| .. default-domain:: cpp |
| |
| .. highlight:: c++ |
| |
| .. cpp:namespace:: ceres |
| |
| |
| .. _chapter-version-history: |
| |
| =============== |
| Version History |
| =============== |
| |
| 2.1.0 |
| ===== |
| |
| New Features |
| ------------ |
| |
| #. Support for CUDA based dense solvers - ``DENSE_QR``, |
| ``DENSE_NORMAL_CHOLESKY`` & ``DENSE_SCHUR`` (Joydeep Biswas, Sameer |
| Agarwal) |
| |
| #. :class:`Manifold` is the new |
| :class:`LocalParameterization`. Version 2.1 is the transition |
| release where users can use both :class:`LocalParameterization` as |
| well as :class:`Manifold` objects as they transition from the |
| former to the latter. :class:`LocalParameterization` will be |
| removed in version 2.2. There should be no numerical change to the |
| results as a result of this change. (Sameer Agarwal, Johannes Beck, |
| Sergiu Deitsch) |
| |
| #. A number of changes to :class:`Jet` s (Sergiu Deitsch) |
| |
| * :class:`Jet` gained support for, ``copysign``, ``fma`` (fused |
| multiply-add), ``midpoint`` (C++20 and above), ``lerp`` (C++20 |
| and above), 3-argument ``hypot`` (C++17 and above), ``log10``, |
| ``log1p``, ``exp1m``, ``norm`` (squared :math:`L^2` norm). |
| |
| * Quiet floating-point comparison: ``isless``, ``isgreater``, |
| ``islessgreater``, ``islessequal``, ``isgreaterequal``, |
| ``isunordered``, ``signbit``, ``fdim`` |
| |
| * Categorization and comparison operations are applied exclusively |
| and consistently to the scalar part of a Jet now: ``isnan``, |
| ``isinf``, ``isnormal``, ``isfinite``, ``fpclassify`` (new), |
| ``fmin``, ``fmax`` |
| |
| * It is now possible to safely compare a :class:`Jet` against a scalar |
| (or literal) without constructing a :class:`Jet` first (even if it's |
| nested): |
| |
| .. code-block:: c++ |
| |
| Jet<Jet<Jet<T, N>, M>, O> x; |
| if (x == 2) { } // equivalent to x.a.a.a == 2 |
| |
| |
| This enables interaction with various arithmetic functions that |
| expect a scalar like instance, such as ``boost::math::pow<-N>`` |
| for reciprocal computation. |
| |
| #. Add :class:`NumericDiffFirstOrderFunction` (Sameer Agarwal) |
| |
| |
| Backward Incompatible API Changes |
| --------------------------------- |
| |
| #. :class:`LocalParameterization` is deprecated. It will be removed in |
| version 2.2. Use :class:`Manifold` instead. |
| #. Classification functions like ``IsFinite`` are deprecated. Use the |
| ``C++11`` functions (``isfinite``, ``isnan`` etc) going |
| forward. However to maintain consistent behaviour with comparison |
| operators, these functions only inspect the scalar part of the |
| :class:`Jet`. |
| |
| Bug Fixes & Minor Changes |
| ------------------------- |
| |
| #. Worked around an MSVC ordering bug when using C++17/20 (Sergiu |
| Deitsch) |
| #. Added a CITATION.cff file. (Sergiu Deitsch) |
| #. Updated included gtest version to 1.11.0. This should fix some |
| ``C++20`` compilation problems. (Sameer Agarwal). |
| #. Workaround ``MSVC`` ``STL`` deficiency in ``C++17`` mode (Sergiu |
| Deitsch) |
| #. Fix ``Jet`` test failures on ``ARMv8`` with recent ``Xcode`` |
| (Sergiu Deitsch) |
| #. Fix unused arguments of ``Make1stOrderPerturbation`` (Dmitriy |
| Korchemkin) |
| #. Fix ``SuiteSparse`` path and version reporting (Sergiu Deitsch) |
| #. Enable `GitHub` workflows and deprecate ``TravisCI`` (Sergiu |
| Deitsch) |
| #. Add missing includes (Sergiu Deitsch, Sameer Agarwal) |
| #. Fix path for ``cuda-memcheck`` tests (Joydeep Biswas) |
| #. ClangFormat cleanup (Sameer Agarwal) |
| #. Set ``CMP0057`` policy for ``IN_LIST`` operator in |
| ``FindSuiteSparse.cmake`` (Brent Yi) |
| #. Do not define unusable import targets (Sergiu Deitsch) |
| #. Fix Ubuntu 18.04 shared library build (Sergiu Deitsch) |
| #. Force ``C++`` linker when building the ``C`` API (Sergiu Deitsch) |
| #. Modernize the code to be inline with ``C++14`` (Sergiu Deitsch, |
| Sameer Agarwal) |
| #. Lots of fixes to make Ceres compile out of the box on Windows |
| (Sergiu Deitsch) |
| #. Standardize path handling using ``GNUImstallDirs`` (Sergiu Deitsch) |
| #. Add final specifier to classes to help the compiler with |
| devirtualization (Sameer Agarwal) |
| #. LOTs of clean & modernization of the CMake build files (Sergiu |
| Deitsch & Alex Stewart) |
| #. Simplification to the symbol export logic (Sergiu Deitsch) |
| #. Add cmake option ``ENABLE_BITCODE`` for iOS builds (John Harrison) |
| #. Add const accessor for functor wrapped by auto/numeric-diff objects |
| (Alex Stewart) |
| #. Cleanup & refactor ``jet_test.cc``. (Sameer Agarwal) |
| #. Fix docs of supported sparse backends for mixed precision solvers |
| (Alex Stewart) |
| #. Fix C++20 compilation (Sergiu Deitsch) |
| #. Add an example for ``BiCubicInterpolator`` (Dmitriy Korcchemkin) |
| #. Add a section to the documentation on implicit and inverse function |
| theorems (Sameer Agarwal) |
| #. Add a note about Trigg's correction (Sameer Agarwal) |
| #. Fix the docs for ``Problem::RemoveResidualBlock`` & |
| ``Problem::RemoveParameterBlock`` (Sameer Agarwal) |
| #. Fix an incorrect check in ``reorder_program.cc`` (William Gandler) |
| #. Add ``function_tolerance`` based convergence testing to ``TinySolver`` |
| (Sameer Agarwal). |
| #. Fix a number of typos in ``rotation.h`` (@yiping) |
| #. Fix a typo in ``interfacing_with_autodiff.rst`` (@tangobravo) |
| #. Fix a matrix sizing bug in covariance_impl.cc (William Gandler) |
| #. Fix a bug in ``system_test.cc`` (William Gandler) |
| #. Fix the Jacobian computation in ``trust_region_minimizer_test.cc`` |
| (William Gandler) |
| #. Fix a bug in ``local_parameterization_test.cc`` (William Gandler) |
| #. Add accessors to ``GradientProblem`` (Sameer Agarwal) |
| #. Refactor ``small_blas_gemm_benchmark`` (Ahmed Taei) |
| #. Refactor ``small_blas_test`` (Ahmed Taei) |
| #. Fix dependency check for building documentation (Sumit Dey) |
| #. Fix an errant double link in the docs (Timon Knigge) |
| #. Fix a typo in the version history (Noah Snavely) |
| #. Fix typo in LossFunctionWrapper sample code (Dmitriy Korchemkin) |
| #. Add fmax/fmin overloads for scalars (Alex Karatarakis) |
| #. Introduce benchmarks for ``Jet`` operations (Alexander Karatarakis) |
| #. Fix typos in documentation and fix the documentation for |
| ``IterationSummary`` (Alexander Karatarakis) |
| #. Do not check MaxNumThreadsAvailable if the thread number is set |
| to 1. (Fuhao Shi) |
| #. Add a macro ``CERES_GET_FLAG``. (Sameer Agarwal) |
| #. Reduce log spam in ``covariance_impl.cc`` (Daniel Henell) |
| #. Fix FindTBB version detection with TBB >= 2021.1.1 (Alex Stewart) |
| #. Fix Eigen3_VERSION (Florian Berchtold) |
| #. Allow Unity Build (Tobias Schluter) |
| #. Make miniglog's InitGoogleLogging argument const (Tobias Schluter) |
| #. Use portable expression for constant 2/sqrt(pi) (Tobias Schluter) |
| #. Fix a number of compile errors related (Austin Schuch) |
| |
| * ``format not a string literal`` |
| * ``-Wno-maybe-uninitialized error`` |
| * ``nonnull arg compared to NULL`` |
| * ``-Wno-format-nonliteral`` |
| * ``-Wmissing-field-initializers`` |
| * ``-Werror`` |
| |
| #. Fix ``cc_binary`` includes so examples build as an external repo |
| (Austin Schuh) |
| #. Fix an explicit double in TinySolver (Bogdan Burlacu) |
| #. Fix unit quaternion rotation (Mykyta Kozlov) |
| |
| |
| 2.0.0 |
| ===== |
| |
| New Features |
| ------------ |
| #. Ceres Solver now requires a C++14 compatible compiler, Eigen |
| version >= 3.3 & CMake version >= 3.5, XCode version >= 11.2 (Sameer |
| Agarwal, Alex Stewart & Keir Mierle) |
| #. C++ threading based multi-threading support. (Mike Vitus) |
| #. :func:`Problem::AddResidualBlock`, :class:`SizedFunction`, |
| :class:`AutoDiffCostFunction`, :class:`NumericDiffCostFunction` |
| support an arbitrary number of parameter blocks using variadic |
| templates (Johannes Beck) |
| #. On Apple platforms, support for Apple's Accelerate framework as a |
| sparse linear algebra library. (Alex Stewart) |
| #. Significantly faster AutoDiff (Darius Rueckert) |
| #. Mixed precision solves when using |
| ``SPARSE_NORMAL_CHOLESKY``. (Sameer Agarwal) |
| #. ``LocalParameterization`` objects can have a zero sized tangent |
| size, which effectively makes the parameter block constant. In |
| particular, this allows for a ``SubsetParameterization`` that holds |
| all the coordinates of a parameter block constant. (Sameer Agarwal |
| & Emil Ernerfeldt) |
| #. Visibility based preconditioning now works with ``Eigen`` and |
| ``CXSparse``. (Sameer Agarwal) |
| #. Added :func:`Problem::EvaluateResidualBlock` and |
| :func:`Problem::EvaluateResidualBlockAssumingParametersUnchanged`. (Sameer |
| Agarwal) |
| #. ``GradientChecker`` now uses ``RIDDERS`` method for more accurate |
| numerical derivatives. (Sameer Agarwal) |
| #. Covariance computation uses a faster SVD algorithm (Johannes Beck) |
| #. A new local parameterization for lines (Johannes Beck) |
| #. A new (``SUBSET``) preconditioner for problems with general |
| sparsity. (Sameer Agarwal) |
