diff --git a/CITATION.cff b/CITATION.cff
index c8dfa36..08848f8 100644
--- a/CITATION.cff
+++ b/CITATION.cff
@@ -9,7 +9,7 @@
   given-names: Keir
 - name: The Ceres Solver Team
 version: 2.2
-date-released: 2023-10-09
+date-released: 2023-10-13
 license: Apache-2.0
 repository-code: https://github.com/ceres-solver/ceres-solver
 url: http://ceres-solver.org
diff --git a/docs/source/gradient_tutorial.rst b/docs/source/gradient_tutorial.rst
index 261a5e9..03bd7f1 100644
--- a/docs/source/gradient_tutorial.rst
+++ b/docs/source/gradient_tutorial.rst
@@ -76,67 +76,68 @@
 
 .. code-block:: bash
 
-     0: f: 2.420000e+01 d: 0.00e+00 g: 2.16e+02 h: 0.00e+00 s: 0.00e+00 e:  0 it: 2.29e-05 tt: 2.29e-05
-     1: f: 4.280493e+00 d: 1.99e+01 g: 1.52e+01 h: 2.01e-01 s: 8.62e-04 e:  2 it: 8.39e-05 tt: 1.62e-04
-     2: f: 3.571154e+00 d: 7.09e-01 g: 1.35e+01 h: 3.78e-01 s: 1.34e-01 e:  3 it: 2.22e-05 tt: 1.91e-04
-     3: f: 3.440869e+00 d: 1.30e-01 g: 1.73e+01 h: 1.36e-01 s: 1.00e+00 e:  1 it: 5.01e-06 tt: 2.01e-04
-     4: f: 3.213597e+00 d: 2.27e-01 g: 1.55e+01 h: 1.06e-01 s: 4.59e-01 e:  1 it: 3.81e-06 tt: 2.10e-04
-     5: f: 2.839723e+00 d: 3.74e-01 g: 1.05e+01 h: 1.34e-01 s: 5.24e-01 e:  1 it: 4.05e-06 tt: 2.19e-04
-     6: f: 2.448490e+00 d: 3.91e-01 g: 1.29e+01 h: 3.04e-01 s: 1.00e+00 e:  1 it: 5.01e-06 tt: 2.28e-04
-     7: f: 1.943019e+00 d: 5.05e-01 g: 4.00e+00 h: 8.81e-02 s: 7.43e-01 e:  1 it: 4.05e-06 tt: 2.36e-04
-     8: f: 1.731469e+00 d: 2.12e-01 g: 7.36e+00 h: 1.71e-01 s: 4.60e-01 e:  2 it: 1.22e-05 tt: 2.52e-04
-     9: f: 1.503267e+00 d: 2.28e-01 g: 6.47e+00 h: 8.66e-02 s: 1.00e+00 e:  1 it: 5.96e-06 tt: 2.66e-04
-    10: f: 1.228331e+00 d: 2.75e-01 g: 2.00e+00 h: 7.70e-02 s: 7.90e-01 e:  1 it: 4.05e-06 tt: 2.75e-04
-    11: f: 1.016523e+00 d: 2.12e-01 g: 5.15e+00 h: 1.39e-01 s: 3.76e-01 e:  2 it: 9.06e-06 tt: 2.88e-04
-    12: f: 9.145773e-01 d: 1.02e-01 g: 6.74e+00 h: 7.98e-02 s: 1.00e+00 e:  1 it: 5.01e-06 tt: 2.97e-04
-    13: f: 7.508302e-01 d: 1.64e-01 g: 3.88e+00 h: 5.76e-02 s: 4.93e-01 e:  1 it: 5.01e-06 tt: 3.05e-04
