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

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

commit 480f9b8551c02c429bc027197f3d868c5cc522c9
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Sun Mar 3 20:15:22 2013 -0800

    Add gerrit instructions to the docs.
    
    Change-Id: Ic98f20273f3ccbaeb8b4ca00c4ce0042a0d262f8

commit 7c60b5c2c6170f0f81a29dbaa2ca7d8031db843b
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Sun Mar 3 18:28:02 2013 -0800

    version history update
    
    Change-Id: Ia92caeb0f6659667ce1e56eefd0e3c87b3f6e538

commit a363a7b69c7b97e17ad671ba1aee30f201eafdd1
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Sun Mar 3 18:06:00 2013 -0800

    Multithread DENSE_SCHUR
    
    Replace the global lock in BlockRandomAccessDenseMatrix
    with a per cell lock.
    
    Change-Id: Iddbe38616157b6e0d3770eede3335a056c3ba18c

commit 31730ef55df802d1e251edab3bac3c0cdcb30647
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Thu Feb 28 11:20:28 2013 -0800

    DenseSparseMatrix is now column-major.
    
    1. Introduce new typdefs in eigen.h to allow for column
       major matrices.
    
    2. Clean up old unused typedefs, and the aligned typedefs
       since they do not actually add any real performance.
    
    3. Made eigen.h conform to the google style guide by removing
       the using directives. They were polluting the ceres namespace.
    
    4. Made the template specialization generator work again.
    
    Change-Id: Ic2268c784534b737ebd6e1a043e2a327adaeca37

commit f8e43f7f2724c5413015e1f113ce860ee8b30428
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Wed Feb 27 08:55:20 2013 -0800

    version history update
    
    Change-Id: Ibd412a9e5beac3b3ac3e15b26fb11aa061956095

commit fef82b3a7af1e44f18f5343601fb19a4dd6f89ad
Author: Alex Stewart <alexs.mac@gmail.com>
Date:   Wed Feb 27 10:44:12 2013 +0000

    Bugfix - commenting-out unused member which results in build error on OS X with latest Xcode.
    
    - Build error due to -Werror,-Wunused-private-field clang args.
    - Raised with gtest group (as it also occurs with latest gtest:master but for a different
      variable) with patch, but they don't want to fix for compatibility with legacy compilers/OS
      see here: https://groups.google.com/forum/?fromgroups=#!topic/googletestframework/S1KLl2jkzws
    
    Change-Id: I99984bcd9d07f6eb0e3fac58e27ddf0ac9e54265

commit 0bc3540b66cf9de4d4a317c6a760849aa66d414e
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Wed Feb 27 08:46:48 2013 -0800

    Version history update
    
    Change-Id: I6f79dd87e45bedf4bcf821e7b44f8b9553c39a7b

commit b59ac43b9d1122da3d00882efa7c5d6833c06ea7
Author: Alex Stewart <alexs.mac@gmail.com>
Date:   Wed Feb 27 09:10:19 2013 +0000

    Issue 83 fix: use correct pthread linker flags with clang.
    
    1. -lpthreads was previously added to the CMAKE_CXX_FLAGS which are
    not passed to the linker thus linking would fail.
    2. Clang would emit a warning about -lpthreads being added to a
    build instruction with -c (compile only).
    
    This patch fixes both of these issues by adding -lpthreads to the
    linker flags (and removes them from the CXX flags).
    
    Change-Id: I5e54de3ab7eced177aa31f311926893598af5b56

commit 6fb1024ed5b197da261f71d1bb02716661da2fff
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Tue Feb 26 22:20:18 2013 -0800

    Fix a small bug in evaluator.h
    
    Change-Id: I2c4b8637e0ac8645721109f8b6bb2396ce8bb37b

commit 039ff07dd1a02e6c9cff335551f05bfe8269224b
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Tue Feb 26 09:15:39 2013 -0800

    Evaluate ResidualBlocks without LossFunction if needed.
    
    1. Add the ability to evaluate the problem without loss function.
    2. Remove static Evaluator::Evaluate
    3. Refactor the common code from problem_test.cc and
       evaluator_test.cc into evaluator_test_utils.cc
    
    Change-Id: I1aa841580afe91d288fbb65288b0ffdd1e43e827

commit c3fd3b960e489348d5b2c8b8f0167760e52ecbd9
Author: Taylor Braun-Jones <taylor@braun-jones.org>
Date:   Tue Feb 26 00:30:35 2013 -0500

    Only use cmake28 macro for RHEL6
    
    This makes it possible to use the same spec to build on Fedora. It drops any
    chance of building on RHEL5, but I doubt that was possible anyway.
    
