Add residuals and jacobian getters to TinySolver. - Add methods to aceess the cached residuals and jacobian computed in the optimization process in TinySolver. Usage of such methods will retrieve the corresponding values associated with the converged parameter. - Reorder the Update() call to ensure that the jacobian/residuals associated with the converged parameter are computed and cached. Change-Id: If82e19d67d28b057833357f2c9a75b2d0fd139af
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.