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ceres-solver/ceres-solver/1c9fb46cc2ff410262dafdc533cc5837fb76e156
commit
1c9fb46cc2ff410262dafdc533cc5837fb76e156
[log]
author
Sameer Agarwal <sameeragarwal@google.com>
Mon Oct 19 16:55:37 2026 -0700
committer
Sameer Agarwal <sameeragarwal@google.com>
Mon Oct 19 18:24:52 2026 -0700
tree
23e6de157bca98d0930c1aa3a5d3601daf55a814
parent
0b629bd8964a81a5a900974bc158da5520d8678c [diff] 
Add FAQ on why CostFunctions should not return the norm of residuals

Explain why returning ||r(x)|| or ||r(x)||^2 from a CostFunction collapses the Gauss-Newton Hessian to rank 1 and causes non-differentiability or singular Jacobians at r(x) = 0.

Fixes https://github.com/ceres-solver/ceres-solver/issues/467

Change-Id: Id5437c724b414069e4788b8e363785a9976bd018
1 file changed
tree: 23e6de157bca98d0930c1aa3a5d3601daf55a814
  1. .github/
  2. bazel/
  3. cmake/
  4. config/
  5. data/
  6. docs/
  7. examples/
  8. include/
  9. internal/
  10. LICENSES/
  11. scripts/
  12. third_party/
  13. .bazelignore
  14. .clang-format
  15. .gitignore
  16. .gitmodules
  17. .readthedocs.yaml
  18. BUILD
  19. CITATION.cff
  20. CMakeLists.txt
  21. CONTRIBUTING.md
  22. LICENSE
  23. MODULE.bazel
  24. package.xml
  25. README.md
  26. REUSE.toml
  27. WORKSPACE
README.md

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Ceres Solver

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.

  1. Non-linear Least Squares problems with bounds constraints.
  2. General unconstrained optimization problems.

Please see ceres-solver.org for more information.