-    14: f: 5.832378e-01 d: 1.68e-01 g: 5.56e+00 h: 1.42e-01 s: 1.00e+00 e:  1 it: 4.77e-06 tt: 3.13e-04
-    15: f: 3.969581e-01 d: 1.86e-01 g: 1.64e+00 h: 1.17e-01 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 3.20e-04
-    16: f: 3.171557e-01 d: 7.98e-02 g: 3.84e+00 h: 1.18e-01 s: 3.97e-01 e:  2 it: 8.82e-06 tt: 3.33e-04
-    17: f: 2.641257e-01 d: 5.30e-02 g: 3.27e+00 h: 6.14e-02 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 3.42e-04
-    18: f: 1.909730e-01 d: 7.32e-02 g: 5.29e-01 h: 8.55e-02 s: 6.82e-01 e:  1 it: 1.00e-05 tt: 4.64e-04
-    19: f: 1.472012e-01 d: 4.38e-02 g: 3.11e+00 h: 1.20e-01 s: 3.47e-01 e:  2 it: 1.29e-05 tt: 4.87e-04
-    20: f: 1.093558e-01 d: 3.78e-02 g: 2.97e+00 h: 8.43e-02 s: 1.00e+00 e:  1 it: 5.01e-06 tt: 4.97e-04
-    21: f: 6.710346e-02 d: 4.23e-02 g: 1.42e+00 h: 9.64e-02 s: 8.85e-01 e:  1 it: 4.05e-06 tt: 5.06e-04
-    22: f: 3.993377e-02 d: 2.72e-02 g: 2.30e+00 h: 1.29e-01 s: 4.63e-01 e:  2 it: 1.00e-05 tt: 5.25e-04
-    23: f: 2.911794e-02 d: 1.08e-02 g: 2.55e+00 h: 6.55e-02 s: 1.00e+00 e:  1 it: 5.01e-06 tt: 5.34e-04
-    24: f: 1.457683e-02 d: 1.45e-02 g: 2.77e-01 h: 6.37e-02 s: 6.14e-01 e:  1 it: 4.05e-06 tt: 5.42e-04
-    25: f: 8.577515e-03 d: 6.00e-03 g: 2.86e+00 h: 1.40e-01 s: 1.00e+00 e:  1 it: 3.81e-06 tt: 5.49e-04
-    26: f: 3.486574e-03 d: 5.09e-03 g: 1.76e-01 h: 1.23e-02 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 5.57e-04
-    27: f: 1.257570e-03 d: 2.23e-03 g: 1.39e-01 h: 5.08e-02 s: 1.00e+00 e:  1 it: 3.81e-06 tt: 5.65e-04
-    28: f: 2.783568e-04 d: 9.79e-04 g: 6.20e-01 h: 6.47e-02 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 5.73e-04
-    29: f: 2.533399e-05 d: 2.53e-04 g: 1.68e-02 h: 1.98e-03 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 5.81e-04
-    30: f: 7.591572e-07 d: 2.46e-05 g: 5.40e-03 h: 9.27e-03 s: 1.00e+00 e:  1 it: 5.96e-06 tt: 6.30e-04
-    31: f: 1.902460e-09 d: 7.57e-07 g: 1.62e-03 h: 1.89e-03 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 6.39e-04
