Rework Ceres documentation as new website
This reworks the Ceres Sphinx documentation such that it can
function as the main Ceres website, now hosted at
ceres-solver.org. This also changes to the theme sphinx_rtd_theme
used by Read The Docs; this theme has strong mobile support and is
well enough designed.
Change-Id: I63232d985859a6dac94ff58f08bf81eb2b9e7f99
diff --git a/docs/source/_templates/layout.html b/docs/source/_templates/layout.html
new file mode 100644
index 0000000..61c8eb5
--- /dev/null
+++ b/docs/source/_templates/layout.html
@@ -0,0 +1,13 @@
+{% extends "!layout.html" %}
+
+{% block footer %}
+{{ super() }}
+<script>
+ (function(i,s,o,g,r,a,m){i['GoogleAnalyticsObject']=r;i[r]=i[r]||function(){
+ (i[r].q=i[r].q||[]).push(arguments)},i[r].l=1*new Date();a=s.createElement(o),
+ m=s.getElementsByTagName(o)[0];a.async=1;a.src=g;m.parentNode.insertBefore(a,m)
+ })(window,document,'script','//www.google-analytics.com/analytics.js','ga');
+ ga('create', 'UA-49769510-1', 'ceres-solver.org');
+ ga('send', 'pageview');
+</script>
+{% endblock %}
diff --git a/docs/source/_themes/armstrong/LICENSE b/docs/source/_themes/armstrong/LICENSE
deleted file mode 100644
index 894aa01..0000000
--- a/docs/source/_themes/armstrong/LICENSE
+++ /dev/null
@@ -1,26 +0,0 @@
-Copyright (c) 2011 Bay Citizen & Texas Tribune
-
-Original ReadTheDocs.org code
-Copyright (c) 2010 Charles Leifer, Eric Holscher, Bobby Grace
-
-Permission is hereby granted, free of charge, to any person
-obtaining a copy of this software and associated documentation
-files (the "Software"), to deal in the Software without
-restriction, including without limitation the rights to use,
-copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the
-Software is furnished to do so, subject to the following
-conditions:
-
-The above copyright notice and this permission notice shall be
-included in all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
-OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
-HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
-WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
-OTHER DEALINGS IN THE SOFTWARE.
-
diff --git a/docs/source/_themes/armstrong/globaltoc.html b/docs/source/_themes/armstrong/globaltoc.html
deleted file mode 100644
index 68d82fa..0000000
--- a/docs/source/_themes/armstrong/globaltoc.html
+++ /dev/null
@@ -1,11 +0,0 @@
-{#
- basic/globaltoc.html
- ~~~~~~~~~~~~~~~~~~~~
-
- Sphinx sidebar template: global table of contents.
-
- :copyright: Copyright 2007-2011 by the Sphinx team, see AUTHORS.
- :license: BSD, see LICENSE for details.
-#}
-<h3><a href="{{ pathto(master_doc) }}">{{ _('Ceres Solver') }}</a></h3>
-{{ toctree(includehidden=True) }}
diff --git a/docs/source/_themes/armstrong/layout.html b/docs/source/_themes/armstrong/layout.html
deleted file mode 100644
index 3faa34c..0000000
--- a/docs/source/_themes/armstrong/layout.html
+++ /dev/null
@@ -1,80 +0,0 @@
-{% extends "basic/layout.html" %}
-
-{% set script_files = script_files + [pathto("_static/searchtools.js", 1)] %}
-
-{% block htmltitle %}
-{{ super() }}
-
-<meta name="viewport" content="width=device-width; initial-scale=1.0; maximum-scale=1.0; user-scalable=0;"/>
-
-{% endblock %}
-
-
-{%- macro sidebar() %}
- {%- if render_sidebar %}
- <div class="sphinxsidebar">
- <div class="sphinxsidebarwrapper">
- {%- block sidebarlogo %}
- {%- if logo %}
- <p class="logo"><a href="{{ pathto(master_doc) }}">
- <img class="logo" src="{{ pathto('_static/' + logo, 1) }}" alt="Logo"/>
- </a></p>
- {%- endif %}
- {%- endblock %}
- {%- if sidebars != None %}
- {#- new style sidebar: explicitly include/exclude templates #}
- {%- for sidebartemplate in sidebars %}
- {%- include sidebartemplate %}
- {%- endfor %}
- {%- else %}
- {#- old style sidebars: using blocks -- should be deprecated #}
- {%- block sidebartoc %}
- {%- include "globaltoc.html" %}
- {%- endblock %}
- {%- block sidebarsourcelink %}
- {%- include "sourcelink.html" %}
- {%- endblock %}
- {%- if customsidebar %}
- {%- include customsidebar %}
- {%- endif %}
- {%- block sidebarsearch %}
- {%- include "searchbox.html" %}
- {%- endblock %}
- {%- endif %}
- </div>
- </div>
- {%- endif %}
-{%- endmacro %}
-
-
-{% block footer %}
-<div class="footer">
-{%- if show_copyright %}
- {%- if hasdoc('copyright') %}
- {% trans path=pathto('copyright'), copyright=copyright|e %}© <a href="{{ path }}">Copyright</a> {{ copyright }}.{% endtrans %}
- {%- else %}
- {% trans copyright=copyright|e %}© Copyright {{ copyright }}.{% endtrans %}
- {%- endif %}
-{%- endif %}
-{%- if last_updated %}
- {% trans last_updated=last_updated|e %}Last updated on {{ last_updated }}.{% endtrans %}
-{%- endif %}