    Change-Id: Ia956eb6416504e520962ec2f617e03b40ca18203

commit b73148b9f38fe41032e696436566b78043a368db
Author: Taylor Braun-Jones <taylor@braun-jones.org>
Date:   Mon Feb 25 02:34:00 2013 -0500

    Remove -Wno-return-type-c-linkage option when using gcc
    
    Only use this option when compiling with CLang which supports it.
    
    Change-Id: I8555c16e82d61302f6a43672d0d63e5d4800c6b6

commit ba9442160dabf612a1dc51baf098937459b4b5ca
Author: Keir Mierle <mierle@gmail.com>
Date:   Mon Feb 25 12:46:44 2013 -0800

    Add the number of effective parameters to the final report.
    
    Here is an example report, obtained by running:
    
      bin/Debug/bundle_adjuster \
      --input=../ceres-solver/data/problem-16-22106-pre.txt \
      --linear_solver=iterative_schur \
      --num_iterations=1 \
      --alsologtostderr \
      --use_local_parameterization \
      --use_quaternions
    
    Note that effective parameters is less than parameters by 16, which is the
    number of cameras. In this case the local parameterization has a 3 dimensional
    tangent space for the 4-dimensional quaternions.
    
    Ceres Solver Report
    -------------------
                                         Original                  Reduced
    Parameter blocks                        22138                    22138
    Parameters                              66478                    66478
    Effective parameters                    66462                    66462
    Residual blocks                         83718                    83718
    Residual                               167436                   167436
    
    Minimizer                        TRUST_REGION
    Trust Region Strategy     LEVENBERG_MARQUARDT
    
                                            Given                     Used
    Linear solver                 ITERATIVE_SCHUR          ITERATIVE_SCHUR
    Preconditioner                         JACOBI                   JACOBI
    Threads:                                    1                        1
    Linear solver threads                       1                        1
    Linear solver ordering              AUTOMATIC                22106, 32
    
    Cost:
    Initial                          4.185660e+06
    Final                            7.221647e+04
    Change                           4.113443e+06
    
    Number of iterations:
    Successful                                  1
    Unsuccessful                                0
    Total                                       1
    
    Time (in seconds):
    Preprocessor                            0.697
    
      Residual Evaluations                  0.063
      Jacobian Evaluations                 27.608
      Linear Solver                        13.360
    Minimizer                              43.973
    
    Postprocessor                           0.004
    Total                                  44.756
    
    Termination:                   NO_CONVERGENCE
    
    Change-Id: I6b6b8ac24f71bd187e67d95651290917642be74f

commit 36dc14ddf2fd53238c2ce21f172aa1989b31c0fd
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Mon Feb 25 10:33:10 2013 -0800

    Fix a clang warning
    
    Change-Id: I5ef32c6329f1f75efb30b16519b8de146a8339fa

commit 931c309b2734329ec6e5f0b88ce4a0b488ac47e5
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Mon Feb 25 09:46:21 2013 -0800

    Cleanup based on comments by William Rucklidge
    
    Change-Id: If269ba8e388965a8ea32260fd6f17a133a19ab9b

commit df36218c953e05d665df2cc96a6d7625e2307d97
Author: Taylor Braun-Jones <taylor@braun-jones.org>
Date:   Fri Feb 15 18:28:11 2013 -0500

    Add support for the CMake "LIB_SUFFIX" convention
    
    Allows `make install` to work correctly on e.g. 64-bit systems where the
    native libraries are installed to /usr/lib64
    
    Change-Id: I71b4fae7b459c003cb5fac981278c668f2e29779

commit 70701745b85fef7eeba2c978ae849fd48927699c
Author: Taylor Braun-Jones <taylor@braun-jones.org>
Date:   Fri Feb 15 19:09:48 2013 -0500

    Add RPM .spec file
    
    Tested on RHEL6.1 (with epel repository for dependencies).
    
    make_release checks that that the version string in the .spec file is in
    sync with the rest of the project and reminds the user to bump the
    release string if necessary and to build/upload the RPM package.
    
    Change-Id: I5f454f2a7301d1e0e120cb3c0e13a68d03bca917

commit d2a5195b512164fec286c6a52b40d7766977caa3
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Sun Feb 24 15:09:17 2013 -0800

    Version history update.
    