| #. Faster Schur elimination using faster custom BLAS routines for |
| small matrices. (yangfan) |
| #. Automatic differentiation for ``FirstOrderFunction`` in the form of |
| :class:`AutoDiffFirstOrderFunction`. (Sameer Agarwal) |
| #. ``TinySolverAutoDiffFunction`` now supports dynamic number of residuals |
| just like ``AutoDiffCostFunction``. (Johannes Graeter) |
| |
| Backward Incompatible API Changes |
| --------------------------------- |
| |
| #. ``EvaluationCallback`` has been moved from ``Solver::Options`` to |
| ``Problem::Options`` for a more correct API. |
| #. Removed ``Android.mk`` based build. |
| #. ``Solver::Options::num_linear_solver_threads`` is no more. |
| |
| Bug Fixes & Minor Changes |
| ------------------------- |
| #. Use CMAKE_PREFIX_PATH to pass Homebrew install location (Alex Stewart) |
| #. Add automatic differentiation support for ``Erf`` and ``Erfc``. (Morten Hennemose) |
| #. Add a move constructor to ``AutoDiffCostFunction``, ``NumericDiffCostFunction``, ``DynamicAutoDiffCostFunction`` and ``DynamicNumericDiffCostFunction``. (Julian Kent & Sameer Agarwal) |
| #. Fix potential for mismatched release/debug TBB libraries (Alex Stewart) |
| #. Trust region minimizer now reports the gradient of the current state, rather than zero when it encounters an unsuccessful step (Sameer Agarwal & Alex Stewart) |
| #. Unify symbol visibility configuration for all compilers (Taylor Braun-Jones) |
| #. Fix the Bazel build so that it points GitLab instead of the old BitBucket repo for Eigen (Sameer Agarwal) |
| #. Reformat source to be clang-format clean and add a script to format the repo using clang-format. (Nikolaus Demmel) |
| #. Various documentation improvements (Sameer Agarwal, Carl Dehlin, |
| Bayes Nie, Chris Choi, Frank, Kuang Fangjun, Dmitriy Korchemkin, |
| huangqinjin, Patrik Huber, Nikolaus Demmel, Lorenzo Lamia) |
| #. Huge number of build system simplification & cleanups (Alex |
| Stewart, NeroBurner, Alastair Harrison, Linus Mårtensson, Nikolaus Demmel) |
| #. Intel TBB based threading removed (Mike Vitus) |
| #. Allow :class:`SubsetParameterization` to accept an empty vector of |
| constant parameters. (Sameer Agarwal & Frédéric Devernay) |
| #. Fix a bug in DynamicAutoDiffCostFunction when all parameters are |
| constant (Ky Waegel & Sameer Agarwal) |
| #. Fixed incorrect argument name in ``RotationMatrixToQuaternion`` |
| (Alex Stewart & Frank Dellaert) |
| #. Do not export class template LineParameterization (huangqinjin) |
| #. Change the type of parameter index/offset to match their getter/setter (huangqinjin) |
| #. Initialize integer variables with integer instead of double (huangqinjin) |
| #. Add std::numeric_limit specialization for Jets (Sameer Agarwal) |
| #. Fix a MSVC type deduction bug in ComputeHouseholderVector (Sameer Agarwal) |
| #. Allow LocalParameterizations to have zero local size. (Sameer Agarwal) |
| #. Add photometric and relative-pose residuals to autodiff benchmarks (Nikolaus Demmel) |
| #. Add a constant cost function to the autodiff benchmarks (Darius Rueckert) |
| #. Add const to GetCovarianceMatrix#. (Johannes Beck) |
| #. Fix Tukey loss function (Enrique Fernandez) |
| #. Fix 3+ nested Jet constructor (Julian Kent) |
| #. Fix windows MSVC build. (Johannes Beck) |
| #. Fix invert PSD matrix. (Johannes Beck) |
| #. Remove not used using declaration (Johannes Beck) |
| #. Let Problem::SetParameterization be called more than once. (Sameer Agarwal) |
| #. Make Problem movable. (Sameer Agarwal) |
| #. Make EventLogger more efficient. (Sameer Agarwal) |
| #. Remove a CHECK failure from covariance_impl.cc (Sameer Agarwal) |
| #. Add a missing cast in rotation.h (Sameer Agarwal) |
| #. Add a specialized SchurEliminator and integrate it for the case <2,3,6> (Sameer Agarwal) |
| #. Remove use of SetUsage as it creates compilation problems. (Sameer Agarwal) |
| #. Protect declarations of lapack functions under CERES_NO_LAPACK (Sameer Agarwal) |
| #. Drop ROS dependency on catkin (Scott K Logan) |
| #. Explicitly delete the copy constructor and copy assignment operator (huangqinjin) |
| #. Use selfAdjoingView<Upper> in InvertPSDMatrix. (Sameer Agarwal) |
| #. Speed up InvertPSDMatrix (Sameer Agarwal) |
| #. Allow Solver::Options::max_num_line_search_step_size_iterations = 0. (Sameer Agarwal) |
| #. Make LineSearchMinizer work correctly with negative valued functions. (Sameer Agarwal) |
| #. Fix missing declaration warnings in Ceres code (Sergey Sharybin) |
| #. Modernize ProductParameterization. (Johannes Beck) |
| #. Add some missing string-to-enum-to-string convertors. (Sameer Agarwal) |
| #. Add checks in rotation.h for inplace operations. (Johannes Beck) |
| #. Update Bazel WORKSPACE for newest Bazel (Keir Mierle) |
| #. TripletSparseMatrix: guard against self-assignment (ngoclinhng) |
| #. Fix Eigen alignment issues. (Johannes Beck) |
| #. Add the missing <array> header to fixed_array.h (Sameer Agarwal) |
| #. Switch to FixedArray implementation from abseil. (Johannes Beck) |
| #. IdentityTransformation -> IdentityParameterization (Sameer Agarwal) |
| #. Reorder initializer list to make -Wreorder happy (Sam Hasinoff) |
| #. Reduce machoness of macro definition in cost_functor_to_function_test.cc (Sameer Agarwal) |
| #. Enable optional use of sanitizers (Alex Stewart) |
| #. Fix a typo in cubic_interpolation.h (Sameer Agarwal) |
| #. Update googletest/googlemock to db9b85e2. (Sameer Agarwal) |
| #. Fix Jacobian evaluation for constant parameter (Johannes Beck) |
| #. AutoDiffCostFunction: use static_assert to check if the correct overload of the constructor is used. (Christopher Wecht) |
| #. Avoid additional memory allocation in gradient checker (Justin Carpentier) |
| #. Swap the order of definition of IsValidParameterDimensionSequence. (Sameer Agarwal) |
| #. Add ParameterBlock::IsSetConstantByUser() (Sameer Agarwal) |
| #. Add parameter dims for variadic sized cost function (Johannes Beck) |
| #. Remove trailing zero parameter block sizes (Johannes Beck) |
| #. Adding integer sequence and algorithms (Johannes Beck) |
| #. Improve readability of LocalParameterization code. (Sameer Agarwal) |
| #. Simplifying Init in manual contructor (Johannes Beck) |
| #. Fix typo in NIST url. (Alessandro Gentilini) |
| #. Add a .clang-format file. (Sameer Agarwal) |
| #. Make ConditionedCostFunction compatible with repeated CostFunction. (Sameer Agarwal) |
| #. Remove conversions from a double to a Jet. (Kuang Fangjun) |
| #. close the file on return. (Kuang Fangjun) |
| #. Fix an error in the demo code for ceres::Jet. (Kuang Fangjun) |
| #. Recheck the residual after a new call. (Kuang Fangjun) |
| #. avoid recomputation. (Kuang Fangjun) |
| #. Fix calculation of Solver::Summary::num_threads_used. (Alex Stewart) |
| #. Convert calls to CHECK_NOTNULL to CHECK. (Sameer Agarwal) |
| #. Add a missing <cstdint> to block_structure.h (Sameer Agarwal) |
| #. Fix an uninitialized memory error in EvaluationCallbackTest (Sameer Agarwal) |
| #. Respect bounds when using Solver::Options::check_gradients (Sameer Agarwal) |
| #. Relax the limitation that SchurEliminator::Eliminate requires a rhs. (Sameer Agarwal) |
| #. Fix three out of bounds errors in CompressedRowSparseMatrix. (Sameer Agarwal) |
| #. Add Travis CI support. (Alex Stewart) |
| #. Refactor Ceres threading option configuration. (Alex Stewart) |
| #. Handle NULL permutation from SuiteSparseQR (Pau Gargallo) |
| #. Remove chunk shuffle in multithreaded SchurEliminator (Norbert Wenzel) |
| #. Add /bigobj to nist on MSVC. (Alex Stewart) |
| #. Fix 'xxx.cc has no symbols' warnings. (Alex Stewart) |
| #. Add a typedef to expose the scalar type used in a Jet. (Sameer Agarwal) |
| #. Fix a use after free bug in the tests. (Sameer Agarwal) |
| #. Simplify integration tests. (Sameer Agarwal) |
| #. Converts std::unique_lock to std::lock_guard. (Mike Vitus) |
| #. Bring the Bazel build in sync with the CMake build. (Sameer Agarwal) |
| #. Adds a ParallelFor wrapper for no threads and OpenMP. (Mike Vitus) |
| #. Improve the test coverage in small_blas_test (Sameer Agarwal) |
| #. Handle possible overflow in TrustRegionStepEvaluator. (Sameer Agarwal) |
| #. Fix lower-bound on result of minimising step-size polynomial. (Alex Stewart) |
| #. Adds missing functional include in thread_pool.h (Mike Vitus) |
| |
| |
| 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 |
| ====== |
| |
| New Features |
| ------------ |
| #. ``LineSearchMinimizer`` and ``GradientProblemSolver`` are up to 2x |
| faster due to fewer function evaluations. (Sameer Agarwal) |
| #. ``SPARSE_NORMAL_CHOLESKY`` is significantly faster because Ceres |
| now computes the normal equations exploiting the static block |
| sparsity structure. (Cheng Wang & Sameer Agarwal) |
| #. Add compound with scalar operators for Jets. (Alex Stewart) |
| #. Enable support for AVX instructions for Jets. (Alex Stewart) |
| |
| Backward Incompatible API Changes |
| --------------------------------- |
| The enum ``CovarianceAlgorithmType`` which controls the linear algebra |