-</div>
-
-
-{% if theme_analytics_code %}
-<!-- Google Analytics Code -->
-<script type="text/javascript">
- var _gaq = _gaq || [];
- _gaq.push(['_setAccount', '{{ theme_analytics_code }}']);
- _gaq.push(['_trackPageview']);
-
- (function() {
- var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true;
- ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js';
- var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s);
- })();
-</script>
-{% endif %}
-
-{% endblock %}
diff --git a/docs/source/_themes/armstrong/rtd-themes.conf b/docs/source/_themes/armstrong/rtd-themes.conf
deleted file mode 100644
index 5930488..0000000
--- a/docs/source/_themes/armstrong/rtd-themes.conf
+++ /dev/null
@@ -1,65 +0,0 @@
-[theme]
-inherit = default
-stylesheet = rtd.css
-pygment_style = default
-show_sphinx = False
-
-[options]
-show_rtd = True
-
-white = #ffffff
-almost_white = #f8f8f8
-barely_white = #f2f2f2
-dirty_white = #eeeeee
-almost_dirty_white = #e6e6e6
-dirtier_white = #dddddd
-lighter_gray = #cccccc
-gray_a = #aaaaaa
-gray_9 = #999999
-light_gray = #888888
-gray_7 = #777777
-gray = #666666
-dark_gray = #444444
-gray_2 = #222222
-black = #111111
-light_color = #e8ecef
-light_medium_color = #DDEAF0
-medium_color = #8ca1af
-medium_color_link = #86989b
-medium_color_link_hover = #a6b8bb
-dark_color = #465158
-
-h1 = #000000
-h2 = #465158
-h3 = #6c818f
-
-link_color = #444444
-link_color_decoration = #CCCCCC
-
-medium_color_hover = #697983
-green_highlight = #8ecc4c
-
-
-positive_dark = #609060
-positive_medium = #70a070
-positive_light = #e9ffe9
-
-negative_dark = #900000
-negative_medium = #b04040
-negative_light = #ffe9e9
-negative_text = #c60f0f
-
-ruler = #abc
-
-viewcode_bg = #f4debf
-viewcode_border = #ac9
-
-highlight = #ffe080
-
-code_background = #eeeeee
-
-background = #465158
-background_link = #ffffff
-background_link_half = #ffffff
-background_text = #eeeeee
-background_text_link = #86989b
diff --git a/docs/source/_themes/armstrong/static/rtd.css_t b/docs/source/_themes/armstrong/static/rtd.css_t
deleted file mode 100644
index 90354c3..0000000
--- a/docs/source/_themes/armstrong/static/rtd.css_t
+++ /dev/null
@@ -1,781 +0,0 @@
-/*
- * rtd.css
- * ~~~~~~~~~~~~~~~
- *
- * Sphinx stylesheet -- sphinxdoc theme. Originally created by
- * Armin Ronacher for Werkzeug.
- *
- * Customized for ReadTheDocs by Eric Pierce & Eric Holscher
- *
- * :copyright: Copyright 2007-2010 by the Sphinx team, see AUTHORS.
- * :license: BSD, see LICENSE for details.
- *
- */
-
-/* RTD colors
- * light blue: {{ theme_light_color }}
- * medium blue: {{ theme_medium_color }}
- * dark blue: {{ theme_dark_color }}
- * dark grey: {{ theme_grey_color }}
- *
- * medium blue hover: {{ theme_medium_color_hover }};
- * green highlight: {{ theme_green_highlight }}
- * light blue (project bar): {{ theme_light_color }}
- */
-
-@import url("basic.css");
-
-/* PAGE LAYOUT -------------------------------------------------------------- */
-
-body {
- font: 100%/1.5 "ff-meta-web-pro-1","ff-meta-web-pro-2",Arial,"Helvetica Neue",sans-serif;
- text-align: center;
- color: black;
- background-color: {{ theme_background }};
- padding: 0;
- margin: 0;
-}
-
-div.document {
- text-align: left;
- background-color: {{ theme_light_color }};
-}
-
-div.bodywrapper {
- background-color: {{ theme_white }};
- border-left: 1px solid {{ theme_lighter_gray }};
- border-bottom: 1px solid {{ theme_lighter_gray }};
- margin: 0 0 0 16em;
-}
-
-div.body {
- margin: 0;
- padding: 0.5em 1.3em;
- max-width: 55em;
- min-width: 20em;
-}
-
-div.related {
- font-size: 1em;
- background-color: {{ theme_background }};
-}
-
-div.documentwrapper {
- float: left;
- width: 100%;
- background-color: {{ theme_light_color }};
-}
-
-
-/* HEADINGS --------------------------------------------------------------- */
-
-h1 {
- margin: 0;
- padding: 0.7em 0 0.3em 0;
- font-size: 1.5em;
- line-height: 1.15;
- color: {{ theme_h1 }};
- clear: both;
-}
-
-h2 {
- margin: 2em 0 0.2em 0;
- font-size: 1.35em;
- padding: 0;
- color: {{ theme_h2 }};
-}
-
-h3 {
- margin: 1em 0 -0.3em 0;
- font-size: 1.2em;
- color: {{ theme_h3 }};
-}
-
-div.body h1 a, div.body h2 a, div.body h3 a, div.body h4 a, div.body h5 a, div.body h6 a {
- color: black;
-}
-
-h1 a.anchor, h2 a.anchor, h3 a.anchor, h4 a.anchor, h5 a.anchor, h6 a.anchor {
- display: none;
- margin: 0 0 0 0.3em;
- padding: 0 0.2em 0 0.2em;
- color: {{ theme_gray_a }} !important;
-}
-
-h1:hover a.anchor, h2:hover a.anchor, h3:hover a.anchor, h4:hover a.anchor,
-h5:hover a.anchor, h6:hover a.anchor {
- display: inline;
-}
-
-h1 a.anchor:hover, h2 a.anchor:hover, h3 a.anchor:hover, h4 a.anchor:hover,
-h5 a.anchor:hover, h6 a.anchor:hover {