-    32: f: 1.003030e-12 d: 1.90e-09 g: 3.50e-05 h: 3.52e-05 s: 1.00e+00 e:  1 it: 3.81e-06 tt: 6.47e-04
-    33: f: 4.835994e-17 d: 1.00e-12 g: 1.05e-07 h: 1.13e-06 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 6.59e-04
-    34: f: 1.885250e-22 d: 4.84e-17 g: 2.69e-10 h: 1.45e-08 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 6.67e-04
+       0: f: 2.420000e+01 d: 0.00e+00 g: 2.16e+02 h: 0.00e+00 s: 0.00e+00 e:  0 it: 1.19e-05 tt: 1.19e-05
+       1: f: 4.280493e+00 d: 1.99e+01 g: 1.52e+01 h: 2.01e-01 s: 8.62e-04 e:  2 it: 7.30e-05 tt: 1.72e-04
+       2: f: 3.571154e+00 d: 7.09e-01 g: 1.35e+01 h: 3.78e-01 s: 1.34e-01 e:  3 it: 1.60e-05 tt: 1.93e-04
+       3: f: 3.440869e+00 d: 1.30e-01 g: 1.73e+01 h: 1.36e-01 s: 1.00e+00 e:  1 it: 9.54e-07 tt: 1.97e-04
+       4: f: 3.213597e+00 d: 2.27e-01 g: 1.55e+01 h: 1.06e-01 s: 4.59e-01 e:  1 it: 1.19e-06 tt: 2.00e-04
+       5: f: 2.839723e+00 d: 3.74e-01 g: 1.05e+01 h: 1.34e-01 s: 5.24e-01 e:  1 it: 9.54e-07 tt: 2.03e-04
+       6: f: 2.448490e+00 d: 3.91e-01 g: 1.29e+01 h: 3.04e-01 s: 1.00e+00 e:  1 it: 9.54e-07 tt: 2.05e-04
+       7: f: 1.943019e+00 d: 5.05e-01 g: 4.00e+00 h: 8.81e-02 s: 7.43e-01 e:  1 it: 9.54e-07 tt: 2.08e-04
+       8: f: 1.731469e+00 d: 2.12e-01 g: 7.36e+00 h: 1.71e-01 s: 4.60e-01 e:  2 it: 2.15e-06 tt: 2.11e-04
+       9: f: 1.503267e+00 d: 2.28e-01 g: 6.47e+00 h: 8.66e-02 s: 1.00e+00 e:  1 it: 9.54e-07 tt: 2.14e-04
+      10: f: 1.228331e+00 d: 2.75e-01 g: 2.00e+00 h: 7.70e-02 s: 7.90e-01 e:  1 it: 0.00e+00 tt: 2.16e-04
+      11: f: 1.016523e+00 d: 2.12e-01 g: 5.15e+00 h: 1.39e-01 s: 3.76e-01 e:  2 it: 1.91e-06 tt: 2.25e-04
+      12: f: 9.145773e-01 d: 1.02e-01 g: 6.74e+00 h: 7.98e-02 s: 1.00e+00 e:  1 it: 9.54e-07 tt: 2.28e-04
+      13: f: 7.508302e-01 d: 1.64e-01 g: 3.88e+00 h: 5.76e-02 s: 4.93e-01 e:  1 it: 9.54e-07 tt: 2.30e-04
+      14: f: 5.832378e-01 d: 1.68e-01 g: 5.56e+00 h: 1.42e-01 s: 1.00e+00 e:  1 it: 9.54e-07 tt: 2.33e-04
+      15: f: 3.969581e-01 d: 1.86e-01 g: 1.64e+00 h: 1.17e-01 s: 1.00e+00 e:  1 it: 1.19e-06 tt: 2.36e-04