| algorithm used to compute the covariance used to combine the choice of |
| the algorithm and the choice of the sparse linear algebra library into |
| the enum name. So we had ``SUITE_SPARSE_QR`` and |
| ``EIGEN_SPARSE_QR``. ``Covariance::Options`` now has a separate member |
| allowing the user to choose the sparse linear algebra library, just |
| like the solver and ``CovarianceAlgorithmType`` now takes values |
| ``DENSE_SVD`` and ``SPARSE_QR``. This is a forward looking change that |
| will allow us to develop more flexible covariance estimation |
| algorithms with multiple linear algebra backends. |
| |
| Bug Fixes & Minor Changes |
| ------------------------- |
| #. Fix ``InvertPSDMatrix`` as it was triggering an Eigen assert in |
| Debug mode. (Philipp Hubner) |
| #. Fix cmake error from CeresConfig.cmake when Ceres not found (Taylor |
| Braun-Jones) |
| #. Completely refactored ``SparseNormalCholeskySolver``. (Sameer |
| Agarwal) |
| #. Fixed time reporting in ``Summary::FullReport`` when |
| ``LineSearchMinimizer`` is used. (Sameer Agarwal) |
| #. Remove unused file: collections_port.cc. (Sameer Agarwal) |
| #. ``SPARSE_SCHUR`` + ``CX_SPARSE`` = Faster (Sameer Agarwal) |
| #. Refactored a number of linear solver tests to be more thorough and |
| informative. (Sameer Agarwal) |
| #. Pass user-specified search hints as HINTS not PATHS. (Alex Stewart) |
| #. Prefer Eigen installs over exported build directories. (Alex |
| Stewart) |
| #. Add OpenMP flags when compiling for C if enabled. (Alex Stewart) |
| #. Add a missing ``CERES_EXPORT`` to GradientChecker (Sameer Agarwal) |
| #. Use target_compile_features() to specify C++11 requirement if |
| available. (Alex Stewart) |
| #. Update docs: .netrc --> .gitcookies (Keir Mierle) |
| #. Fix implicit precision loss warning on 64-bit archs (Ricardo |
| Sanchez-Saez) |
| #. Optionally use exported Eigen CMake configuration if |
| available. (Alex Stewart) |
| #. Use ``Ceres_[SOURCE/BINARY]_DIR`` not ``CMAKE_XXX_DIR`` to support |
| nesting. (Alex Stewart) |
| #. Update ``Problem::EvaluateOptions`` documentation. (Sameer Agarwal) |
| #. Add public headers to CMake target for IDEs. (Devin Lane) |
| #. Add an article on interfacing with automatic |
| differentiation. (Sameer Agarwal) |
| #. Add default Fedora/Debian locations for CXSparse to search |
| paths. (Alex Stewart) |
| #. Add a test for ``LineSearchMinimizer`` (Sameer Agarwal) |
| #. Flatten the table of contents. (Sameer Agarwal) |
| #. Fix when ``LineSearchMinimizer`` adds the ``IterationSummary``` to |
| ``Solver::Summary`` (Sameer Agarwal) |
| #. Fix search path for miniglog headers when Ceres is exported. (Alex |
| Stewart) |
| #. Fix ambiguous reference to ``WARNING`` when using miniglog. (Alex |
| Stewart) |
| #. Fix Jet/Eigen compatibility for Eigen > 3.3 (Julien Pilet) |
| #. Add max severity option when ``MINIGLOG`` is enabled (Taylor |
| Braun-Jones) |
| #. Improvements to Schur template specializations (Sameer Agarwal) |
| #. Added an article on derivatives (Sameer Agarwal) |
| #. Require Eigen >= 3.3 to define ScalarBinaryOpTraits in Jet. (Alex |
| Stewart) |
| #. A hacky fix for the Eigen::FullPivLU changes. (Sameer Agarwal) |
| #. Specify ``ScalarBinaryOpTraits`` for Jet types. (Chris Sweeney) |
| #. Remove spurious conversion from doubles to Jets. (Sameer Agarwal) |
| #. Fix an error in the tutorial code for ``NumericDiffCostFunction`` |
| (Sameer Agarwal) |
| #. ``CERES_EXPORT`` fix to compile Ceres as DLL (Je Hyeong Hong) |
| #. Fix detection of deprecated Bessel function names on MSVC. (Alex |
| Stewart) |
| #. Ensure that partial evaluation of residuals triggers an error |
| (Sameer Agarwal) |
| #. Fix detection of CMake-built glog on Windows. (Alex Stewart) |
| #. Add additional search paths for glog & Eigen on Windows. (Alex |
| Stewart) |
| #. Various minor grammar and bug fixes to the documentation (Sameer |
| Agarwal, Alex Stewart, William Rucklidge) |
| |
| |
| 1.12.0 |
| ====== |
| |
| New Features |
| ------------ |
| #. Aligned ``Jet`` matrices for improved automatic differentiation |
| performance. (Andrew Hunter) |
| #. Auto-differentiable implementations of Bessel functions, ``floor``, |
| and ``ceil`` (Alessandro Gentilini & Michael Vitus) |
| #. New 2D and 3D SLAM examples. (Michael Vitus) |
| #. Added ``EigenQuaternionParameterization``. (Michael Vitus) |
| #. Added ``Problem::IsParameterBlockConstant`` (Thomas Schneider) |
| #. A complete refactoring of ``TrustRegionMinimizer``. (Sameer Agarwal) |
| #. Gradient checking cleanup and local parameterization bugfix (David |
| Gossow) |
| |
| |
| Backward Incompatible API Changes |
| --------------------------------- |
| #. ``Solver::Options::numeric_derivative_relative_step_size`` has been |
| renamed to |
| ``Solver::Options::gradient_check_numeric_derivative_relative_step_size``. (Sameer |
| Agarwal) |
| |
| Bug Fixes & Minor Changes |
| ------------------------- |
| #. Clear XXX_FOUND in Find<XXX>.cmake prior to searching. (Alex |
| Stewart) |
| #. Fix versioning in the documentation (Sameer Agarwal) |
| #. Fix missing gflags imported target definition in |
| CeresConfig.cmake. (Alex Stewart) |
| #. Make gflags a public dependency of Ceres if it and glog are |
| found. (Alex Stewart) |
| #. Add support for glog exported CMake target. (Alex Stewart) |
| #. Use ``google::GLOG_WARNING`` instead of ``WARNING`` in tests to |
| support MSVC. (Alex Stewart) |
| #. Update gtest and gmock to |
| ``a2b8a8e07628e5fd60644b6dd99c1b5e7d7f1f47`` (Sameer Agarwal) |
| #. Add MSVC-specific ``#define`` to expose math constants in |
| ``<cmath>``. (Alex Stewart) |
| #. Fix typo. indepdendent -> independent (Hung Lun) |
| #. Fix potential invalid reset of CMAKE_FIND_LIBRARY_PREFIXES on MSVC |
| (Alex Stewart) |
| #. Fix use of alignas(0) which is not ignored on GCC (Alex Stewart) |
| #. Use default alignment if alignof(std::max_align_t) < 16 with C++11 |
| (Alex Stewart) |
| #. Introduce a common base class for DynamicAutoDiffCostFunction and |
| DynamicNumericDiffCostFunction. (Sameer Agarwal) |
| #. Fix an exact equality test causing breakage in |
| gradient_checker_test. (Sameer Agarwal) |
| #. Add GradientProblemSolver::Options::parameter_tolerance. (Sameer |
| Agarwal) |
| #. Add missing T() wrappers for constants. (Rob Carroll) |
| #. Remove two checks from rotation.h (Sameer Agarwal) |
| #. Relax the tolerance in QuaternionParameterizationTestHelper. (Je |
| Hyeong Hong) |
| #. Occured -> Occurred. (Sameer Agarwal) |
| #. Fix a test error in autodiff_test.cc. (Je Hyeong Hong) |
| #. Fix documentation source for templated function in ``rotation.h``. |
| #. Add ``package.xml`` to enable Catkin builds. (Damon Kohler) |
| #. Relaxing Jacobian matching in Gradient Checker test. (David Gossow) |
| #. Allow SubsetParameterization to hold all parameters constant |
| (Sameer Agarwal) |
| #. Fix an Intel compiler error in covariance_impl.cc (Je Hyeong Hong) |
| #. Removing duplicate include directive. (David Gossow) |
| #. Remove two DCHECKs from CubicHermiteSpline. (Sameer Agarwal) |
| #. Fix some compiler warnings. (Richard Trieu) |
| #. Update ExpectArraysClose to use ExpectClose instead of |
| EXPECT_NEAR. (Phillip Hubner) |
| #. FindWithDefault returns by value rather than reference. (@aradval) |
| #. Fix compiler errors on some systems. (David Gossow) |
| #. Note that Problem::Evaluate cannot be called from an |
| IterationCallback. (Sameer Agarwal) |
| #. Use ProductParameterization in bundle_adjuster.cc (Sameer Agarwal) |
| #. Enable support for OpenMP in Clang if detected. (Alex Stewart) |
| #. Remove duplicate entry for the NIST example in the docs. (Michael |
| Vitus) |
| #. Add additional logging for analyzing orderings (Sameer Agarwal) |
| #. Add readme for the sampled_function example. (Michael Vitus) |
| #. Use _j[0,1,n]() Bessel functions on MSVC to avoid deprecation |
| errors. (Alex Stewart & Kichang Kim) |
| #. Fix: Copy minimizer option ``is_silent`` to |
| ``LineSearchDirection::Options`` (Nicolai Wojke) |
| #. Fix typos in ``users.rst`` (Sameer Agarwal) |
| #. Make some Jet comparisons exact. (Sameer Agarwal) |
| #. Add colmap to users.rst (Sameer Agarwal) |
| #. Fix step norm evaluation in LineSearchMinimizer (Sameer Agarwal) |
| #. Remove use of -Werror when compiling Ceres. (Alex Stewart) |
| #. Report Ceres compile options as components in find_package(). (Alex |
| Stewart) |
| #. Fix a spelling error in nnls_modeling.rst (Timer) |
| #. Only use collapse() directive with OpenMP 3.0 or higher. (Keir |
| Mierle) |
| #. Fix install path for CeresConfig.cmake to be architecture-aware. |
| #. Fix double conversion to degrees in rotation_test (Keir Mierle) |
| #. Make Jet string output more readable (Keir Mierle) |
| #. Fix rotation_test IsClose() and related tests (Keir Mierle) |
| #. Loosen an exact equality in local_parameterization_test (Sameer |
| Agarwal) |
| #. make_docs: Pass the file encoding to open() (Niels Ole Salscheider) |
| #. Fix error message returned when using SUITE_SPARSE_QR in covariance |