- color: {{ theme_gray_7 }};
- background-color: {{ theme_dirty_white }};
-}
-
-
-/* LINKS ------------------------------------------------------------------ */
-
-/* Normal links get a pseudo-underline */
-a {
- color: {{ theme_link_color }};
- text-decoration: none;
- border-bottom: 1px solid {{ theme_link_color_decoration }};
-}
-
-/* Links in sidebar, TOC, index trees and tables have no underline */
-.sphinxsidebar a,
-.toctree-wrapper a,
-.indextable a,
-#indices-and-tables a {
- color: {{ theme_dark_gray }};
- text-decoration: none;
- border-bottom: none;
-}
-
-/* Most links get an underline-effect when hovered */
-a:hover,
-div.toctree-wrapper a:hover,
-.indextable a:hover,
-#indices-and-tables a:hover {
- color: {{ theme_black }};
- text-decoration: none;
- border-bottom: 1px solid {{ theme_black }};
-}
-
-/* Footer links */
-div.footer a {
- color: {{ theme_background_text_link }};
- text-decoration: none;
- border: none;
-}
-div.footer a:hover {
- color: {{ theme_medium_color_link_hover }};
- text-decoration: underline;
- border: none;
-}
-
-/* Permalink anchor (subtle grey with a red hover) */
-div.body a.headerlink {
- color: {{ theme_lighter_gray }};
- font-size: 1em;
- margin-left: 6px;
- padding: 0 4px 0 4px;
- text-decoration: none;
- border: none;
-}
-div.body a.headerlink:hover {
- color: {{ theme_negative_text }};
- border: none;
-}
-
-
-/* NAVIGATION BAR --------------------------------------------------------- */
-
-div.related ul {
- height: 2.5em;
-}
-
-div.related ul li {
- margin: 0;
- padding: 0.65em 0;
- float: left;
- display: block;
- color: {{ theme_background_link_half }}; /* For the >> separators */
- font-size: 0.8em;
-}
-
-div.related ul li.right {
- float: right;
- margin-right: 5px;
- color: transparent; /* Hide the | separators */
-}
-
-/* "Breadcrumb" links in nav bar */
-div.related ul li a {
- order: none;
- background-color: inherit;
- font-weight: bold;
- margin: 6px 0 6px 4px;
- line-height: 1.75em;
- color: {{ theme_background_link }};
- text-shadow: 0 1px rgba(0, 0, 0, 0.5);
- padding: 0.4em 0.8em;
- border: none;
- border-radius: 3px;
-}
-/* previous / next / modules / index links look more like buttons */
-div.related ul li.right a {
- margin: 0.375em 0;
- background-color: {{ theme_medium_color_hover }};
- text-shadow: 0 1px rgba(0, 0, 0, 0.5);
- border-radius: 3px;
- -webkit-border-radius: 3px;
- -moz-border-radius: 3px;
-}
-/* All navbar links light up as buttons when hovered */
-div.related ul li a:hover {
- background-color: {{ theme_medium_color }};
- color: {{ theme_white }};
- text-decoration: none;
- border-radius: 3px;
- -webkit-border-radius: 3px;
- -moz-border-radius: 3px;
-}
-/* Take extra precautions for tt within links */
-a tt,
-div.related ul li a tt {
- background: inherit !important;
- color: inherit !important;
-}
-
-
-/* SIDEBAR ---------------------------------------------------------------- */
-
-div.sphinxsidebarwrapper {
- padding: 0;
-}
-
-div.sphinxsidebar {
- margin: 0;
- margin-left: -100%;
- float: left;
- top: 3em;
- left: 0;
- padding: 0 1em;
- width: 14em;
- font-size: 1em;
- text-align: left;
- background-color: {{ theme_light_color }};
-}
-
-div.sphinxsidebar img {
- max-width: 12em;
-}
-
-div.sphinxsidebar h3, div.sphinxsidebar h4 {
- margin: 1.2em 0 0.3em 0;
- font-size: 1em;
- padding: 0;
- color: {{ theme_gray_2 }};
- font-family: "ff-meta-web-pro-1", "ff-meta-web-pro-2", "Arial", "Helvetica Neue", sans-serif;
-}
-
-div.sphinxsidebar h3 a {
- color: {{ theme_grey_color }};
-}
-
-div.sphinxsidebar ul,
-div.sphinxsidebar p {
- margin-top: 0;
- padding-left: 0;
- line-height: 130%;
- background-color: {{ theme_light_color }};
-}
-
-/* No bullets for nested lists, but a little extra indentation */
-div.sphinxsidebar ul ul {
- list-style-type: none;
- margin-left: 1.5em;
- padding: 0;
-}
-
-/* A little top/bottom padding to prevent adjacent links' borders
- * from overlapping each other */
-div.sphinxsidebar ul li {
- padding: 1px 0;
-}
-
-/* A little left-padding to make these align with the ULs */
-div.sphinxsidebar p.topless {
- padding-left: 0 0 0 1em;
-}
-
-/* Make these into hidden one-liners */
-div.sphinxsidebar ul li,
-div.sphinxsidebar p.topless {
- white-space: nowrap;
- overflow: hidden;
-}
-/* ...which become visible when hovered */
-div.sphinxsidebar ul li:hover,
-div.sphinxsidebar p.topless:hover {
- overflow: visible;
-}
-
-/* Search text box and "Go" button */
-#searchbox {
- margin-top: 2em;
- margin-bottom: 1em;
- background: {{ theme_dirtier_white }};
- padding: 0.5em;
- border-radius: 6px;
- -moz-border-radius: 6px;
- -webkit-border-radius: 6px;
-}
-#searchbox h3 {
- margin-top: 0;