    Change-Id: I477ec05a78ca4cd735a525253c9b6adfa3bddea7

commit 2160c5b757c44206c6face6ca62d381f1db7a291
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Sun Feb 24 14:15:45 2013 -0800

    Minor release script fixes.
    
    Change-Id: Ifd0a7f4f584c85d4d9574eca46094b372a8d7aff

commit b53c9667f508c125b8aa833e7a063fa44ef8a98e
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Mon Feb 25 01:14:26 2013 +0600

    Solve No Previous Prototype GCC warning
    
    In some cases there were missing includes of own
    header files from implementation files.
    
    In other cases moved function which are only used
    within single file into an anonymous namespace.
    
    Change-Id: I2c6b411bcfbc521e2a5f21265dc8e009a548b1c8

commit 267ccc45a3e875bf87832a8ad615be690b4926d3
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Mon Feb 25 01:04:16 2013 +0600

    Fix for MinGW build on Windows
    
    GG_LONGLONG and GG_ULONGLONG shall use LL and ULL suffixes,
    since MinGW is actuall a GCC compiler.
    
    Solved by checking whether compilation happens with MinGW
    or not using standard MinGW's __MINGW32__ and __MINGW64__
    definitions.
    
    Change-Id: I789b34f6342a56ba42f4b280f7242700022ab7a1

commit 509f68cfe3fd13b794c4e67ff38c761407c858cf
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Wed Feb 20 01:39:03 2013 -0800

    Problem::Evaluate implementation.
    
    1. Add Problem::Evaluate and tests.
    2. Remove Solver::Summary::initial/final_*
    3. Remove Solver::Options::return_* members.
    4. Various cpplint cleanups.
    
    Change-Id: I4266de53489896f72d9c6798c5efde6748d68a47

commit d4a0bf86d688d1b68e00ff302858de5a4e0d9727
Author: Keir Mierle <mierle@gmail.com>
Date:   Sun Feb 24 10:35:44 2013 -0800

    Fix threading build on Windows.
    
    On Windows, including the "windows.h" header defines an enormous number of
    symbols; some of which are macros with common names. In particular, "ERROR" and
    "min" and "max" get defined. This causes clashes when user code references
    these names in a context other than the intended use in windows.h.
    
    To deal with this, the Microsoft engineers added the ability to control the
    definition of these symbols by adding extra defines. In particular, including
    windows.h in the following way
    
      #define NOGDI
      #define NOMINMAX
    
    will reduce the number of macros defined. This way they will not conflict with
    other uses in Ceres. For example, numeric_limits<double>::max() is impossible
    to call without defining NOMINMAX.
    
    Change-Id: I166f5d3bb6dc0e2e4b2ebf800fb19e49206f7874

commit beb4505311011130a7e54632137b0fbb5824cc9b
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Fri Feb 22 13:37:01 2013 -0800

    Minor fixes
    
    Based on William Rucklidge's review, including
    a nasty bug in parameter block removal.
    
    Change-Id: I3a692e589f600ff560ecae9fa85bb0b76063d403

commit 9a88bd7c4b40e2a1e0cd9b0dc09a3517c467e04e
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Tue Feb 19 13:09:12 2013 -0800

    Minor bug fixes
    
    Change-Id: I94e4521adf76a6c77db954c4a8955168e9d37b55

commit 956ed7e8f2054623615e6ae3601055d613897f26
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Tue Feb 19 07:06:15 2013 -0800

    Various minor fixes.
    
    1. Unused variable warnings and fixes.
    2. Minor documentation update.
    
    Change-Id: I815588a5806df1030a7c8750f4fb594c503f8998

commit 3e2c4ef9ad35e94198f4f3367b99fd91e26996a1
Author: Keir Mierle <mierle@gmail.com>
Date:   Sun Feb 17 12:37:55 2013 -0800

    Add adapters for column/row-major matrices to rotation.h
    
    This patch introduces a matrix wrapper (MatrixAdapter) that allows to
    transparently pass pointers to row-major or column-major matrices
    to the conversion functions.
    
    Change-Id: I7f1683a8722088cffcc542f593ce7eb46fca109b

commit 04938efe4bedec112083c5ceb227ba004f96bd01
Author: Keir Mierle <mierle@gmail.com>
Date:   Sun Feb 17 12:37:55 2013 -0800

    Add support for removing parameter and residual blocks.
    
