Update docs and code in preparation for 1.14.0 Change-Id: I81b430fbff62fb5e3f4c75945f6d40361d546918
diff --git a/docs/source/conf.py b/docs/source/conf.py index a1601c7..c266746 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py
@@ -41,16 +41,16 @@ # General information about the project. project = u'Ceres Solver' -copyright = u'2016 Google Inc' +copyright = u'2018 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 # built documents. # # The short X.Y version. -version = '1.13' +version = '1.14' # The full version, including alpha/beta/rc tags. -release = '1.13.0' +release = '1.14.0' # The language for content autogenerated by Sphinx. Refer to documentation # for a list of supported languages.
diff --git a/docs/source/installation.rst b/docs/source/installation.rst index c762bb6..a075d3e 100644 --- a/docs/source/installation.rst +++ b/docs/source/installation.rst
@@ -9,7 +9,7 @@ .. _section-source: You can start with the `latest stable release -<http://ceres-solver.org/ceres-solver-1.13.0.tar.gz>`_ . Or if you want +<http://ceres-solver.org/ceres-solver-1.14.0.tar.gz>`_ . Or if you want the latest version, you can clone the git repository .. code-block:: bash @@ -159,10 +159,10 @@ .. code-block:: bash - tar zxf ceres-solver-1.13.0.tar.gz + tar zxf ceres-solver-1.14.0.tar.gz mkdir ceres-bin cd ceres-bin - cmake ../ceres-solver-1.13.0 + cmake ../ceres-solver-1.14.0 make -j3 make test # Optionally install Ceres, it can also be exported using CMake which @@ -176,7 +176,7 @@ .. code-block:: bash - bin/simple_bundle_adjuster ../ceres-solver-1.13.0/data/problem-16-22106-pre.txt + bin/simple_bundle_adjuster ../ceres-solver-1.14.0/data/problem-16-22106-pre.txt This runs Ceres for a maximum of 10 iterations using the ``DENSE_SCHUR`` linear solver. The output should look something like @@ -193,7 +193,7 @@ 5 1.803399e+04 5.33e+01 1.48e+04 1.23e+01 9.99e-01 8.33e+05 1 1.45e-01 1.08e+00 6 1.803390e+04 9.02e-02 6.35e+01 8.00e-01 1.00e+00 2.50e+06 1 1.50e-01 1.23e+00 - Ceres Solver v1.13.0 Solve Report + Ceres Solver v1.14.0 Solve Report ---------------------------------- Original Reduced Parameter blocks 22122 22122 @@ -294,10 +294,10 @@ .. code-block:: bash - tar zxf ceres-solver-1.13.0.tar.gz + tar zxf ceres-solver-1.14.0.tar.gz mkdir ceres-bin cd ceres-bin - cmake ../ceres-solver-1.13.0 + cmake ../ceres-solver-1.14.0 make -j3 make test # Optionally install Ceres, it can also be exported using CMake which @@ -325,7 +325,7 @@ .. code-block:: bash - tar zxf ceres-solver-1.13.0.tar.gz + tar zxf ceres-solver-1.14.0.tar.gz mkdir ceres-bin cd ceres-bin # Configure the local shell only (not persistent) to use the Homebrew LLVM @@ -337,7 +337,7 @@ export PATH="/usr/local/opt/llvm/bin:$PATH" # Force CMake to use the Homebrew version of Clang. OpenMP will be # automatically enabled if it is detected that the compiler supports it. - cmake -DCMAKE_C_COMPILER=/usr/local/opt/llvm/bin/clang -DCMAKE_CXX_COMPILER=/usr/local/opt/llvm/bin/clang++ ../ceres-solver-1.13.0 + cmake -DCMAKE_C_COMPILER=/usr/local/opt/llvm/bin/clang -DCMAKE_CXX_COMPILER=/usr/local/opt/llvm/bin/clang++ ../ceres-solver-1.14.0 make -j3 make test # Optionally install Ceres. It can also be exported using CMake which
diff --git a/docs/source/version_history.rst b/docs/source/version_history.rst index de968a9..fe4339c 100644 --- a/docs/source/version_history.rst +++ b/docs/source/version_history.rst