-}
-
-/* Make search box and button abut and have a border */
-input,
-div.sphinxsidebar input {
- border: 1px solid {{ theme_gray_9 }};
- float: left;
-}
-
-/* Search textbox */
-input[type="text"] {
- margin: 0;
- padding: 0 3px;
- height: 20px;
- width: 144px;
- border-top-left-radius: 3px;
- border-bottom-left-radius: 3px;
- -moz-border-radius-topleft: 3px;
- -moz-border-radius-bottomleft: 3px;
- -webkit-border-top-left-radius: 3px;
- -webkit-border-bottom-left-radius: 3px;
-}
-/* Search button */
-input[type="submit"] {
- margin: 0 0 0 -1px; /* -1px prevents a double-border with textbox */
- height: 22px;
- color: {{ theme_dark_gray }};
- background-color: {{ theme_light_color }};
- padding: 1px 4px;
- font-weight: bold;
- border-top-right-radius: 3px;
- border-bottom-right-radius: 3px;
- -moz-border-radius-topright: 3px;
- -moz-border-radius-bottomright: 3px;
- -webkit-border-top-right-radius: 3px;
- -webkit-border-bottom-right-radius: 3px;
-}
-input[type="submit"]:hover {
- color: {{ theme_white }};
- background-color: {{ theme_green_highlight }};
-}
-
-div.sphinxsidebar p.searchtip {
- clear: both;
- padding: 0.5em 0 0 0;
- background: {{ theme_dirtier_white }};
- color: {{ theme_gray }};
- font-size: 0.9em;
-}
-
-/* Sidebar links are unusual */
-div.sphinxsidebar li a,
-div.sphinxsidebar p a {
- background: {{ theme_light_color }}; /* In case links overlap main content */
- border-radius: 3px;
- -moz-border-radius: 3px;
- -webkit-border-radius: 3px;
- border: 1px solid transparent; /* To prevent things jumping around on hover */
- padding: 0 5px 0 5px;
-}
-div.sphinxsidebar li a:hover,
-div.sphinxsidebar p a:hover {
- color: {{ theme_black }};
- text-decoration: none;
- border: 1px solid {{ theme_light_gray }};
-}
-
-/* Tweak any link appearing in a heading */
-div.sphinxsidebar h3 a {
-}
-
-
-
-
-/* OTHER STUFF ------------------------------------------------------------ */
-
-cite, code, tt {
- font-family: 'Consolas', 'Deja Vu Sans Mono',
- 'Bitstream Vera Sans Mono', monospace;
- font-size: 0.95em;
- letter-spacing: 0.01em;
-}
-
-tt {
- background-color: {{ theme_code_background }};
- color: {{ theme_dark_gray }};
-}
-
-tt.descname, tt.descclassname, tt.xref {
- border: 0;
-}
-
-hr {
- border: 1px solid {{ theme_ruler }};
- margin: 2em;
-}
-
-pre, #_fontwidthtest {
- font-family: 'Consolas', 'Deja Vu Sans Mono',
- 'Bitstream Vera Sans Mono', monospace;
- margin: 1em 2em;
- font-size: 0.95em;
- letter-spacing: 0.015em;
- line-height: 120%;
- padding: 0.5em;
- border: 1px solid {{ theme_lighter_gray }};
- background-color: {{ theme_code_background }};
- border-radius: 6px;
- -moz-border-radius: 6px;
- -webkit-border-radius: 6px;
-}
-
-pre a {
- color: inherit;
- text-decoration: underline;
-}
-
-td.linenos pre {
- padding: 0.5em 0;
-}
-
-div.quotebar {
- background-color: {{ theme_almost_white }};
- max-width: 250px;
- float: right;
- padding: 2px 7px;
- border: 1px solid {{ theme_lighter_gray }};
-}
-
-div.topic {
- background-color: {{ theme_almost_white }};
-}
-
-table {
- border-collapse: collapse;
- margin: 0 -0.5em 0 -0.5em;
-}
-
-table td, table th {
- padding: 0.2em 0.5em 0.2em 0.5em;
-}
-
-
-/* ADMONITIONS AND WARNINGS ------------------------------------------------- */
-
-/* Shared by admonitions, warnings and sidebars */
-div.admonition,
-div.warning,
-div.sidebar {
- font-size: 0.9em;
- margin: 2em;
- padding: 0;
- /*
- border-radius: 6px;
- -moz-border-radius: 6px;
- -webkit-border-radius: 6px;
- */
-}
-div.admonition p,
-div.warning p,
-div.sidebar p {
- margin: 0.5em 1em 0.5em 1em;
- padding: 0;
-}
-div.admonition pre,
-div.warning pre,
-div.sidebar pre {
- margin: 0.4em 1em 0.4em 1em;
-}
-div.admonition p.admonition-title,
-div.warning p.admonition-title,
-div.sidebar p.sidebar-title {
- margin: 0;
- padding: 0.1em 0 0.1em 0.5em;
- color: white;
- font-weight: bold;
- font-size: 1.1em;
- text-shadow: 0 1px rgba(0, 0, 0, 0.5);
-}
-div.admonition ul, div.admonition ol,
-div.warning ul, div.warning ol,
-div.sidebar ul, div.sidebar ol {
- margin: 0.1em 0.5em 0.5em 3em;
- padding: 0;
-}
-
-
-/* Admonitions and sidebars only */
-div.admonition, div.sidebar {
- border: 1px solid {{ theme_positive_dark }};
- background-color: {{ theme_positive_light }};
-}
-div.admonition p.admonition-title,
-div.sidebar p.sidebar-title {
- background-color: {{ theme_positive_medium }};
- border-bottom: 1px solid {{ theme_positive_dark }};
-}
-
-
-/* Warnings only */
-div.warning {
- border: 1px solid {{ theme_negative_dark }};
- background-color: {{ theme_negative_light }};
-}
-div.warning p.admonition-title {
- background-color: {{ theme_negative_medium }};