| estimation on a ceres built without SuiteSparse support. (Simon |
| Rutishauser) |
| #. Fix CXX11 option to be available on MinGW & CygWin, but not |
| MSVC. (Alex Stewart) |
| #. Fix missing early return() in xxx_not_found() dependency |
| macros. (Alex Stewart) |
| #. Initialize ``inner_iterations_were_useful_`` correctly. (Sameer |
| Agarwal) |
| #. Add an implementation for GradientProblemSolver::Options::IsValid |
| (Sameer Agarwal) |
| #. Fix use of va_copy() if compiling with explicit C++ version < |
| C++11. (Alex Stewart) |
| #. Install CMake files to lib/cmake/Ceres (Niels Ole Salscheider) |
| #. Allow users to override the documentation install directory. (Niels |
| Ole Salscheider) |
| #. Add covariance matrix for a vector of parameters (Wannes Van Loock) |
| #. Saner tolerances & stricter LRE test. (Sameer Agarwal) |
| #. Fix a malformed sentence in the tutorial. (Sameer Agarwal) |
| #. Add logging for sparse Cholesky factorization using Eigen. (Sameer |
| Agarwal) |
| #. Use std::adjacent_find instead of std::unique. (Sameer Agarwal) |
| #. Improve logging in CompressedRowJacobianWriter on crash. (Sameer |
| Agarwal) |
| #. Fix free parameter block handling in covariance computation (Wannes |
| Van Loock) |
| #. Report the number of line search steps in FullReport. (Sameer |
| Agarwal) |
| #. Make CMake read Ceres version directly from |
| include/ceres/version.h. (Alex Stewart) |
| #. Lots of code style/lint changes. (William Rucklidge) |
| #. Fix covariance computation for constant blocks (Wannes Van Loock) |
| #. Add IOS_DEPLOYMENT_TARGET variable to iOS.cmake (Eduard Feicho) |
| #. Make miniglog threadsafe on non-windows system by using |
| localtime_r() instead of localtime() for time formatting (Simon |
| Rutishauser) |
| |
| 1.11.0 |
| ====== |
| |
| New Features |
| ------------ |
| #. Adaptive numeric differentiation using Ridders' method. (Tal |
| Ben-Nun) |
| #. Add ``CubicInterpolator`` and ``BiCubicInterpolator`` to allow |
| smooth interpolation of sampled functions and integration with |
| automatic differentiation. |
| #. Add method to return covariance in tangent space. (Michael Vitus & |
| Steve Hsu) |
| #. Add Homogeneous vector parameterization. (Michael Vitus) |
| #. Add a ``ProductParameterization``, a local parameterization that |
| can be constructed as a cartesian product of other local |
| parameterization. |
| #. Add DynamicCostFunctionToFunctor. (David Gossow) |
| #. Optionally export Ceres build directory into local CMake package |
| registry. |
| #. Faster ``SPARSE_NORMAL_CHOLESKY`` in the presence of dynamic |
| sparsity. |
| |
| Bug Fixes & Minor Changes |
| ------------------------- |
| #. Remove use of link-time optimisation (LTO) for all compilers due to |
| portability issues with gtest / type_info::operator== & Eigen with |
| Clang on OS X vs GCC 4.9+ on Linux requiring contradictory 'fixes'. |
| #. Use link-time optimisation (LTO) only when compiling Ceres itself, |
| not tests or examples, to bypass gtest / type_info::operator== |
| issue. |
| #. Use old minimum iOS version flags on Xcode < 7.0. |
| #. Add gtest-specific flags when building/using as a shared library. |
| #. Clean up iOS.cmake to use xcrun/xcodebuild & libtool. |
| #. Import the latest version of ``googletest``. |
| #. Refactored ``system_test`` into ``bundle_adjustment_test`` and |
| ``system_test``, where each test case is its own test. |
| #. Fix invalid memory access bug in |
| ``CompressedRowSparseMatrix::AppendRows`` when it was called with a |
| matrix of size zero. |
| #. Build position independent code when compiling Ceres statically |
| (Alexander Alekhin). |
| #. Fix a bug in DetectStructure (Johannes Schonberger). |
| #. Reduce memory footprint of SubsetParameterization (Johannes |
| Schonberger). |
| #. Fix for reorder program unit test when built without suitesparse |
| (Sergey Sharybin). |
| #. Fix a bug in the Schur eliminator (Werner Trobin). |
| #. Fix a bug in the reordering code (Bernhard Zeisl). |
| #. Add missing CERES_EXPORT to ComposedLoss (Simon Rutishauser). |
| #. Add the option to use numeric differentiation to ``nist`` and |
| ``more_garbow_hillstrom``. |
| #. Fix EIGENSPARSE option help s/t it displays in CMake ncurses GUI. |
| #. Fix SparseNormalCholeskySolver with dynamic sparsity (Richie |
| Stebbing). |
| #. Remove legacy dependency detection macros. |
| #. Fix failed if() condition expansion if gflags is not found. |
| #. Update all CMake to lowercase function name style. |
| #. Update minimum iOS version to 7.0 for shared_ptr/unordered_map. |
| #. Fix bug in gflags' <= 2.1.2 exported CMake configuration. |
| #. Remove the spec file needed for generating RPMs. |
| #. Fix a typo in small_blas.h (Werber Trobin). |
| #. Cleanup FindGflags & use installed gflags CMake config if present. |
| #. Add default glog install location on Windows to search paths |
| (bvanevery). |
| #. Add default Eigen install location on Windows to search paths |
| (bvanevery). |
| #. Fix explanation of config.h generation in bare config.h. |
| #. Fix unused parameter compiler warnings in numeric_diff.h. |
| #. Increase tolerance for a test in polynomial_test (Taylor Braun |
| Jones). |
| #. Fix addition of Gerrit commit hook when Ceres is a git submodule |
| (Chris Cooper). |
| #. Fix missing EIGEN_VERSION expansion typo. |
| #. Fix links to SuiteSparse & CXSparse (Henrique Mendonça). |
| #. Ensure Eigen is at least 3.1.0 for Eigen/SparseCore. |
| #. Add option to use C++11 (not TR1) shared_ptr & unordered_map |
| (Norman Goldstein). |
| #. Fix an incorrect usage message in bundle_adjuster.cc |
| #. Gracefully disable docs if Sphinx is not found. |
| #. Explicitly use (new) default OS X rpath policy if present. |
| #. Add support of EIGEN_SPARSE type in |
| IsSparseLinearAlgebraLibraryTypeAvailable function (Pierre Moulon). |
| #. Allow the LossFunction contained in a LossFunctionWrapper to be |
| NULL. This is consistent with how NULL LossFunctions are treated |
| everywhere else. (Simon Rutishauser). |
| #. Improve numeric differentation near zero. |
| #. Refactored DynamicNumericDiffCostFunction to use NumericDiff (Tal |
| Ben-Nun). |
| #. Remove use of :caption tag in Sphinx. |
| #. Add a small test to make sure GradientProblemSolver works correctly |
| (Petter Strandmark). |
| #. Add simple unit tests for GradientProblem (Petter Strandmark). |
| #. Make the robust curve fitting example robust. |
| #. Homogenize convergence operators in docs and code (Johannes |
| Schonberger). |
| #. Add parameter_tolerance convergence to line search minimizer |
| (Johannes Schonberger). |
| #. Fix bug where pow(JetA,JetB) returned wrong result for JetA==0 |
| (Russell Smith). |
| #. Remove duplicate step norm computation (Johannes Schonberger). |
| #. Enhance usability when encountering Eigen version mismatches |
| (Andrew Hundt). |
| #. Add PLY file logger before and after BA in order to ease visual |
| comparison (Pierre Moulon). |
| #. Fix CMake config file docs to include 2.8.x & 3.x styles. |
| #. Python3 fixes (Markus Moll). |
| #. Remove confusing code from DenseJacobianWriter (Michael Vitus). |
| #. Add documentation on CMake package installation process. |
| #. Revert a call to SolveUpperTriangularUsingCholesky. |
| #. Make CERES_EIGEN_VERSION macro independent of CMake. |
| #. Add versions of dependencies used to FullReport(). |
| #. Ensure local config.h is used if Ceres is already installed. |
| #. Small messaging and comment updates in CMake |
| #. Handle possible presence of library prefixes in MSVC (Sylvain |
| Duchêne). |
| #. Use -O2 not -O3 on MinGW to workaround issue with Eigen |
| (s1m3mu3@gmail.com). |
| #. Increase tolerance in small_blas test for Cygwin |
| (s1m3mu3@gmail.com). |
| #. Fix iOS cmake file for cmake 3.0 (Jack Feng) |
| #. Fix missing gflags shlwapi dependency on MinGW (s1m3mu3@gmail.com). |
| #. Add thread dependency & fix namespace detection on Windows for |
| gflags (arrigo.benedetti@gmail.com). |
| #. Rename macros in the public API to have a ``CERES_`` prefix. |
| #. Fix ``OrderedGroup::Reverse()`` when it is empty (Chris Sweeney). |
| #. Update the code to point to ceres-solver.org. |
| #. Update documentation to point to the GitHub issue tracker. |
| #. Disable ``LAPACK`` for iOS builds. (Greg Coombe) |
| #. Force use of single-thread in ``Problem::Evaluate()`` without |
| OpenMP. |
| #. Less strict check for multithreading. (Chris Sweeney) |
| #. Update tolerances in small_blas_test.cc (Philipp Hubner) |
| #. Documentation corrections (Steve Hsu) |
| #. Fixed ``sampled_function.cc`` (Pablo Speciale) |
| #. Fix example code in the documentation. (Rodney Hoskinson) |
| #. Improve the error handling in Conjugate Gradients. |
| #. Improve preconditioner documentation. |
| #. Remove dead code from fpclassify.h. |
| #. Make Android.mk threads sensitive. |
| #. Changed the ``CURRENT_CONFIG_INSTALL_DIR`` to be a variable local |
| to Ceres. (Chris Sweeney) |
| #. Fix typo in the comments in ``Jet.h``. (Julius Ziegler) |
