tree 46432fb5a0576d44cfeb679b9e056a2c7f6a05c4
parent 75570a599ae6f3bf140b887c7681c768b562144f
author Sameer Agarwal <sameeragarwal@google.com> 1508384892 -0700
committer Sameer Agarwal <sameeragarwal@google.com> 1508446351 -0700

Improve the convergence performance of TinySolver

1. Default constructor and initialization for Summary.
2. Add Jacobi scaling.
3. Add bounds on the lm diagonal
4. Use the diagonal of J'J as the regularizer instead of identity.
5. Update the computation of rho to match the change in regularization.

As a result of these changes, the performance of TinySolver is
now the same as ceres::Solver, solving 53 out of 54 problems.

Change-Id: Ie08c3389ac2e3964ffa04411734c06b65835358a