- border-bottom: 1px solid {{ theme_negative_dark }};
-}
-
-
-/* Sidebars only */
-div.sidebar {
- max-width: 200px;
-}
-
-
-
-div.versioninfo {
- margin: 1em 0 0 0;
- border: 1px solid {{ theme_lighter_gray }};
- background-color: {{ theme_light_medium_color }};
- padding: 8px;
- line-height: 1.3em;
- font-size: 0.9em;
-}
-
-.viewcode-back {
- font-family: 'Lucida Grande', 'Lucida Sans Unicode', 'Geneva',
- 'Verdana', sans-serif;
-}
-
-div.viewcode-block:target {
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- border-top: 1px solid {{ theme_viewcode_border }};
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diff --git a/docs/source/_themes/armstrong/theme.conf b/docs/source/_themes/armstrong/theme.conf
deleted file mode 100644
index 5930488..0000000
--- a/docs/source/_themes/armstrong/theme.conf
+++ /dev/null
@@ -1,65 +0,0 @@
-[theme]
-inherit = default
-stylesheet = rtd.css
-pygment_style = default
-show_sphinx = False
-
-[options]
-show_rtd = True
-
-white = #ffffff
-almost_white = #f8f8f8
-barely_white = #f2f2f2
-dirty_white = #eeeeee
-almost_dirty_white = #e6e6e6
-dirtier_white = #dddddd
-lighter_gray = #cccccc
-gray_a = #aaaaaa
-gray_9 = #999999
-light_gray = #888888
-gray_7 = #777777
-gray = #666666
-dark_gray = #444444
-gray_2 = #222222
-black = #111111
-light_color = #e8ecef
-light_medium_color = #DDEAF0
-medium_color = #8ca1af
-medium_color_link = #86989b
-medium_color_link_hover = #a6b8bb
-dark_color = #465158
-
-h1 = #000000
-h2 = #465158
-h3 = #6c818f
-
-link_color = #444444
-link_color_decoration = #CCCCCC
-
-medium_color_hover = #697983
-green_highlight = #8ecc4c
-
-
-positive_dark = #609060
-positive_medium = #70a070
-positive_light = #e9ffe9
-
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-negative_medium = #b04040
-negative_light = #ffe9e9
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-
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-
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-background_link = #ffffff
-background_link_half = #ffffff
-background_text = #eeeeee
-background_text_link = #86989b
diff --git a/docs/source/about.rst b/docs/source/about.rst
new file mode 100644
index 0000000..6a6068b
--- /dev/null
+++ b/docs/source/about.rst
@@ -0,0 +1,46 @@
+.. _chapter-about:
+
+=====
+About
+=====
+
+Ceres Solver grew out of the need for general least squares solving at Google.
+Around 2010, Sameer Agarwal and Keir Mierle decided to replace a custom bundle
+adjuster at Google with something more modern. After two years of on-and-off
+development, Ceres Solver was released as open source in May of 2012.
+
+Acknowledgements
+----------------
+
+A number of people have helped with the development and open sourcing
+of Ceres.
+
+Fredrik Schaffalitzky when he was at Google started the development of
+Ceres, and even though much has changed since then, many of the ideas
+from his original design are still present in the current code.
+
+Amongst Ceres' users at Google two deserve special mention: William
+Rucklidge and James Roseborough. William was the first user of
+Ceres. He bravely took on the task of porting production code to an
+as-yet unproven optimization library, reporting bugs and helping fix
+them along the way. James is perhaps the most sophisticated user of
+Ceres at Google. He has reported and fixed bugs and helped evolve the
+API for the better.
+
+Since the initial release of Ceres, a number of people have
+contributed to Ceres by porting it to new platforms, reporting bugs,
+fixing bugs and adding new functionality. We acknowledge all of these
+contributions in the :ref:`chapter-version-history`.
+
+Origin of the name Ceres Solver
+-------------------------------
+While there is some debate as to who invented the method of Least Squares
+[Stigler]_, there is no debate that it was `Carl Friedrich Gauss
+<http://en.wikipedia.org/wiki/Carl_Friedrich_Gauss>`_ who brought it to the
+attention of the world. Using just 22 observations of the newly discovered
+asteroid `Ceres <http://en.wikipedia.org/wiki/Ceres_(dwarf_planet)>`_, Gauss
+used the method of least squares to correctly predict when and where the
+asteroid will emerge from behind the Sun [TenenbaumDirector]_. We named our
+solver after Ceres to celebrate this seminal event in the history of astronomy,
+statistics and optimization.
+
diff --git a/docs/source/acknowledgements.rst b/docs/source/acknowledgements.rst
deleted file mode 100644
index 36c1562..0000000
--- a/docs/source/acknowledgements.rst
+++ /dev/null
@@ -1,25 +0,0 @@
-.. _chapter-acknowledgements:
-
-================
-Acknowledgements
-================
-
-A number of people have helped with the development and open sourcing
-of Ceres.