+      16: f: 3.171557e-01 d: 7.98e-02 g: 3.84e+00 h: 1.18e-01 s: 3.97e-01 e:  2 it: 1.91e-06 tt: 2.39e-04
+      17: f: 2.641257e-01 d: 5.30e-02 g: 3.27e+00 h: 6.14e-02 s: 1.00e+00 e:  1 it: 1.19e-06 tt: 2.42e-04
+      18: f: 1.909730e-01 d: 7.32e-02 g: 5.29e-01 h: 8.55e-02 s: 6.82e-01 e:  1 it: 9.54e-07 tt: 2.45e-04
+      19: f: 1.472012e-01 d: 4.38e-02 g: 3.11e+00 h: 1.20e-01 s: 3.47e-01 e:  2 it: 1.91e-06 tt: 2.49e-04
+      20: f: 1.093558e-01 d: 3.78e-02 g: 2.97e+00 h: 8.43e-02 s: 1.00e+00 e:  1 it: 2.15e-06 tt: 2.52e-04
+      21: f: 6.710346e-02 d: 4.23e-02 g: 1.42e+00 h: 9.64e-02 s: 8.85e-01 e:  1 it: 8.82e-06 tt: 2.81e-04
+      22: f: 3.993377e-02 d: 2.72e-02 g: 2.30e+00 h: 1.29e-01 s: 4.63e-01 e:  2 it: 7.87e-06 tt: 2.96e-04
+      23: f: 2.911794e-02 d: 1.08e-02 g: 2.55e+00 h: 6.55e-02 s: 1.00e+00 e:  1 it: 9.54e-07 tt: 3.00e-04
+      24: f: 1.457683e-02 d: 1.45e-02 g: 2.77e-01 h: 6.37e-02 s: 6.14e-01 e:  1 it: 1.19e-06 tt: 3.03e-04
+      25: f: 8.577515e-03 d: 6.00e-03 g: 2.86e+00 h: 1.40e-01 s: 1.00e+00 e:  1 it: 9.54e-07 tt: 3.06e-04
+      26: f: 3.486574e-03 d: 5.09e-03 g: 1.76e-01 h: 1.23e-02 s: 1.00e+00 e:  1 it: 1.19e-06 tt: 3.09e-04
+      27: f: 1.257570e-03 d: 2.23e-03 g: 1.39e-01 h: 5.08e-02 s: 1.00e+00 e:  1 it: 9.54e-07 tt: 3.12e-04
+      28: f: 2.783568e-04 d: 9.79e-04 g: 6.20e-01 h: 6.47e-02 s: 1.00e+00 e:  1 it: 9.54e-07 tt: 3.15e-04
+      29: f: 2.533399e-05 d: 2.53e-04 g: 1.68e-02 h: 1.98e-03 s: 1.00e+00 e:  1 it: 9.54e-07 tt: 3.17e-04
+      30: f: 7.591572e-07 d: 2.46e-05 g: 5.40e-03 h: 9.27e-03 s: 1.00e+00 e:  1 it: 9.54e-07 tt: 3.20e-04
+      31: f: 1.902460e-09 d: 7.57e-07 g: 1.62e-03 h: 1.89e-03 s: 1.00e+00 e:  1 it: 9.54e-07 tt: 3.23e-04
+      32: f: 1.003030e-12 d: 1.90e-09 g: 3.50e-05 h: 3.52e-05 s: 1.00e+00 e:  1 it: 9.54e-07 tt: 3.26e-04
+      33: f: 4.835994e-17 d: 1.00e-12 g: 1.05e-07 h: 1.13e-06 s: 1.00e+00 e:  1 it: 1.19e-06 tt: 3.34e-04
+      34: f: 1.885250e-22 d: 4.84e-17 g: 2.69e-10 h: 1.45e-08 s: 1.00e+00 e:  1 it: 9.54e-07 tt: 3.37e-04
 
