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ceres-solver / ceres-solver / e9397ad352b7f47a880a1bcf2405429151aa0e0f
commite9397ad352b7f47a880a1bcf2405429151aa0e0f[log] [tgz]
authorSameer Agarwal <sameeragarwal@google.com>Tue May 08 13:20:17 2018 -0700
committerSameer Agarwal <sameeragarwal@google.com>Wed May 09 13:57:12 2018 -0700
tree71b0529fadb9dda7c9a39fecf04ca2c83c270d00
parentf9272d3e1b1d9334242c2f283f43fc7545dd2d4b [diff]
Enable visibility based preconditioners for CX_SPARSE and EIGEN_SPARSE

CLUSTER_JACOBI and CLUSTER_TRIDIAGONAL preconditioners require a sparse
Cholesky factorization library. Previously this code was hard coded to
use SuiteSparse. Once SparseCholesky abstraction was introduced, it
became possible to use it with Eigen or CXSParse.

Unfortunately the old code path that was enforcing the requirement
of SuiteSparse was not removed.

This change does the following:

1. Remove the SUITE_SPARSE restriction on CLUSTER_TRIDIAGONAL and
   CLUSTER_JACOBI
2. Redo the checking code to be ifdef free and more general.
3. Add bundle adjustment tests to test these configurations.

Thanks to Bjorn Piltz for catching and reporting this bug.

Change-Id: I637791f6f8149694b6aa75f6a4b6417398cb9590
63 files changed
tree: 71b0529fadb9dda7c9a39fecf04ca2c83c270d00
  1. bazel/
  2. cmake/
  3. config/
  4. data/
  5. docs/
  6. examples/
  7. include/
  8. internal/
  9. jni/
  10. scripts/
  11. .gitignore
  12. BUILD
  13. CMakeLists.txt
  14. LICENSE
  15. package.xml
  16. README.md
  17. WORKSPACE
README.md

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.

WARNING - Do not make GitHub pull requests!

Ceres development happens on Gerrit, including both repository hosting and code reviews. The GitHub Repository is a continuously updated mirror which is primarily meant for issue tracking. Please see our Contributing to Ceres Guide for more details.

The upstream Gerrit repository is

https://ceres-solver.googlesource.com/ceres-solver