-
-Fredrik Schaffalitzky when he was at Google started the development of
-Ceres, and even though much has changed since then, many of the ideas
-from his original design are still present in the current code.
-
-Amongst Ceres' users at Google two deserve special mention: William
-Rucklidge and James Roseborough. William was the first user of
-Ceres. He bravely took on the task of porting production code to an
-as-yet unproven optimization library, reporting bugs and helping fix
-them along the way. James is perhaps the most sophisticated user of
-Ceres at Google. He has reported and fixed bugs and helped evolve the
-API for the better.
-
-Since the initial release of Ceres, a number of people have
-contributed to Ceres by porting it to new platforms, reporting bugs,
-fixing bugs and adding new functionality. We acknowledge all of these
-contributions in the :ref:`chapter-version-history`.
diff --git a/docs/source/building.rst b/docs/source/building.rst
index 67045ac..750ecef 100644
--- a/docs/source/building.rst
+++ b/docs/source/building.rst
@@ -1,8 +1,8 @@
.. _chapter-building:
-============
-Installation
-============
+=====================
+Building & Installing
+=====================
Stable Ceres Solver releases are available for download at
`code.google.com <http://code.google.com/p/ceres-solver/>`_. For the
diff --git a/docs/source/conf.py b/docs/source/conf.py
index 403720f..dfe808a 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -41,7 +41,7 @@
# General information about the project.
project = u'Ceres Solver'
-copyright = u'2013, Google Inc.'
+copyright = u'2014 Google Inc'
# The version info for the project you're documenting, acts as replacement for
# |version| and |release|, also used in various other places throughout the
@@ -91,7 +91,8 @@
# The theme to use for HTML and HTML Help pages. See the documentation for
# a list of builtin themes.
-html_theme = 'armstrong'
+#html_theme = 'flask'
+html_theme = 'sphinx_rtd_theme'
# Theme options are theme-specific and customize the look and feel of a theme
# further. For a list of options available for each theme, see the
@@ -100,6 +101,8 @@
# Add any paths that contain custom themes here, relative to this directory.
html_theme_path = ["_themes",]
+import sphinx_rtd_theme
+html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
# The name for this set of Sphinx documents. If None, it defaults to
# "<project> v<release> documentation".
@@ -120,7 +123,7 @@
# Add any paths that contain custom static files (such as style sheets) here,
# relative to this directory. They are copied after the builtin static files,
# so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
+#html_static_path = ['_static']
# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
# using the given strftime format.
diff --git a/docs/source/contributing.rst b/docs/source/contributing.rst
index 20fe34d..876c50e 100644
--- a/docs/source/contributing.rst
+++ b/docs/source/contributing.rst
@@ -1,9 +1,8 @@
.. _chapter-contributing:
-=============
-Contributions
-=============
-
+============
+Contributing
+============
We welcome contributions to Ceres, whether they are new features, bug
fixes or tests. The Ceres `mailing
diff --git a/docs/source/faqs.rst b/docs/source/faqs.rst
index a68ba77..3dee336 100644
--- a/docs/source/faqs.rst
+++ b/docs/source/faqs.rst
@@ -267,3 +267,13 @@
Total 0.998
The preprocessor time has gone down by more than 4x!.
+
+Further Reading
+===============
+
+For a short but informative introduction to the subject we recommend
+the booklet by [Madsen]_ . For a general introduction to non-linear
+optimization we recommend [NocedalWright]_. [Bjorck]_ remains the
+seminal reference on least squares problems. [TrefethenBau]_ book is
+our favorite text on introductory numerical linear algebra. [Triggs]_
+provides a thorough coverage of the bundle adjustment problem.
diff --git a/docs/source/index.rst b/docs/source/index.rst
index 62d4c0b..6ac00da 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -7,35 +7,8 @@
Ceres Solver
============
-Ceres Solver is a portable C++ library for solving non-linear least
-squares problems.
-
-* Download the latest stable `release
- <https://ceres-solver.googlecode.com/files/ceres-solver-1.8.0.tar.gz>`_
- or clone the `repository
- <https://ceres-solver.googlesource.com/ceres-solver>`_
-
-* Read the :ref:`chapter-tutorial`
-
-* Browse the :ref:`chapter-modeling` API and :ref:`chapter-solving` API.
-
-* Join the `mailing list
- <https://groups.google.com/forum/?fromgroups#!forum/ceres-solver>`_
- and ask questions.
-
-* File bugs, feature requests in the `issue tracker
- <https://code.google.com/p/ceres-solver/issues/list>`_.
-
-* If you use Ceres Solver for a publication, you must cite it as::
-
- @misc{ceres-solver,
- author = "Sameer Agarwal and Keir Mierle and Others",
- title = "Ceres Solver",
- howpublished = "\url{https://code.google.com/p/ceres-solver/}",
- }
-
.. toctree::
- :maxdepth: 1
+ :maxdepth: 3
:hidden:
introduction
@@ -44,9 +17,71 @@
modeling
solving
faqs
- reading
contributing
- acknowledgements
version_history
+ about
bibliography
license
+
+Solving `nonlinear least squares`_ problems comes up in a broad range of areas
+across science and engineering - from `fitting curves`_ in statistics, to
+constructing `3D models from photographs`_ in computer vision.
+
+.. _nonlinear least squares: http://en.wikipedia.org/wiki/Non-linear_least_squares
+.. _fitting curves: http://en.wikipedia.org/wiki/Nonlinear_regression
+.. _3D models from photographs: http://en.wikipedia.org/wiki/Structure_from_motion
+
+What is Ceres Solver?