-  Solver Summary (v 2.1.0-eigen-(3.4.0)-lapack-suitesparse-(5.10.1)-cxsparse-(3.2.0)-acceleratesparse-eigensparse-no_openmp)
+    Solver Summary (v 2.2.0-eigen-(3.4.0)-lapack-suitesparse-(7.1.0)-metis-(5.1.0)-acceleratesparse-eigensparse)
 
-  Parameters                                  2
-  Line search direction              LBFGS (20)
-  Line search type                  CUBIC WOLFE
+    Parameters                                  2
+    Line search direction              LBFGS (20)
+    Line search type                  CUBIC WOLFE
 
 
-  Cost:
-  Initial                          2.420000e+01
-  Final                            1.955192e-27
-  Change                           2.420000e+01
+    Cost:
+    Initial                          2.420000e+01
+    Final                            1.955192e-27
+    Change                           2.420000e+01
 
-  Minimizer iterations                       36
+    Minimizer iterations                       36
 
-  Time (in seconds):
+    Time (in seconds):
 
-    Cost evaluation                    0.000000 (0)
-    Gradient & cost evaluation         0.000005 (44)
-    Polynomial minimization            0.000041
-  Total                                0.000368
+      Cost evaluation                    0.000000 (0)
+      Gradient & cost evaluation         0.000000 (44)
+      Polynomial minimization            0.000061
+    Total                                0.000438
 
-  Termination:                      CONVERGENCE (Parameter tolerance reached. Relative step_norm: 1.890726e-11 <= 1.000000e-08.)
+    Termination:                      CONVERGENCE (Parameter tolerance reached. Relative step_norm: 1.890726e-11 <= 1.000000e-08.)
 
-  Initial x: -1.2 y: 1
-  Final   x: 1 y: 1
+    Initial x: -1.2 y: 1
+    Final   x: 1 y: 1
+
 
 
 
diff --git a/docs/source/installation.rst b/docs/source/installation.rst
index 19c5716..4feb1a4 100644
--- a/docs/source/installation.rst
+++ b/docs/source/installation.rst
@@ -185,54 +185,54 @@
 .. code-block:: bash
 
     iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
-       0  4.185660e+06    0.00e+00    1.09e+08   0.00e+00   0.00e+00  1.00e+04       0    7.59e-02    3.37e-01
-       1  1.062590e+05    4.08e+06    8.99e+06   5.36e+02   9.82e-01  3.00e+04       1    1.65e-01    5.03e-01
-       2  4.992817e+04    5.63e+04    8.32e+06   3.19e+02   6.52e-01  3.09e+04       1    1.45e-01    6.48e-01
-       3  1.899774e+04    3.09e+04    1.60e+06   1.24e+02   9.77e-01  9.26e+04       1    1.43e-01    7.92e-01
-       4  1.808729e+04    9.10e+02    3.97e+05   6.39e+01   9.51e-01  2.78e+05       1    1.45e-01    9.36e-01
-       5  1.803399e+04    5.33e+01    1.48e+04   1.23e+01   9.99e-01  8.33e+05       1    1.45e-01    1.08e+00
-       6  1.803390e+04    9.02e-02    6.35e+01   8.00e-01   1.00e+00  2.50e+06       1    1.50e-01    1.23e+00
+       0  4.185660e+06    0.00e+00    1.09e+08   0.00e+00   0.00e+00  1.00e+04        0    2.18e-02    6.57e-02
+       1  1.062590e+05    4.08e+06    8.99e+06   0.00e+00   9.82e-01  3.00e+04        1    5.07e-02    1.16e-01
+       2  4.992817e+04    5.63e+04    8.32e+06   3.19e+02   6.52e-01  3.09e+04        1    4.75e-02    1.64e-01
+       3  1.899774e+04    3.09e+04    1.60e+06   1.24e+02   9.77e-01  9.26e+04        1    4.74e-02    2.11e-01
+       4  1.808729e+04    9.10e+02    3.97e+05   6.39e+01   9.51e-01  2.78e+05        1    4.75e-02    2.59e-01
+       5  1.803399e+04    5.33e+01    1.48e+04   1.23e+01   9.99e-01  8.33e+05        1    4.74e-02    3.06e-01
+       6  1.803390e+04    9.02e-02    6.35e+01   8.00e-01   1.00e+00  2.50e+06        1    4.76e-02    3.54e-01
 
-  Solver Summary (v 2.2.0-eigen-(3.4.0)-lapack-suitesparse-(5.10.1)-acceleratesparse-eigensparse-no_openmp)
+    Solver Summary (v 2.2.0-eigen-(3.4.0)-lapack-suitesparse-(7.1.0)-metis-(5.1.0)-acceleratesparse-eigensparse)
 