@@ -4,6 +4,82 @@ Version History =============== +1.14.0 +====== + +New Features +------------ + +#. New ``EvaluationCallback`` API. (Keir Mierle) +#. TBB based threading (Yury Prokazov & Mike Vitus) +#. C++11 threads based threading (Mike Vitus) +#. A ``ceres::Context`` object to cache and keep track of global + state. (Mike Vitus) +#. TinySolver - A small dense solver meant for solving small problems + really fast. [EXPERIMENTAL] (Keir Mierle & Sameer Agarwal) +#. Bazel Build. (Keir Mierle & Rodrigo Queiro) + + +Backward Incompatible API Changes +--------------------------------- + +#. ``Solver::Options::num_linear_solver_threads`` is deprecated, + ``Solver::Options::num_threads`` controls all parallelism in Ceres + Solver now. Similarly, + ``Solver::Summary::num_linear_solver_threads_given`` and + ``Solver::Summary::num_linear_solver_threads_used`` are also + deprecated. + + +Bug Fixes & Minor Changes +------------------------- + +#. Remove armv7 from target architectures when building for iOS >= 11. (Alex Stewart) +#. Corrects the documentation of Problem::AddResidualBlock. (Mike Vitus) +#. Fixes the configuration check in port.h. (Mike Vitus) +#. Add small_blas_gemm_benchmark. (Sameer Agarwal) +#. Implement some C++11 math functions for Jet (Emil Ernerfeldt) +#. Fix integer conversion warning in MSVC. (Alex Stewart) +#. Improve NDK build error handling (Keir Mierle) +#. Fix build: -Wreorder, test fail (Keir Mierle) +#. An implementation of SubsetPreconditioner. (Sameer Agarwal) +#. Split bundle adjustment tests into individual binaries (Keir Mierle) +#. Require Eigen >= 3.3.4 on aarch64. (Alex Stewart) +#. Fix TBB detection on Windows. (Alex Stewart) +#. Improve ExecutionSummary (Sameer Agarwal) +#. Remove as typo from callbacks.h (Sameer Agarwal) +#. Removes two unimplemented class functions. (Mike Vitus) +#. Update EigenTypes to deal with 1 column matrices (Sameer Agarwal) +#. Add GradientProblemSolver::Options::update_state_every_iteration (Sameer Agarwal) +#. Fixes the pose graph example documentation. (Mike Vitus) +#. Fix Eigen >= 3.3 compilation if EIGEN_DONT_VECTORIZE set (Janick Martinez Esturo) +#. Add an optional dependency on the Google Benchmark library. (Sameer Agarwal) +#. Fix the documentation for CostFunction::Evaluate. (Sameer Agarwal) +#. Fix a mathematical typo. (Sameer Agarwal) +#. Add TBB information to Ceres version string. (Alex Stewart) +#. Move discussion of dependency licensing to Sphinx docs. (Alex Stewart) +#. Fix an erroneous namespace comment (Sameer Agarwal) +#. Fix use of unnamed type as template argument warnings on Clang. (Alex Stewart) +#. Add link for CLA in docs; minor fixes (Keir Mierle) +#. Fix tiny_solver_test (Sameer Agarwal) +#. Improve compatibility with ceres::Solver (Sameer Agarwal) +#. Refactor nist.cc to be compatible with TinySolver (Sameer Agarwal) +#. Report timings with microsecond resolution (Thomas Gamper) +#. Add missing Eigen traits to Jets (Sameer Agarwal) +#. Use high-resolution timer on Windows (Thomas Gamper) +#. Add a comment about default constructed reference counts= (Keir Mierle) +#. Delete cost and loss functions when not in use. (Sameer Agarwal) +#. Fix assert_ndk_version for >= r11. (Alex Stewart) +#. Add docs explaining how to build Ceres with OpenMP on OS X. (Alex Stewart) +#. Update LAPACK option to refer to direct use by Ceres only. (Alex Stewart) +#. Hide optional SuiteSparse vars in CMake GUI by default. (Alex Stewart) +#. Always hide TBB_LIBRARY in CMake GUI by default. (Alex Stewart) +#. Fix typo in definition of f3 in powell example (x4 -> x3). (Alex Stewart) +#. Fix suppression of C++11 propagation warning. (Alex Stewart) +#. Add new Schur specialization for 2, 4, 6. (Chris Sweeney) +#. Use const keyword for 'int thread_id' variables. (pmoulon) + + 1.13.0 ======
diff --git a/include/ceres/version.h b/include/ceres/version.h index beab7d9..3ccd4c8 100644 --- a/include/ceres/version.h +++ b/include/ceres/version.h
@@ -32,7 +32,7 @@ #define CERES_PUBLIC_VERSION_H_ #define CERES_VERSION_MAJOR 1 -#define CERES_VERSION_MINOR 13 +#define CERES_VERSION_MINOR 14 #define CERES_VERSION_REVISION 0 // Classic CPP stringifcation; the extra level of indirection allows the
diff --git a/package.xml b/package.xml index 25aeb7c..62d97fb 100644 --- a/package.xml +++ b/package.xml
@@ -30,7 +30,7 @@ <package format="2"> <name>ceres-solver</name> - <version>1.13.0</version> + <version>1.14.0</version> <description>A large scale non-linear optimization library.</description> <maintainer email="ceres-solver@googlegroups.com"> The Ceres Solver Authors