+---------------------
+Ceres is an industrial-grade C++ library for modeling and solving large and
+small nonlinear least squares problems of the form
+
+.. math:: \frac{1}{2}\sum_{i} \rho_i\left(\left\|f_i\left(x_{i_1}, ... ,x_{i_k}\right)\right\|^2\right).
+
+For a brief introduction to nonlinear solving in general, see the
+:ref:`chapter-tutorial`.
+
+Who uses Ceres Solver?
+----------------------
+There are many users of Ceres, including Google Street View, Google Maps,
+several SLAM pipelines, Blender, and more. See the :ref:`chapter-introduction`
+for more users.
+
+Why use Ceres Solver?
+---------------------
+Ceres is a world-class least squares solver for a variety of reasons, including
+an integrated modelling layer, automatic differentiation, optimized code,
+extensive tests, and more. See the :ref:`chapter-introduction` for a detailed
+list.
+
+Getting started
+---------------
+
+* Download the `latest stable release
+ <http://ceres-solver.org/ceres-solver-1.8.0.tar.gz>`_
+ or, for those wanting the latest
+* Clone the development version or `browse the source
+ <https://ceres-solver.googlesource.com/ceres-solver>`_
+
+ .. code-block:: bash
+
+ git clone https://ceres-solver.googlesource.com/ceres-solver
+
+* Read the :ref:`chapter-tutorial`
+* Browse the :ref:`chapter-modeling` and :ref:`chapter-solving`.
+* Join the `mailing list
+ <https://groups.google.com/forum/?fromgroups#!forum/ceres-solver>`_
+ and ask questions.
+* File bugs, feature requests in the `issue tracker
+ <https://code.google.com/p/ceres-solver/issues/list>`_.
+* Improve Ceres by :ref:`chapter-contributing`
+
+Cite Us
+-------
+If you use Ceres Solver for a publication, you must cite it as::
+
+ @misc{ceres-solver,
+ author = "Sameer Agarwal and Keir Mierle and Others",
+ title = "Ceres Solver",
+ howpublished = "\url{http://ceres-solver.org}",
+ }
diff --git a/docs/source/introduction.rst b/docs/source/introduction.rst
index 19a6f2e..72625c8 100644
--- a/docs/source/introduction.rst
+++ b/docs/source/introduction.rst
@@ -4,78 +4,68 @@
Introduction
============
-Solving nonlinear least squares problems [#f1]_ comes up in a broad
-range of areas across science and engineering - from fitting curves in
-statistics, to constructing 3D models from photographs in computer
-vision. Ceres Solver [#f2]_ [#f3]_ is a portable C++ library for
-solving non-linear least squares problems accurately and efficiently.
+What is Ceres Solver?
+---------------------
+Ceres is an industrial-grade C++ library for modeling and solving large and
+small nonlinear least squares problems of the form
-**Features**
+.. math:: \frac{1}{2}\sum_{i} \rho_i\left(\left\|f_i\left(x_{i_1}, ... ,x_{i_k}\right)\right\|^2\right).
-#. A friendly :ref:`chapter-modeling` API.
+For a brief introduction to nonlinear solving in general, see the
+:ref:`chapter-tutorial`.
-#. Automatic and numeric differentiation.
+Who uses Ceres Solver?
+----------------------
-#. Robust loss functions and local parameterizations.
+* `Google Street View`_ panorama poses are computed with Ceres (`see video`_)
+* `Google Photo Tours`_ employ Ceres to pose all the photos
+* `Google Maps and Earth`_ imagery spatial alignment and satellite sensor calibration is done with Ceres
+* `Project Tango`_ uses Ceres as part of the SLAM pipeline
+* `Willow Garage's`_ SLAM pipeline uses Ceres for realtime bundle adjustment
+* `Android`_ uses Ceres for image processing and stitching, including for `Photo Sphere`_
+* `Blender's`_ `motion tracking module`_ depends critically on Ceres, using it
+ for 2D tracking, 3D reconstruction, panorama tracking, plane tracking, and
+ more; see the results in `Tears of Steel`_
-#. Multithreading.
+.. _Google Street View: http://www.google.com/maps/about/behind-the-scenes/streetview/
+.. _see video: https://www.youtube.com/watch?v=z00ORu4bU-A
+.. _Google Photo Tours: http://googlesystem.blogspot.com/2012/04/photo-tours-in-google-maps.html
+.. _Google Maps and Earth: http://www.google.com/earth/
+.. _Project Tango: https://www.google.com/atap/projecttango/
+.. _Willow Garage's: https://www.willowgarage.com/blog/2013/08/09/enabling-robots-see-better-through-improved-camera-calibration
+.. _Android: https://android.googlesource.com/platform/external/ceres-solver/
+.. _Photo Sphere: http://www.google.com/maps/about/contribute/photosphere/
+.. _Blender's: http://blender.org
+.. _motion tracking module: http://wiki.blender.org/index.php/Doc:2.6/Manual/Motion_Tracking
+.. _Tears of Steel: http://mango.blender.org/
-#. Trust-Region (Levenberg-Marquardt and Dogleg) and Line Search
- (Nonlinear CG and L-BFGS) solvers.
+Why use Ceres Solver?
+---------------------
+* Ceres has an **integrated modelling layer**, making it easy and intutive to
+ model large, complex cost functions with interacting terms, such as a moving
+ vehicle with multiple sensors and tricky dynamics
+* Ceres has **integrated automatic differentiation**, avoiding the error-prone
+ task of manually computing derivatives
+* Ceres can model a **wide variety of problems**, beyond simple nonlinear least
+ squares, thanks to robust loss functions and local parameterizations (e.g.