-				       Original                  Reduced
-  Parameter blocks                        22122                    22122
-  Parameters                              66462                    66462
-  Residual blocks                         83718                    83718
-  Residuals                              167436                   167436
+                                         Original                  Reduced
+    Parameter blocks                        22122                    22122
+    Parameters                              66462                    66462
+    Residual blocks                         83718                    83718
+    Residuals                              167436                   167436
 
-  Minimizer                        TRUST_REGION
+    Minimizer                        TRUST_REGION
 
-  Dense linear algebra library            EIGEN
-  Trust region strategy     LEVENBERG_MARQUARDT
+    Dense linear algebra library            EIGEN
+    Trust region strategy     LEVENBERG_MARQUARDT
+                                            Given                     Used
+    Linear solver                     DENSE_SCHUR              DENSE_SCHUR
+    Threads                                     1                        1
+    Linear solver ordering              AUTOMATIC                 22106,16
+    Schur structure                         2,3,9                    2,3,9
 
-					  Given                     Used
-  Linear solver                     DENSE_SCHUR              DENSE_SCHUR
-  Threads                                     1                        1
-  Linear solver ordering              AUTOMATIC                 22106,16
-  Schur structure                         2,3,9                    2,3,9
+    Cost:
+    Initial                          4.185660e+06
+    Final                            1.803390e+04
+    Change                           4.167626e+06
 
-  Cost:
-  Initial                          4.185660e+06
-  Final                            1.803390e+04
-  Change                           4.167626e+06
+    Minimizer iterations                        7
+    Successful steps                            7
+    Unsuccessful steps                          0
 
-  Minimizer iterations                        7
-  Successful steps                            7
-  Unsuccessful steps                          0
+    Time (in seconds):
+    Preprocessor                         0.043895
 
-  Time (in seconds):
-  Preprocessor                         0.121654
+      Residual only evaluation           0.029855 (7)
+      Jacobian & residual evaluation     0.120581 (7)
+      Linear solver                      0.153665 (7)
+    Minimizer                            0.339275
 
-    Residual only evaluation           0.065968 (7)
-    Jacobian & residual evaluation     0.303356 (7)
-    Linear solver                      0.436650 (7)
-  Minimizer                            0.890535
+    Postprocessor                        0.000540
+    Total                                0.383710
 
-  Postprocessor                        0.001684
-  Total                                1.013873
+    Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769759e-09 <= 1.000000e-06)
 
-  Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769756e-09 <= 1.000000e-06)
 
 .. section-macos:
 
diff --git a/docs/source/nnls_tutorial.rst b/docs/source/nnls_tutorial.rst
index 3268e71..66728e0 100644
--- a/docs/source/nnls_tutorial.rst
+++ b/docs/source/nnls_tutorial.rst
@@ -379,62 +379,65 @@
 