    This adds support for removing parameter and residual blocks.
    There are two modes of operation: in the first, removals of
    paremeter blocks are expensive, since each remove requires
    scanning all residual blocks to find ones that depend on the
    removed parameter. In the other, extra memory is sacrificed to
    maintain a list of the residuals a parameter block depends on,
    removing the need to scan. In both cases, removing residual blocks
    is fast.
    
    As a caveat, any removals destroys the ordering of the parameters,
    so the residuals or jacobian returned from Solver::Solve() is
    meaningless. There is some debate on the best way to handle this;
    the details remain for a future change.
    
    This also adds some overhead, even in the case that fast removals
    are not requested:
    
    - 1 int32 to each residual, to track its position in the program.
    - 1 pointer to each parameter, to store the dependent residuals.
    
    Change-Id: I71dcac8656679329a15ee7fc12c0df07030c12af

commit fa21df8cd969bb257b87c9ef7c0147d8d5ea8725
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Mon Feb 18 08:48:52 2013 -0800

    Add script for building documentation.
    
    Update make_release
    
    Minor documentation fixes.
    
    Change-Id: I1248ec3f58be66b5929aee6f2aa392c15d53ed83

commit 290b975d1d4eba44205bbeb0fa6b3ce8a6fa4a0c
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Sun Feb 17 16:50:37 2013 -0800

    Preconditioner refactoring.
    
    1. Added a Preconditioner interface.
    2. SCHUR_JACOBI is now its own class and is independent of
    SuiteSparse.
    
    Change-Id: Id912ab19cf3736e61d1b90ddaf5bfba33e877ec4

commit d010de543530001fa917501a13ba02879c8ea52f
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Fri Feb 15 14:26:56 2013 -0800

    Solver::Summary::FullReport() supports line search now.
    
    Change-Id: Ib08d300198b85d9732cfb5785af4235ca4bd5226

commit fbbea464d1c9575d8224220d3e61f92d93fe9739
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Fri Feb 15 11:25:03 2013 -0800

    Update documentation.
    
    Change-Id: Idb03741fab9facbbbda85d5a82723f0b4c1c6c60

commit 8e1f83c4c457fb7238eb342eab744c5570b73c4d
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Fri Feb 15 08:35:40 2013 -0800

    Speed up Problem construction and destruction.
    
    Change-Id: I3147b0b60eedf40f8453d5a39ff04a572c445a2f

commit efb47f39c31f0ef1bb9c015c8c0d114153df6379
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Thu Feb 14 19:44:11 2013 -0800

    Documentation update
    
    Change-Id: I0fec43bff4fe0ea6cd2d2a8b34dac2330a517da0

commit be418a336cae5672111e0f6989e6d8d6c1fa24a6
Author: Markus Moll <markus.moll@esat.kuleuven.be>
Date:   Fri Feb 15 17:19:28 2013 +0100

    Fix evaluation of initial cost and corresponding test
    
    Commit f102a68e411d11b4864e17b69a2d781e9c2692ad seems to have introduced
    a bug in both solver_impl.cc and solver_impl_test.cc
    solver_impl_test showed 3 errors, where two were due to ceres NOT
    failing when the test expected that, and one was due to the initial cost
    being wrong (-1 instead of 0.5)
    Ceres now does not attempt to evaluate the initial cost if
    options.return_initial_xxx is not set. It therefore did not fail in
    the tests.
    It also seems that the CERES_EVALUATE macro erroneously always sets
    final_cost, even when called with 'initial' as argument.
    
    Change-Id: Ia3c3eeb476e7023a3f80b201124010d6c67e9824

commit 974513a41ff1ddc671d3dc6aa09ce708bbe447da
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Tue Feb 12 14:22:40 2013 -0800

    Bug fix in DynamicAutoDiffCostFunction
    
    Add handling of constant parameter blocks.
    
    Change-Id: I8b2ea79f47e190604fc4bed27705798240689f71

commit 3130b3cea4028c71d9ae18b7465d7627f29fef7d
Author: Keir Mierle <mierle@gmail.com>
Date:   Mon Feb 11 19:39:29 2013 -0800

    Add support for dynamic autodiff
    
    Change-Id: I17d573696172ab691a9653db99a620e4bc1bd0d0

commit c58e6dc3ea550302c8151003b17e9bc2a1acc316
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Mon Feb 11 16:41:06 2013 -0800

    More refined event logging in solver_impl.cc
    
    Change-Id: Ie3061c921c006d2600d16185c690f52ccf816f68

commit f102a68e411d11b4864e17b69a2d781e9c2692ad
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Mon Feb 11 15:08:40 2013 -0800

    Remove extraneous initial and final evals.
    