| #. Add the ASL at ETH Zurich, Theia & OpenPTrack to the list of users. |
| #. Fixed a typo in the documentation. (Richard Stebbing) |
| #. Fixed a boundary handling bug in the BiCubic interpolation |
| code. (Bernhard Zeisl) |
| #. Fixed a ``MSVC`` compilation bug in the cubic interpolation code |
| (Johannes Schönberger) |
| #. Add covariance related files to the Android build. |
| #. Update Ubuntu 14.04 installation instructions. (Filippo Basso) |
| #. Improved logging for linear solver failures. |
| #. Improved crash messages in ``Problem``. |
| #. Hide Homebrew related variables in CMake GUI. |
| #. Add SuiteSparse link dependency for |
| compressed_col_sparse_matrix_utils_test. |
| #. Autodetect Homebrew install prefix on OSX. |
| #. Lint changes from William Rucklidge and Jim Roseborough. |
| #. Remove ``using namespace std:`` from ``port.h`` |
| #. Add note about glog not currently compiling against gflags 2.1. |
| #. Add explicit no sparse linear algebra library available option. |
| #. Improve some wording in the FAQ. (Vasily Vylkov) |
| #. Delete Incomplete LQ Factorization. |
| #. Add a pointer to MacPorts. (Markus Moll) |
| |
| |
| 1.10.0 |
| ====== |
| |
| New Features |
| ------------ |
| #. Ceres Solver can now be used to solve general unconstrained |
| optimization problems. See the documentation for |
| ``GradientProblem`` and ``GradientProblemSolver``. |
| #. ``Eigen`` can now be as a sparse linear algebra backend. This can |
| be done by setting |
| ``Solver::Options::sparse_linear_algebra_library_type`` to |
| ``EIGEN_SPARSE``. Performance should be comparable to |
| ``CX_SPARSE``. |
| |
| .. NOTE:: |
| |
| Because ``Eigen`` is a header only library, and some of the code |
| related to sparse Cholesky factorization is LGPL, building Ceres |
| with support for Eigen's sparse linear algebra is disabled by |
| default and should be enabled explicitly. |
| |
| .. NOTE:: |
| |
| For good performance, use Eigen version 3.2.2 or later. |
| |
| #. Added ``EIGEN_SPARSE_QR`` algorithm for covariance estimation using |
| ``Eigen``'s sparse QR factorization. (Michael Vitus) |
| #. Faster inner iterations when using multiple threads. |
| #. Faster ``ITERATIVE_SCHUR`` + ``SCHUR_JACOBI`` for small to medium |
| sized problems (see documentation for |
| ``Solver::Options::use_explicit_schur_complement``). |
| #. Faster automatic Schur ordering. |
| #. Reduced memory usage when solving problems with dynamic sparsity. |
| #. ``CostFunctionToFunctor`` now supports dynamic number of residuals. |
| #. A complete re-write of the problem preprocessing phase. |
| #. ``Solver::Summary::FullReport`` now reports the build configuration |
| for Ceres. |
| #. When building on Android, the ``NDK`` version detection logic has |
| been improved. |
| #. The ``CERES_VERSION`` macro has been improved and replaced with the |
| ``CERES_VERSION_STRING`` macro. |
| #. Added ``Solver::Options::IsValid`` which allows users to validate |
| their solver configuration before calling ``Solve``. |
| #. Added ``Problem::GetCostFunctionForResidualBlock`` and |
| ``Problem::GetLossFunctionForResidualBlock``. |
| #. Added Tukey's loss function. (Michael Vitus) |
| #. Added RotationMatrixToQuaternion |
| #. Compute & report timing information for line searches. |
| #. Autodetect gflags namespace. |
| #. Expanded ``more_garbow_hillstrom.cc``. |
| #. Added a pointer to Tal Ben-Nun's MSVC wrapper to the docs. |
| #. Added the ``<2,3,6>`` Schur template specialization. (Alessandro |
| Dal Grande) |
| |
| Backward Incompatible API Changes |
| --------------------------------- |
| #. ``NumericDiffFunctor`` has been removed. It's API was broken, and |
| the implementation was an unnecessary layer of abstraction over |
| ``CostFunctionToFunctor``. |
| #. ``POLAK_RIBIRERE`` conjugate gradients direction type has been |
| renamed to ``POLAK_RIBIERE``. |
| #. ``Solver::Options::solver_log`` has been removed. If needed this |
| iteration callback can easily be implemented in user code. |
| #. The ``SPARSE_CHOLESKY`` algorithm for covariance estimation has |
| been removed. It is not rank revealing and numerically poorly |
| behaved. Sparse QR factorization is a much better way to do this. |
| #. The ``SPARSE_QR`` algorithm for covariance estimation has been |
| renamed to ``SUITE_SPARSE_QR`` to be consistent with |
| ``EIGEN_SPARSE_QR``. |
| #. ``Solver::Summary::preconditioner_type`` has been replaced with |
| ``Solver::Summary::preconditioner_type_given`` and |
| ``Solver::Summary::preconditioner_type_used`` to be more consistent |
| with how information about the linear solver is communicated. |
| #. ``CERES_VERSION`` and ``CERES_ABI_VERSION`` macros were not |
| terribly useful. They have been replaced with |
| ``CERES_VERSION_MAJOR``, ``CERES_VERSION_MINOR`` , |
| ``CERES_VERSION_REVISION`` and ``CERES_VERSION_ABI`` macros. In |
| particular the functionality of ``CERES_VERSION`` is provided by |
| ``CERES_VERSION_STRING`` macro. |
| |
| Bug Fixes |
| --------- |
| #. Do not try the gradient step if TR step line search fails. |
| #. Fix missing include in libmv_bundle_adjuster on OSX. |
| #. Conditionally log evaluation failure warnings. |
| #. Runtime uses four digits after the decimal in Summary:FullReport. |
| #. Better options checking for TrustRegionMinimizer. |
| #. Fix RotationMatrixToAngleAxis when the angle of rotation is near |
| PI. (Tobias Strauss) |
| #. Sometimes gradient norm based convergence would miss a step with a |
| substantial solution quality improvement. (Rodney Hoskinson) |
| #. Ignore warnings from within Eigen/SparseQR (3.2.2). |
| #. Fix empty Cache HELPSTRING parsing error on OS X 10.10 Yosemite. |
| #. Fix a formatting error TrustRegionMinimizer logging. |
| #. Add an explicit include for local_parameterization.h (cooordz) |
| #. Fix a number of typos in the documentation (Martin Baeuml) |
| #. Made the logging in TrustRegionMinimizer consistent with |
| LineSearchMinimizer. |
| #. Fix some obsolete documentation in CostFunction::Evaluate. |
| #. Fix CG solver options for ITERATIVE_SCHUR, which did not copy |
| min_num_iterations (Johannes Schönberger) |
| #. Remove obsolete include of numeric_diff_functor.h. (Martin Baeuml) |
| #. Fix max. linear solver iterations in ConjugateGradientsSolver |
| (Johannes Schönberger) |
| #. Expand check for lack of a sparse linear algebra library. (Michael |
| Samples and Domink Reitzle) |
| #. Fix Eigen Row/ColMajor bug in NumericDiffCostFunction. (Dominik |
| Reitzle) |
| #. Fix crash in Covariance if # threads > 1 requested without OpenMP. |
| #. Fixed Malformed regex. (Björn Piltz) |
| #. Fixed MSVC error C2124: divide or mod by zero. (Björn Piltz) |
| #. Add missing #include of <limits> for loss functions. |
| #. Make canned loss functions more robust. |
| #. Fix type of suppressed compiler warning for Eigen 3.2.0. |
| #. Suppress unused variable warning from Eigen 3.2.0. |
| #. Add "make install" to the install instructions. |
| #. Correct formula in documentation of |
| Solver::Options::function_tolerance. (Alessandro Gentilini) |
| #. Add release flags to iOS toolchain. |
| #. Fix a broken hyperlink in the documentation. (Henrique Mendonca) |
| #. Add fixes for multiple definitions of ERROR on Windows to docs. |
| #. Compile miniglog into Ceres if enabled on all platforms. |
| #. Add two missing files to Android.mk (Greg Coombe) |
| #. Fix Cmake error when using miniglog. (Greg Coombe) |
| #. Don't build miniglog unconditionally as a static library (Björn |
| Piltz) |
| #. Added a missing include. (Björn Piltz) |
| #. Conditionally disable SparseNormalCholesky. |
| #. Fix a memory leak in program_test.cc. |
| |
| |
| 1.9.0 |
| ===== |
| |
| New Features |
| ------------ |
| #. Bounds constraints: Support for upper and/or lower bounds on |
| parameters when using the trust region minimizer. |
| #. Dynamic Sparsity: Problems in which the sparsity structure of the |
| Jacobian changes over the course of the optimization can now be |
| solved much more efficiently. (Richard Stebbing) |
| #. Improved support for Microsoft Visual C++ including the ability to |
| build and ship DLLs. (Björn Piltz, Alex Stewart and Sergey |
| Sharybin) |
| #. Support for building on iOS 6.0 or higher (Jack Feng). |
| #. Autogeneration of config.h that captures all the defines used to |
| build and use Ceres Solver. |
| #. Simpler and more informative solver termination type |
| reporting. (See below for more details) |
| #. New `website <http://www.ceres-solver.org>`_ based entirely on |
| Sphinx. |
| #. ``AutoDiffLocalParameterization`` allows the use of automatic |
| differentiation for defining ``LocalParameterization`` objects |
| (Alex Stewart) |
| #. LBFGS is faster due to fewer memory copies. |
| #. Parameter blocks are not restricted to be less than 32k in size, |
| they can be up to 2G in size. |
| #. Faster ``SPARSE_NORMAL_CHOLESKY`` solver when using ``CX_SPARSE`` |
| as the sparse linear algebra library. |
| #. Added ``Problem::IsParameterBlockPresent`` and |
| ``Problem::GetParameterization``. |