+ for quaternions)
+* Ceres is **very fast**, thanks to threaded cost function evaluators, threaded linear
+ solvers, and generous amounts of engineering time spent optimizing
+* Ceres has **multiple nonlinear solvers** including trust region (fast, uses
+ more memory) and line search (slower, uses less memory)
+* Ceres has **multiple linear solvers** for both sparse and dense systems,
+ leveraging Eigen or MKL for dense solving, CHOLMOD or CXSparse for sparse
+ solving, and specialized linear solvers bundle adjustment
+* Ceres has **thorough automated tests** ensuring it is high-quality
+* Ceres is **industrial grade** thanks to **many compute-years** spent
+ running its code, analyzing the results, and improving it
+* Ceres has **world-class solution quality**, with the best known results of
+ any least squares solver on the `NIST least squares precision benchmark`_
+* Ceres has an **active community** encouraging contributions and mentoring
+ those starting out
+* Ceres runs on **many platforms** including Linux, Windows, Mac OS X, Android, and
+ iOS (sort of)
+* Ceres is **liberally licensed (BSD)** so that you can use it freely in
+ commercial applications without releasing your code
-#. Variety of linear solvers.
-
- a. Dense QR and Cholesky factorization (using `Eigen
- <http://eigen.tuxfamily.org/index.php?title=Main_Page>`_) for
- small problems.
-
- b. Sparse Cholesky factorization (using `SuiteSparse
- <http://www.cise.ufl.edu/research/sparse/SuiteSparse/>`_ and
- `CXSparse <http://www.cise.ufl.edu/research/sparse/CSparse/>`_) for
- large sparse problems.
-
- c. Specialized solvers for bundle adjustment problems in computer
- vision.
-
- d. Iterative linear solvers with preconditioners for general sparse
- and bundle adjustment problems.
-
-#. Portable: Runs on Linux, Windows, Mac OS X and Android.
-
-
-At Google, Ceres Solver has been used for solving a variety of
-problems in computer vision and machine learning. e.g., it is used to
-to estimate the pose of Street View cars, aircrafts, and satellites;
-to build 3D models for PhotoTours; to estimate satellite image sensor
-characteristics, and more.
-
-`Blender <http://www.blender.org>`_ uses Ceres for `motion tracking
-<http://mango.blender.org/development/planar-tracking-preview/>`_ and
-`bundle adjustment
-<http://wiki.blender.org/index.php/Dev:Ref/Release_Notes/2.67/Motion_Tracker>`_.
-
-
-.. rubric:: Footnotes
-
-.. [#f1] For a gentle but brief introduction to non-linear least
- squares problems, please start by reading the
- :ref:`chapter-tutorial`.
-
-.. [#f2] While there is some debate as to who invented the method of
- Least Squares [Stigler]_, there is no debate that it was
- `Carl Friedrich Gauss
- <http://en.wikipedia.org/wiki/Carl_Friedrich_Gauss>`_ who
- brought it to the attention of the world. Using just 22
- observations of the newly discovered asteroid `Ceres
- <http://en.wikipedia.org/wiki/Ceres_(dwarf_planet)>`_, Gauss
- used the method of least squares to correctly predict when
- and where the asteroid will emerge from behind the Sun
- [TenenbaumDirector]_. We named our solver after Ceres to
- celebrate this seminal event in the history of astronomy,
- statistics and optimization.
-
-.. [#f3] For brevity, in the rest of this document we will just use
- the term Ceres.
-
-
-
+.. _NIST least squares precision benchmark: https://groups.google.com/forum/#!topic/ceres-solver/UcicgMPgbXw
diff --git a/docs/source/license.rst b/docs/source/license.rst
index 58d70df..cfa1d79 100644
--- a/docs/source/license.rst
+++ b/docs/source/license.rst
@@ -4,7 +4,7 @@
Ceres Solver is licensed under the New BSD license, whose terms are as follows.
-Copyright (c) 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
+Copyright (c) 2014 Google Inc. All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
diff --git a/docs/source/modeling.rst b/docs/source/modeling.rst
index f06ef0d..4460174 100644
--- a/docs/source/modeling.rst
+++ b/docs/source/modeling.rst
@@ -4,9 +4,9 @@
.. _`chapter-modeling`:
-========
-Modeling
-========
+============
+Modeling API
+============
Recall that Ceres solves robustified non-linear least squares problems
of the form
diff --git a/docs/source/reading.rst b/docs/source/reading.rst
deleted file mode 100644
index 4e27567..0000000
--- a/docs/source/reading.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-===============
-Further Reading
-===============
-
-For a short but informative introduction to the subject we recommend
-the booklet by [Madsen]_ . For a general introduction to non-linear
-optimization we recommend [NocedalWright]_. [Bjorck]_ remains the
-seminal reference on least squares problems. [TrefethenBau]_ book is
-our favorite text on introductory numerical linear algebra. [Triggs]_
-provides a thorough coverage of the bundle adjustment problem.
diff --git a/docs/source/solving.rst b/docs/source/solving.rst
index fcc3c4c..1e11c4a 100644
--- a/docs/source/solving.rst
+++ b/docs/source/solving.rst
@@ -5,10 +5,9 @@
.. _chapter-solving:
-=======
-Solving
-=======
-
+===========
+Solving API
+===========
Introduction
============
diff --git a/docs/source/version_history.rst b/docs/source/version_history.rst
index 6752b15..ecc1ce2 100644
--- a/docs/source/version_history.rst
+++ b/docs/source/version_history.rst
@@ -1,8 +1,8 @@
.. _chapter-version-history:
-===============
-Version History
-===============
+========
+Releases
+========
1.8.0
=====