    Change-Id: I80ed87435f399cbf452c68be7ea1e7139696aa4a

commit 0593747ee09e21a9c0a2b604d51e21a6cdd21315
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Mon Feb 11 13:57:12 2013 -0800

    Fix a memory leak in cxsparse.cc
    
    Thanks to Alexander Mordvintsev for reporting it.
    
    Change-Id: Ia872be42ce80209e46722fc16a928496cf97e256

commit 0abfb8f46f534b05413bb4d64b960d6fd0a9befb
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Mon Feb 11 13:40:04 2013 -0800

    Delete the tex documentation.
    
    Change-Id: I15c78a8b33c5fd94941238814ac023a8fb251a20

commit 085cd4a6641c404334d17e5ea38f9e5b68a06ba7
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Wed Feb 6 14:31:07 2013 -0800

    Rewrite of the tutorial.
    
    1. Quicker starting point.
    2. Better discussion of derivatives.
    3. Better hyperlinking to code and class documentation.
    4. New robust estimation example.
    5. Better naming of example code.
    6. Removed dependency on gflags in all the core examples covered
       in the tutorial.
    
    Change-Id: Ibf3c7fe946fa2b4d22f8916a9366df267d34ca26

commit c0fdc9753909fc37fed2cb5e0fcc02fc65789d68
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Wed Feb 6 14:31:07 2013 -0800

    Update nist.cc to better evaluate results.
    
    Ceres beats Minpack and HBN handily.
    
    Change-Id: I7df8a47b753202ed0b53ab128ce48466bf9f8083

commit d91b671798125fd4889914d92a29cf0f7a5fef21
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Wed Feb 6 01:08:40 2013 -0800

    More small changes
    More small changes to the docs.
    
    1. Better landing page.
    2. Minor tweaks to the side bar.
    3. Reference to more example code.
    4. Local MathJax references.
    
    Change-Id: I39b9436dc2803732a875bbbee7f15802c4934031

commit 42a84b87fa5cc34551244a3b2b6a3e1f13a29514
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Fri Feb 1 12:22:53 2013 -0800

    Expand reporting of timing information.
    
    1. Add an ExecutionSummary object to record execution
       information about Ceres objects.
    2. Add an EventLogger object to log events in a function call.
    3. Add a ScopedExecutionTimer object to log times in ExecutionSummary.
    4. Instrument ProgramEvaluator and all the linear solvers
       to report their timing statistics.
    5. Connect the timing statistics to Summary::FullReport.
    6. Add high precision timer on unix systems using
       gettimeofday() call.
    7. Various minor clean ups all around.
    
    Change-Id: I5e09804b730b09535484124be7dbc1c58eccd1d4

commit 08c891fcb6ea1bf66e6d4619273765a644605dfc
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Mon Feb 4 20:18:58 2013 -0800

    Various small changes.
    
    1. Compact build instructions.
    2. Lots of small edits by Simon Fuhrmann.
    
    Change-Id: I8c0c67922021041dcf7f4ecdb6c6e6dd2e2fd7e5

commit e2e857ad6be322e9cf750d4b11ccf10800e57d96
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Mon Feb 4 19:40:45 2013 -0800

    Sidebar has global table of contents.
    
    Change-Id: I7fe9053868a4660b0db8d7607ee618fc30ddaefd

commit b9182147d96f865673c2756ced4cbb127ca082a3
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Mon Feb 4 17:55:25 2013 -0800

    Change the theme to be closer to ReadTheDocs.org
    
    Change-Id: I61a76f5b5e5c292b54fdf51b66940ce80bd1cd5f

commit 3d87b72c895835bbfc10965d50dc96608632114d
Author: Sameer Agarwal <sameeragarwal@google.com>
Date:   Sat Feb 2 00:49:31 2013 -0800

    Convert documentation from LaTeX to Sphinx.
    
    A live version of the doc can be found at
    
    http://homes.cs.washington.edu/~sagarwal/ceres-solver/
    
    As it stands, the documentation has better hyperlinking
    and coverage than the latex documentation now.
    
    Change-Id: I7ede3aa83b9b9ef25104caf331e5727b4f5beae5