     Initial x1 = 3, x2 = -1, x3 = 0, x4 = 1
     iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
-       0  1.075000e+02    0.00e+00    1.55e+02   0.00e+00   0.00e+00  1.00e+04       0    4.95e-04    2.30e-03
-       1  5.036190e+00    1.02e+02    2.00e+01   2.16e+00   9.53e-01  3.00e+04       1    4.39e-05    2.40e-03
-       2  3.148168e-01    4.72e+00    2.50e+00   6.23e-01   9.37e-01  9.00e+04       1    9.06e-06    2.43e-03
-       3  1.967760e-02    2.95e-01    3.13e-01   3.08e-01   9.37e-01  2.70e+05       1    8.11e-06    2.45e-03
-       4  1.229900e-03    1.84e-02    3.91e-02   1.54e-01   9.37e-01  8.10e+05       1    6.91e-06    2.48e-03
-       5  7.687123e-05    1.15e-03    4.89e-03   7.69e-02   9.37e-01  2.43e+06       1    7.87e-06    2.50e-03
-       6  4.804625e-06    7.21e-05    6.11e-04   3.85e-02   9.37e-01  7.29e+06       1    5.96e-06    2.52e-03
-       7  3.003028e-07    4.50e-06    7.64e-05   1.92e-02   9.37e-01  2.19e+07       1    5.96e-06    2.55e-03
-       8  1.877006e-08    2.82e-07    9.54e-06   9.62e-03   9.37e-01  6.56e+07       1    5.96e-06    2.57e-03
-       9  1.173223e-09    1.76e-08    1.19e-06   4.81e-03   9.37e-01  1.97e+08       1    7.87e-06    2.60e-03
-      10  7.333425e-11    1.10e-09    1.49e-07   2.40e-03   9.37e-01  5.90e+08       1    6.20e-06    2.63e-03
-      11  4.584044e-12    6.88e-11    1.86e-08   1.20e-03   9.37e-01  1.77e+09       1    6.91e-06    2.65e-03
-      12  2.865573e-13    4.30e-12    2.33e-09   6.02e-04   9.37e-01  5.31e+09       1    5.96e-06    2.67e-03
-      13  1.791438e-14    2.69e-13    2.91e-10   3.01e-04   9.37e-01  1.59e+10       1    7.15e-06    2.69e-03
+       0  1.075000e+02    0.00e+00    1.55e+02   0.00e+00   0.00e+00  1.00e+04        0    2.91e-05    3.40e-04
+       1  5.036190e+00    1.02e+02    2.00e+01   0.00e+00   9.53e-01  3.00e+04        1    4.98e-05    3.99e-04
+       2  3.148168e-01    4.72e+00    2.50e+00   6.23e-01   9.37e-01  9.00e+04        1    2.15e-06    4.06e-04
+       3  1.967760e-02    2.95e-01    3.13e-01   3.08e-01   9.37e-01  2.70e+05        1    9.54e-07    4.10e-04
+       4  1.229900e-03    1.84e-02    3.91e-02   1.54e-01   9.37e-01  8.10e+05        1    1.91e-06    4.14e-04
+       5  7.687123e-05    1.15e-03    4.89e-03   7.69e-02   9.37e-01  2.43e+06        1    1.91e-06    4.18e-04
+       6  4.804625e-06    7.21e-05    6.11e-04   3.85e-02   9.37e-01  7.29e+06        1    1.19e-06    4.21e-04
+       7  3.003028e-07    4.50e-06    7.64e-05   1.92e-02   9.37e-01  2.19e+07        1    1.91e-06    4.25e-04
+       8  1.877006e-08    2.82e-07    9.54e-06   9.62e-03   9.37e-01  6.56e+07        1    9.54e-07    4.28e-04
+       9  1.173223e-09    1.76e-08    1.19e-06   4.81e-03   9.37e-01  1.97e+08        1    9.54e-07    4.32e-04
+      10  7.333425e-11    1.10e-09    1.49e-07   2.40e-03   9.37e-01  5.90e+08        1    9.54e-07    4.35e-04
+      11  4.584044e-12    6.88e-11    1.86e-08   1.20e-03   9.37e-01  1.77e+09        1    9.54e-07    4.38e-04
+      12  2.865573e-13    4.30e-12    2.33e-09   6.02e-04   9.37e-01  5.31e+09        1    2.15e-06    4.42e-04
+      13  1.791438e-14    2.69e-13    2.91e-10   3.01e-04   9.37e-01  1.59e+10        1    1.91e-06    4.45e-04
+      14  1.120029e-15    1.68e-14    3.64e-11   1.51e-04   9.37e-01  4.78e+10        1    2.15e-06    4.48e-04
 
-    Ceres Solver v1.12.0 Solve Report
-    ----------------------------------
+    Solver Summary (v 2.2.0-eigen-(3.4.0)-lapack-suitesparse-(7.1.0)-metis-(5.1.0)-acceleratesparse-eigensparse)
+
                                          Original                  Reduced
     Parameter blocks                            4                        4
     Parameters                                  4                        4
     Residual blocks                             4                        4
-    Residual                                    4                        4
+    Residuals                                   4                        4
 