| #. Added the (2,4,9) and (2,4,8) template specializations. |
| #. An example demonstrating the use of |
| DynamicAutoDiffCostFunction. (Joydeep Biswas) |
| #. Homography estimation example from Blender demonstrating the use of |
| a custom ``IterationCallback``. (Sergey Sharybin) |
| #. Support user passing a custom CMAKE_MODULE_PATH (for BLAS / |
| LAPACK). |
| |
| Backward Incompatible API Changes |
| --------------------------------- |
| #. ``Solver::Options::linear_solver_ordering`` used to be a naked |
| pointer that Ceres took ownership of. This is error prone behaviour |
| which leads to problems when copying the ``Solver::Options`` struct |
| around. This has been replaced with a ``shared_ptr`` to handle |
| ownership correctly across copies. |
| |
| #. The enum used for reporting the termination/convergence status of |
| the solver has been renamed from ``SolverTerminationType`` to |
| ``TerminationType``. |
| |
| The enum values have also changed. ``FUNCTION_TOLERANCE``, |
| ``GRADIENT_TOLERANCE`` and ``PARAMETER_TOLERANCE`` have all been |
| replaced by ``CONVERGENCE``. |
| |
| ``NUMERICAL_FAILURE`` has been replaced by ``FAILURE``. |
| |
| ``USER_ABORT`` has been renamed to ``USER_FAILURE``. |
| |
| Further ``Solver::Summary::error`` has been renamed to |
| ``Solver::Summary::message``. It contains a more detailed |
| explanation for why the solver terminated. |
| |
| #. ``Solver::Options::gradient_tolerance`` used to be a relative |
| gradient tolerance. i.e., The solver converged when |
| |
| .. math:: \|g(x)\|_\infty < \text{gradient_tolerance} * |
| \|g(x_0)\|_\infty |
| |
| where :math:`g(x)` is the gradient of the objective function at |
| :math:`x` and :math:`x_0` is the parmeter vector at the start of |
| the optimization. |
| |
| This has changed to an absolute tolerance, i.e. the solver |
| converges when |
| |
| .. math:: \|g(x)\|_\infty < \text{gradient_tolerance} |
| |
| #. Ceres cannot be built without the line search minimizer |
| anymore. Thus the preprocessor define |
| ``CERES_NO_LINE_SEARCH_MINIMIZER`` has been removed. |
| |
| Bug Fixes |
| --------- |
| #. Disabled warning C4251. (Björn Piltz) |
| #. Do not propagate 3d party libs through |
| `IMPORTED_LINK_INTERFACE_LIBRARIES_[DEBUG/RELEASE]` mechanism when |
| building shared libraries. (Björn Piltz) |
| #. Fixed errant verbose levels (Björn Piltz) |
| #. Variety of code cleanups, optimizations and bug fixes to the line |
| search minimizer code (Alex Stewart) |
| #. Fixed ``BlockSparseMatrix::Transpose`` when the matrix has row and |
| column blocks. (Richard Bowen) |
| #. Better error checking when ``Problem::RemoveResidualBlock`` is |
| called. (Alex Stewart) |
| #. Fixed a memory leak in ``SchurComplementSolver``. |
| #. Added ``epsilon()`` method to ``NumTraits<ceres::Jet<T, N> |
| >``. (Filippo Basso) |
| #. Fixed a bug in `CompressedRowSparseMatrix::AppendRows`` and |
| ``DeleteRows``.q |
| #. Handle empty problems consistently. |
| #. Restore the state of the ``Problem`` after a call to |
| ``Problem::Evaluate``. (Stefan Leutenegger) |
| #. Better error checking and reporting for linear solvers. |
| #. Use explicit formula to solve quadratic polynomials instead of the |
| eigenvalue solver. |
| #. Fix constant parameter handling in inner iterations (Mikael |
| Persson). |
| #. SuiteSparse errors do not cause a fatal crash anymore. |
| #. Fix ``corrector_test.cc``. |
| #. Relax the requirements on loss function derivatives. |
| #. Minor bugfix to logging.h (Scott Ettinger) |
| #. Updated ``gmock`` and ``gtest`` to the latest upstream version. |
| #. Fix build breakage on old versions of SuiteSparse. |
| #. Fixed build issues related to Clang / LLVM 3.4 (Johannes |
| Schönberger) |
| #. METIS_FOUND is never set. Changed the commit to fit the setting of |
| the other #._FOUND definitions. (Andreas Franek) |
| #. Variety of bug fixes and cleanups to the ``CMake`` build system |
| (Alex Stewart) |
| #. Removed fictitious shared library target from the NDK build. |
| #. Solver::Options now uses ``shared_ptr`` to handle ownership of |
| ``Solver::Options::linear_solver_ordering`` and |
| ``Solver::Options::inner_iteration_ordering``. As a consequence the |
| ``NDK`` build now depends on ``libc++`` from the ``LLVM`` project. |
| #. Variety of lint cleanups (William Rucklidge & Jim Roseborough) |
| #. Various internal cleanups including dead code removal. |
| |
| |
| 1.8.0 |
| ===== |
| |
| New Features |
| ------------ |
| #. Significant improved ``CMake`` files with better robustness, |
| dependency checking and GUI support. (Alex Stewart) |
| #. Added ``DynamicNumericDiffCostFunction`` for numerically |
| differentiated cost functions whose sizing is determined at run |
| time. |
| #. ``NumericDiffCostFunction`` now supports a dynamic number of |
| residuals just like ``AutoDiffCostFunction``. |
| #. ``Problem`` exposes more of its structure in its API. |
| #. Faster automatic differentiation (Tim Langlois) |
| #. Added the commonly occurring ``2_d_d`` template specialization for |
| the Schur Eliminator. |
| #. Faster ``ITERATIVE_SCHUR`` solver using template specializations. |
| #. Faster ``SCHUR_JACOBI`` preconditioner construction. |
| #. Faster ``AngleAxisRotatePoint``. |
| #. Faster Jacobian evaluation when a loss function is used. |
| #. Added support for multiple clustering algorithms in visibility |
| based preconditioning, including a new fast single linkage |
| clustering algorithm. |
| |
| Bug Fixes |
| --------- |
| #. Fix ordering of ParseCommandLineFlags() & InitGoogleTest() for |
| Windows. (Alex Stewart) |
| #. Remove DCHECK_GE checks from fixed_array.h. |
| #. Fix build on MSVC 2013 (Petter Strandmark) |
| #. Fixed ``AngleAxisToRotationMatrix`` near zero. |
| #. Move ``CERES_HASH_NAMESPACE`` macros to ``collections_port.h``. |
| #. Fix handling of unordered_map/unordered_set on OSX 10.9.0. |
| #. Explicitly link to libm for ``curve_fitting_c.c``. (Alex Stewart) |
| #. Minor type conversion fix to autodiff.h |
| #. Remove RuntimeNumericDiffCostFunction. |
| #. Fix operator= ambiguity on some versions of Clang. (Alex Stewart) |
| #. Various Lint cleanups (William Rucklidge & Jim Roseborough) |
| #. Modified installation folders for Windows. (Pablo Speciale) |
| #. Added librt to link libraries for SuiteSparse_config on |
| Linux. (Alex Stewart) |
| #. Check for presence of return-type-c-linkage option with |
| Clang. (Alex Stewart) |
| #. Fix Problem::RemoveParameterBlock after calling solve. (Simon |
| Lynen) |
| #. Fix a free/delete bug in covariance_impl.cc |
| #. Fix two build errors. (Dustin Lang) |
| #. Add RequireInitialization = 1 to NumTraits::Jet. |
| #. Update gmock/gtest to 1.7.0 |
| #. Added IterationSummary::gradient_norm. |
| #. Reduced verbosity of the inner iteration minimizer. |
| #. Fixed a bug in TrustRegionMinimizer. (Michael Vitus) |
| #. Removed android/build_android.sh. |
| |
| |
| 1.7.0 |
| ===== |
| |
| Backward Incompatible API Changes |
| --------------------------------- |
| |
| #. ``Solver::Options::sparse_linear_algebra_library`` has been renamed |
| to ``Solver::Options::sparse_linear_algebra_library_type``. |
| |
| New Features |
| ------------ |
| #. Sparse and dense covariance estimation. |
| #. A new Wolfe line search. (Alex Stewart) |
| #. ``BFGS`` line search direction. (Alex Stewart) |
| #. C API |
| #. Speeded up the use of loss functions > 17x. |
| #. Faster ``DENSE_QR``, ``DENSE_NORMAL_CHOLESKY`` and ``DENSE_SCHUR`` |
| solvers. |
| #. Support for multiple dense linear algebra backends. In particular |
| optimized ``BLAS`` and ``LAPACK`` implementations (e.g., Intel MKL, |
| ACML, OpenBLAS etc) can now be used to do the dense linear algebra |
| for ``DENSE_QR``, ``DENSE_NORMAL_CHOLESKY`` and ``DENSE_SCHUR`` |
| #. Use of Inner iterations can now be adaptively stopped. Iteration |
| and runtime statistics for inner iterations are not reported in |
| ``Solver::Summary`` and ``Solver::Summary::FullReport``. |
| #. Improved inner iteration step acceptance criterion. |
| #. Add BlockRandomAccessCRSMatrix. |
| #. Speeded up automatic differentiation by 7\%. |
| #. Bundle adjustment example from libmv/Blender (Sergey Sharybin) |
| #. Shared library building is now controlled by CMake, rather than a |
| custom solution. Previously, Ceres had a custom option, but this is |
| now deprecated in favor of CMake's built in support for switching |
| between static and shared. Turn on BUILD_SHARED_LIBS to get shared |
| Ceres libraries. |
| #. No more dependence on Protocol Buffers. |
| #. Incomplete LQ factorization. |
| #. Ability to write trust region problems to disk. |
| #. Add sinh, cosh, tanh and tan functions to automatic differentiation |
| (Johannes Schönberger) |
| #. Simplifications to the cmake build file. |
| #. ``miniglog`` can now be used as a replacement for ``google-glog`` |
| on non Android platforms. (This is NOT recommended). |
| |
| Bug Fixes |
| --------- |
| #. Fix ``ITERATIVE_SCHUR`` solver to work correctly when the schur |
