftwareConsortium/ITKExamples/blob/master/CMake/FindSphinx.cmake
       https://github.com/InsightSoftwareConsortium/ITKExamples/blob/master/CMakeLists.txt#L120-L154
    
    Change-Id: Ic65e7f8ec5280d1e71a897a144417a21761c5553

commit 793a339335d8d52279efb49bcd704d196646efb5
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Wed Mar 13 12:14:00 2013 -0700

    Make Android.mk play better with the external consraints
    
    Change-Id: Ia0a1037d97c032a4ba1a9acbf4e04c192d12ee61

commit 700d50d8074f0273b305fe6d9f795f1dcb988048
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Tue Mar 12 16:12:42 2013 -0700

    Lint cleanup from William Rucklidge
    
    Change-Id: Iacbf77246109f687708696eee7fb6144d23e7ec5

commit 8140f0fc979f5728f37cfb68362f31e7e37b46bb
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Tue Mar 12 09:45:08 2013 -0700

    Modularize the build.
    
    1. Add -DLINE_SEARCH_MINIMIZER to CMake to make the line search
       minimizer optional.
    2. Better handling of -DSUITESPARSE/-DCXSPARSE in top level cmake
       file.
    3. Disable code which will never be used if SuiteSparse and/or
       CXSparse is not available.
    4. Update build docs.
    5. Update jni/Android.mk
    6. Minor lint cleanup from William Rucklidge.
    
    Change-Id: If60460a858000df82faed7a6bb056dd2bfdde562

commit c59c1e44727c62d43523b672c1c132865cd25784
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Mon Mar 11 17:28:38 2013 -0700

    Propagate ifdefs correctly to improve build efficiency.
    
    With -DRESTRICT_SCHUR_SPECIALIZATIONS, now the various
    specializations are empty, decreasing build time and
    reducing the size of the static library.
    
    Change-Id: I8ec431279741a9a83516a4167c54a364c4608143

commit 32874b861fc54b33aa4272e8c81bb001aa1e1e60
Author: Yuliy Schwartzburg <syx818@gmail.com>
Date:   Fri Mar 8 11:30:44 2013 +0100

    Fix CMake "LIB_SUFFIX" for non-linux installations
    
    Change-Id: Ieb8a2825a4378b388149e7934ecc7b96ba5a29fa

commit 58b8c68f29c2c15edbc5f77102796df661020312
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Sat Mar 9 17:17:43 2013 -0800

    Clean up rotation.h
    
    Change-Id: I3370c9883728cda068c9650a2c2a50641fd8299c

commit 020d8e1e48f341f3b990ac449998d36aaca2771f
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Wed Mar 6 16:19:26 2013 -0800

    Better error reporting in the modeling API.
    
    More informative error when user passes an
    unknown parameter block to Problem methods.
    
    Change-Id: I517360e4b0b55814904ca3e664877d76ad3f59e8

commit 5e7ce8a950cf5794c63817827ce66a3a4e66e7b6
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Wed Mar 6 11:38:41 2013 -0800

    Fix Problem::Evaluate documentation
    
    Change-Id: I8c70a24743cff2d9cface99ef0f5d34c78f769c6

commit 0a4f5f8f7428148f21183e743d091d2079406604
Author: Taylor Braun-Jones <taylor@braun-jones.org>
Date:   Wed Mar 6 00:00:32 2013 -0500

    Fix operator() signature in several sections of the documentation
    
    Change-Id: I73f9d150a738f7b136fbc1f98fc60b0f306bd7f9

commit 2c648dbc43025927301684fc82d95ccf6b6c21bc
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Tue Mar 5 15:20:15 2013 -0800

    Make examples independent of ceres internals.
    
    Change-Id: I6b6913e067a86fea713646218c8da1439d349d74

commit e7148795c3f2ce1f6625a7c81545707a6cbde3eb
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Mon Mar 4 10:17:30 2013 -0800

    Fix a memory leak in CXSparse::SolveCholesky.
    
    Thanks to Alexander Mordvintsev for reporting this.
    
    Change-Id: I5c6be4d3d28f062e83a1ad41cb8089c19362a005