     Minimizer                        TRUST_REGION
 
     Dense linear algebra library            EIGEN
     Trust region strategy     LEVENBERG_MARQUARDT
-
                                             Given                     Used
     Linear solver                        DENSE_QR                 DENSE_QR
     Threads                                     1                        1
-    Linear solver threads                       1                        1
+    Linear solver ordering              AUTOMATIC                        4
 
     Cost:
     Initial                          1.075000e+02
-    Final                            1.791438e-14
+    Final                            1.120029e-15
     Change                           1.075000e+02
 
-    Minimizer iterations                       14
-    Successful steps                           14
+    Minimizer iterations                       15
+    Successful steps                           15
     Unsuccessful steps                          0
 
     Time (in seconds):
-    Preprocessor                            0.002
+    Preprocessor                         0.000311
 
-      Residual evaluation                   0.000
-      Jacobian evaluation                   0.000
-      Linear solver                         0.000
-    Minimizer                               0.001
+      Residual only evaluation           0.000002 (14)
+      Jacobian & residual evaluation     0.000023 (15)
+      Linear solver                      0.000043 (14)
+    Minimizer                            0.000163
 
-    Postprocessor                           0.000
-    Total                                   0.005
+    Postprocessor                        0.000012
+    Total                                0.000486
 
     Termination:                      CONVERGENCE (Gradient tolerance reached. Gradient max norm: 3.642190e-11 <= 1.000000e-10)
 
-    Final x1 = 0.000292189, x2 = -2.92189e-05, x3 = 4.79511e-05, x4 = 4.79511e-05
+    Final x1 = 0.000146222, x2 = -1.46222e-05, x3 = 2.40957e-05, x4 = 2.40957e-05
+
+
+
 
 It is easy to see that the optimal solution to this problem is at
 :math:`x_1=0, x_2=0, x_3=0, x_4=0` with an objective function value of
@@ -864,23 +867,23 @@
    measurement and the predicted measurement is:
 
    .. math:: r_{ab} =
-	     \left[
-	     \begin{array}{c}
-	       R_a^T\left(p_b - p_a\right) - \hat{p}_{ab} \\
-	       \mathrm{Normalize}\left(\psi_b - \psi_a - \hat{\psi}_{ab}\right)
-	     \end{array}
-	     \right]
+             \left[
+             \begin{array}{c}
+               R_a^T\left(p_b - p_a\right) - \hat{p}_{ab} \\
+               \mathrm{Normalize}\left(\psi_b - \psi_a - \hat{\psi}_{ab}\right)
+             \end{array}
+             \right]
 
    where the function :math:`\mathrm{Normalize}()` normalizes the angle in the range
    :math:`[-\pi,\pi)`, and :math:`R` is the rotation matrix given by
 
    .. math:: R_a =
-	     \left[
-	     \begin{array}{cc}
-	       \cos \psi_a & -\sin \psi_a \\
-	       \sin \psi_a & \cos \psi_a \\
-	     \end{array}
-	     \right]
+             \left[
+             \begin{array}{cc}
+               \cos \psi_a & -\sin \psi_a \\
+               \sin \psi_a & \cos \psi_a \\
+             \end{array}
+             \right]
 
    To finish the cost function, we need to weight the residual by the
    uncertainty of the measurement. Hence, we pre-multiply the residual by the
diff --git a/docs/source/version_history.rst b/docs/source/version_history.rst
index c3e1e8d..50f8353 100644
--- a/docs/source/version_history.rst
+++ b/docs/source/version_history.rst
@@ -50,6 +50,7 @@
 
 Bug Fixes & Minor Changes
 -------------------------
+#. Optimize the computation of the LM diagonal in TinySolver
 #. Improvements to multi-threaded performance for small problems that
    had regressed due to changes to threading (Dmitrity Korchemkin)
 #. Fix handling of M_PI for MSVC (Sergiu Deitsch)