| complement is of size zero. (Soohyun Bae) |
| #. Fix the ``spec`` file for generating ``RPM`` packages (Brian Pitts |
| and Taylor Braun-Jones). |
| #. Fix how ceres calls CAMD (Manas Jagadev) |
| #. Fix breakage on old versions of SuiteSparse. (Fisher Yu) |
| #. Fix warning C4373 in Visual Studio (Petter Strandmark) |
| #. Fix compilation error caused by missing suitesparse headers and |
| reorganize them to be more robust. (Sergey Sharybin) |
| #. Check GCC Version before adding -fast compiler option on |
| OSX. (Steven Lovegrove) |
| #. Add documentation for minimizer progress output. |
| #. Lint and other cleanups (William Rucklidge and James Roseborough) |
| #. Collections port fix for MSC 2008 (Sergey Sharybin) |
| #. Various corrections and cleanups in the documentation. |
| #. Change the path where CeresConfig.cmake is installed (Pablo |
| Speciale) |
| #. Minor errors in documentation (Pablo Speciale) |
| #. Updated depend.cmake to follow CMake IF convention. (Joydeep |
| Biswas) |
| #. Stabilize the schur ordering algorithm. |
| #. Update license header in split.h. |
| #. Enabling -O4 (link-time optimization) only if compiler/linker |
| support it. (Alex Stewart) |
| #. Consistent glog path across files. |
| #. ceres-solver.spec: Use cleaner, more conventional Release string |
| (Taylor Braun-Jones) |
| #. Fix compile bug on RHEL6 due to missing header (Taylor Braun-Jones) |
| #. CMake file is less verbose. |
| #. Use the latest upstream version of google-test and gmock. |
| #. Rationalize some of the variable names in ``Solver::Options``. |
| #. Improve Summary::FullReport when line search is used. |
| #. Expose line search parameters in ``Solver::Options``. |
| #. Fix update of L-BFGS history buffers after they become full. (Alex |
| Stewart) |
| #. Fix configuration error on systems without SuiteSparse installed |
| (Sergey Sharybin) |
| #. Enforce the read call returns correct value in |
| ``curve_fitting_c.c`` (Arnaud Gelas) |
| #. Fix DynamicAutoDiffCostFunction (Richard Stebbing) |
| #. Fix Problem::RemoveParameterBlock documentation (Johannes |
| Schönberger) |
| #. Fix a logging bug in parameter_block.h |
| #. Refactor the preconditioner class structure. |
| #. Fix an uninitialized variable warning when building with ``GCC``. |
| #. Fix a reallocation bug in |
| ``CreateJacobianBlockSparsityTranspose``. (Yuliy Schwartzburg) |
| #. Add a define for O_BINARY. |
| #. Fix miniglog-based Android NDK build; now works with NDK r9. (Scott |
| Ettinger) |
| |
| |
| 1.6.0 |
| ===== |
| |
| New Features |
| ------------ |
| #. Major Performance improvements. |
| |
| a. Schur type solvers (``SPARSE_SCHUR``, ``DENSE_SCHUR``, |
| ``ITERATIVE_SCHUR``) are significantly faster due to custom BLAS |
| routines and fewer heap allocations. |
| |
| b. ``SPARSE_SCHUR`` when used with ``CX_SPARSE`` now uses a block |
| AMD for much improved factorization performance. |
| |
| c. The jacobian matrix is pre-ordered so that |
| ``SPARSE_NORMAL_CHOLESKY`` and ``SPARSE_SCHUR`` do not have to |
| make copies inside ``CHOLMOD``. |
| |
| d. Faster autodiff by replacing division by multplication by inverse. |
| |
| e. When compiled without threads, the schur eliminator does not pay |
| the penalty for locking and unlocking mutexes. |
| |
| #. Users can now use ``linear_solver_ordering`` to affect the |
| fill-reducing ordering used by ``SUITE_SPARSE`` for |
| ``SPARSE_NORMAL_CHOLESKY``. |
| #. ``Problem`` can now report the set of parameter blocks it knows about. |
| #. ``TrustRegionMinimizer`` uses the evaluator to compute the gradient |
| instead of a matrix vector multiply. |
| #. On ``Mac OS``, whole program optimization is enabled. |
| #. Users can now use automatic differentiation to define new |
| ``LocalParameterization`` objects. (Sergey Sharybin) |
| #. Enable larger tuple sizes for Visual Studio 2012. (Petter Strandmark) |
| |
| |
| Bug Fixes |
| --------- |
| |
| #. Update the documentation for ``CostFunction``. |
| #. Fixed a typo in the documentation. (Pablo Speciale) |
| #. Fix a typo in suitesparse.cc. |
| #. Bugfix in ``NumericDiffCostFunction``. (Nicolas Brodu) |
| #. Death to BlockSparseMatrixBase. |
| #. Change Minimizer::Options::min_trust_region_radius to double. |
| #. Update to compile with stricter gcc checks. (Joydeep Biswas) |
| #. Do not modify cached CMAKE_CXX_FLAGS_RELEASE. (Sergey Sharybin) |
| #. ``<iterator>`` needed for back_insert_iterator. (Petter Strandmark) |
| #. Lint cleanup. (William Rucklidge) |
| #. Documentation corrections. (Pablo Speciale) |
| |
| |
| 1.5.0 |
| ===== |
| |
| Backward Incompatible API Changes |
| --------------------------------- |
| #. Added ``Problem::Evaluate``. Now you can evaluate a problem or any |
| part of it without calling the solver. |
| |
| In light of this the following settings have been deprecated and |
| removed from the API. |
| |
| - ``Solver::Options::return_initial_residuals`` |
| - ``Solver::Options::return_initial_gradient`` |
| - ``Solver::Options::return_initial_jacobian`` |
| - ``Solver::Options::return_final_residuals`` |
| - ``Solver::Options::return_final_gradient`` |
| - ``Solver::Options::return_final_jacobian`` |
| |
| Instead we recommend using something like this. |
| |
| .. code-block:: c++ |
| |
| Problem problem; |
| // Build problem |
| |
| vector<double> initial_residuals; |
| problem.Evaluate(Problem::EvaluateOptions(), |
| NULL, /* No cost */ |
| &initial_residuals, |
| NULL, /* No gradient */ |
| NULL /* No jacobian */); |
| |
| Solver::Options options; |
| Solver::Summary summary; |
| Solver::Solve(options, &problem, &summary); |
| |
| vector<double> final_residuals; |
| problem.Evaluate(Problem::EvaluateOptions(), |
| NULL, /* No cost */ |
| &final_residuals, |
| NULL, /* No gradient */ |
| NULL /* No jacobian */); |
| |
| |
| New Features |
| ------------ |
| #. Problem now supports removal of ParameterBlocks and |
| ResidualBlocks. There is a space/time tradeoff in doing this which |
| is controlled by |
| ``Problem::Options::enable_fast_parameter_block_removal``. |
| |
| #. Ceres now supports Line search based optimization algorithms in |
| addition to trust region algorithms. Currently there is support for |
| gradient descent, non-linear conjugate gradient and LBFGS search |
| directions. |
| #. Added ``Problem::Evaluate``. Now you can evaluate a problem or any |
| part of it without calling the solver. In light of this the |
| following settings have been deprecated and removed from the API. |
| |
| - ``Solver::Options::return_initial_residuals`` |
| - ``Solver::Options::return_initial_gradient`` |
| - ``Solver::Options::return_initial_jacobian`` |
| - ``Solver::Options::return_final_residuals`` |
| - ``Solver::Options::return_final_gradient`` |
| - ``Solver::Options::return_final_jacobian`` |
| |
| #. New, much improved HTML documentation using Sphinx. |
| #. Changed ``NumericDiffCostFunction`` to take functors like |
| ``AutoDiffCostFunction``. |
| #. Added support for mixing automatic, analytic and numeric |
| differentiation. This is done by adding ``CostFunctionToFunctor`` |
| and ``NumericDiffFunctor`` objects to the API. |
| #. Sped up the robust loss function correction logic when residual is |
| one dimensional. |
| #. Sped up ``DenseQRSolver`` by changing the way dense jacobians are |
| stored. This is a 200-500% improvement in linear solver performance |
| depending on the size of the problem. |
| #. ``DENSE_SCHUR`` now supports multi-threading. |
| #. Greatly expanded ``Summary::FullReport``: |
| |
| - Report the ordering used by the ``LinearSolver``. |
| - Report the ordering used by the inner iterations. |
| - Execution timing breakdown into evaluations and linear solves. |
| - Effective size of the problem solved by the solver, which now |
| accounts for the size of the tangent space when using a |
| ``LocalParameterization``. |
| #. Ceres when run at the ``VLOG`` level 3 or higher will report |
| detailed timing information about its internals. |
| #. Remove extraneous initial and final residual evaluations. This |
| speeds up the solver a bit. |
| #. Automatic differenatiation with a dynamic number of parameter |
| blocks. (Based on an idea by Thad Hughes). |
| #. Sped up problem construction and destruction. |
| #. Added matrix adapters to ``rotation.h`` so that the rotation matrix |
| routines can work with row and column major matrices. (Markus Moll) |
| #. ``SCHUR_JACOBI`` can now be used without ``SuiteSparse``. |
| #. A ``.spec`` file for producing RPMs. (Taylor Braun-Jones) |
| #. ``CMake`` can now build the sphinx documentation (Pablo Speciale) |
| #. Add support for creating a CMake config file during build to make |
| embedding Ceres in other CMake-using projects easier. (Pablo |
| Speciale). |
| #. Better error reporting in ``Problem`` for missing parameter blocks. |
| #. A more flexible ``Android.mk`` and a more modular build. If binary |
| size and/or compile time is a concern, larger parts of the solver |
| can be disabled at compile time. |
| |
| Bug Fixes |
| --------- |
