| commit | 030b41dd0e8aac4ffcee69550bcf659802ec48a6 | [log] [tgz] |
|---|---|---|
| author | Sameer Agarwal <sameeragarwal@google.com> | Sat Oct 21 22:33:55 2017 -0700 |
| committer | Sameer Agarwal <sameeragarwal@google.com> | Sun Oct 22 21:40:49 2017 -0700 |
| tree | 56bfc550caee1311df7a2da1ed1b90a9875499a2 | |
| parent | dc9bf012c40193dc13fa9e0f72750a341b1f68b1 [diff] |
Improve compatibility with ceres::Solver
1. Default linear solver is Eigen::LDLT
2. Options::max_iterations -> Options::max_num_iterations
3. Options::error_threshold -> Options::cost_threshold
4. Options::relative_step_threshold -> Options::parameter_threshold
5. Options::initial_scale_factor -> Options::initial_trust_region_radius
6. The default values of the above parameters have been changed
to match those in ceres::Solver::Options
7. Status::RUNNING has been removed
8. Update now returns a bool instead of a Status enum and
the status handling has been included in the main loop.
9. Summary::gradient_norm has been changed to Summary::gradient_max_norm
to match the convergence test
10. A member variable cost_ has been added which is computed by Update
11. The test for parameter_tolerance based convergence is made
more robust near zero.
12. Use of double has been replaced by Scalar.
13. Minor clang-formatting
Change-Id: I3cb0e2fd0a0204476bb8718761dc740cdf5e42ce
Ceres Solver is an open source C++ library for modeling and solving large, complicated optimization problems. It is a feature rich, mature and performant library which has been used in production at Google since 2010. Ceres Solver can solve two kinds of problems.
Please see ceres-solver.org for more information.
Ceres development happens on Gerrit, including both repository hosting and code reviews. The GitHub Repository is a continuously updated mirror which is primarily meant for issue tracking. Please see our Contributing to Ceres Guide for more details.
The upstream Gerrit repository is
https://ceres-solver.googlesource.com/ceres-solver