| #. Compilation fixes for MSVC2010 (Sergey Sharybin) |
| #. Fixed "deprecated conversion from string constant to char*" |
| warnings. (Pablo Speciale) |
| #. Correctly propagate ifdefs when building without Schur eliminator |
| template specializations. |
| #. Correct handling of ``LIB_SUFFIX`` on Linux. (Yuliy Schwartzburg). |
| #. Code and signature cleanup in ``rotation.h``. |
| #. Make examples independent of internal code. |
| #. Disable unused member in ``gtest`` which results in build error on |
| OS X with latest Xcode. (Taylor Braun-Jones) |
| #. Pass the correct flags to the linker when using |
| ``pthreads``. (Taylor Braun-Jones) |
| #. Only use ``cmake28`` macro when building on RHEL6. (Taylor |
| Braun-Jones) |
| #. Remove ``-Wno-return-type-c-linkage`` when compiling with |
| GCC. (Taylor Braun-Jones) |
| #. Fix ``No previous prototype`` warnings. (Sergey Sharybin) |
| #. MinGW build fixes. (Sergey Sharybin) |
| #. Lots of minor code and lint fixes. (William Rucklidge) |
| #. Fixed a bug in ``solver_impl.cc`` residual evaluation. (Markus |
| Moll) |
| #. Fixed variadic evaluation bug in ``AutoDiff``. |
| #. Fixed ``SolverImpl`` tests. |
| #. Fixed a bug in ``DenseSparseMatrix::ToDenseMatrix()``. |
| #. Fixed an initialization bug in ``ProgramEvaluator``. |
| #. Fixes to Android.mk paths (Carlos Hernandez) |
| #. Modify ``nist.cc`` to compute accuracy based on ground truth |
| solution rather than the ground truth function value. |
| #. Fixed a memory leak in ``cxsparse.cc``. (Alexander Mordvintsev). |
| #. Fixed the install directory for libraries by correctly handling |
| ``LIB_SUFFIX``. (Taylor Braun-Jones) |
| |
| 1.4.0 |
| ===== |
| |
| Backward Incompatible API Changes |
| --------------------------------- |
| The new ordering API breaks existing code. Here the common case fixes. |
| |
| **Before** |
| |
| .. code-block:: c++ |
| |
| options.linear_solver_type = ceres::DENSE_SCHUR |
| options.ordering_type = ceres::SCHUR |
| |
| **After** |
| |
| |
| .. code-block:: c++ |
| |
| options.linear_solver_type = ceres::DENSE_SCHUR |
| |
| |
| **Before** |
| |
| .. code-block:: c++ |
| |
| options.linear_solver_type = ceres::DENSE_SCHUR; |
| options.ordering_type = ceres::USER; |
| for (int i = 0; i < num_points; ++i) { |
| options.ordering.push_back(my_points[i]) |
| } |
| for (int i = 0; i < num_cameras; ++i) { |
| options.ordering.push_back(my_cameras[i]) |
| } |
| options.num_eliminate_blocks = num_points; |
| |
| |
| **After** |
| |
| .. code-block:: c++ |
| |
| options.linear_solver_type = ceres::DENSE_SCHUR; |
| options.ordering = new ceres::ParameterBlockOrdering; |
| for (int i = 0; i < num_points; ++i) { |
| options.linear_solver_ordering->AddElementToGroup(my_points[i], 0); |
| } |
| for (int i = 0; i < num_cameras; ++i) { |
| options.linear_solver_ordering->AddElementToGroup(my_cameras[i], 1); |
| } |
| |
| |
| New Features |
| ------------ |
| #. A new richer, more expressive and consistent API for ordering |
| parameter blocks. |
| #. A non-linear generalization of Ruhe & Wedin's Algorithm II. This |
| allows the user to use variable projection on separable and |
| non-separable non-linear least squares problems. With |
| multithreading, this results in significant improvements to the |
| convergence behavior of the solver at a small increase in run time. |
| #. An image denoising example using fields of experts. (Petter |
| Strandmark) |
| #. Defines for Ceres version and ABI version. |
| #. Higher precision timer code where available. (Petter Strandmark) |
| #. Example Makefile for users of Ceres. |
| #. IterationSummary now informs the user when the step is a |
| non-monotonic step. |
| #. Fewer memory allocations when using ``DenseQRSolver``. |
| #. GradientChecker for testing CostFunctions (William Rucklidge) |
| #. Add support for cost functions with 10 parameter blocks in |
| ``Problem``. (Fisher) |
| #. Add support for 10 parameter blocks in ``AutoDiffCostFunction``. |
| |
| |
| Bug Fixes |
| --------- |
| |
| #. static cast to force Eigen::Index to long conversion |
| #. Change LOG(ERROR) to LOG(WARNING) in ``schur_complement_solver.cc``. |
| #. Remove verbose logging from ``DenseQRSolve``. |
| #. Fix the Android NDK build. |
| #. Better handling of empty and constant Problems. |
| #. Remove an internal header that was leaking into the public API. |
| #. Memory leak in ``trust_region_minimizer.cc`` |
| #. Schur ordering was operating on the wrong object (Ricardo Martin) |
| #. MSVC fixes (Petter Strandmark) |
| #. Various fixes to ``nist.cc`` (Markus Moll) |
| #. Fixed a jacobian scaling bug. |
| #. Numerically robust computation of ``model_cost_change``. |
| #. Signed comparison compiler warning fixes (Ricardo Martin) |
| #. Various compiler warning fixes all over. |
| #. Inclusion guard fixes (Petter Strandmark) |
| #. Segfault in test code (Sergey Popov) |
| #. Replaced ``EXPECT/ASSERT_DEATH`` with the more portable |
| ``EXPECT_DEATH_IF_SUPPORTED`` macros. |
| #. Fixed the camera projection model in Ceres' implementation of |
| Snavely's camera model. (Ricardo Martin) |
| |
| |
| 1.3.0 |
| ===== |
| |
| New Features |
| ------------ |
| #. Android Port (Scott Ettinger also contributed to the port) |
| #. Windows port. (Changchang Wu and Pierre Moulon also contributed to the port) |
| #. New subspace Dogleg Solver. (Markus Moll) |
| #. Trust region algorithm now supports the option of non-monotonic steps. |
| #. New loss functions ``ArcTanLossFunction``, ``TolerantLossFunction`` |
| and ``ComposedLossFunction``. (James Roseborough). |
| #. New ``DENSE_NORMAL_CHOLESKY`` linear solver, which uses Eigen's |
| LDLT factorization on the normal equations. |
| #. Cached symbolic factorization when using ``CXSparse``. |
| (Petter Strandark) |
| #. New example ``nist.cc`` and data from the NIST non-linear |
| regression test suite. (Thanks to Douglas Bates for suggesting this.) |
| #. The traditional Dogleg solver now uses an elliptical trust |
| region (Markus Moll) |
| #. Support for returning initial and final gradients & Jacobians. |
| #. Gradient computation support in the evaluators, with an eye |
| towards developing first order/gradient based solvers. |
| #. A better way to compute ``Solver::Summary::fixed_cost``. (Markus Moll) |
| #. ``CMake`` support for building documentation, separate examples, |
| installing and uninstalling the library and Gerrit hooks (Arnaud |
| Gelas) |
| #. ``SuiteSparse4`` support (Markus Moll) |
| #. Support for building Ceres without ``TR1`` (This leads to |
| slightly slower ``DENSE_SCHUR`` and ``SPARSE_SCHUR`` solvers). |
| #. ``BALProblem`` can now write a problem back to disk. |
| #. ``bundle_adjuster`` now allows the user to normalize and perturb the |
| problem before solving. |
| #. Solver progress logging to file. |
| #. Added ``Program::ToString`` and ``ParameterBlock::ToString`` to |
| help with debugging. |
| #. Ability to build Ceres as a shared library (MacOS and Linux only), |
| associated versioning and build release script changes. |
| #. Portable floating point classification API. |
| |
| |
| Bug Fixes |
| --------- |
| #. Fix how invalid step evaluations are handled. |
| #. Change the slop handling around zero for model cost changes to use |
| relative tolerances rather than absolute tolerances. |
| #. Fix an inadvertant integer to bool conversion. (Petter Strandmark) |
| #. Do not link to ``libgomp`` when building on |
| windows. (Petter Strandmark) |
| #. Include ``gflags.h`` in ``test_utils.cc``. (Petter |
| Strandmark) |
| #. Use standard random number generation routines. (Petter Strandmark) |
| #. ``TrustRegionMinimizer`` does not implicitly negate the |
| steps that it takes. (Markus Moll) |
| #. Diagonal scaling allows for equal upper and lower bounds. (Markus Moll) |
| #. TrustRegionStrategy does not misuse LinearSolver:Summary anymore. |
| #. Fix Eigen3 Row/Column Major storage issue. (Lena Gieseke) |
| #. QuaternionToAngleAxis now guarantees an angle in $[-\pi, \pi]$. (Guoxuan Zhang) |
| #. Added a workaround for a compiler bug in the Android NDK to the |
| Schur eliminator. |
| #. The sparse linear algebra library is only logged in |
| Summary::FullReport if it is used. |
| #. Rename the macro ``CERES_DONT_HAVE_PROTOCOL_BUFFERS`` |
| to ``CERES_NO_PROTOCOL_BUFFERS`` for consistency. |
| #. Fix how static structure detection for the Schur eliminator logs |
| its results. |
| #. Correct example code in the documentation. (Petter Strandmark) |
| #. Fix ``fpclassify.h`` to work with the Android NDK and STLport. |
| #. Fix a memory leak in the ``levenber_marquardt_strategy_test.cc`` |
| #. Fix an early return bug in the Dogleg solver. (Markus Moll) |
| #. Zero initialize Jets. |
| #. Moved ``internal/ceres/mock_log.h`` to ``internal/ceres/gmock/mock-log.h`` |
| #. Unified file path handling in tests. |
| #. ``data_fitting.cc`` includes ``gflags`` |
| #. Renamed Ceres' Mutex class and associated macros to avoid |
| namespace conflicts. |
| #. Close the BAL problem file after reading it (Markus Moll) |
| #. Fix IsInfinite on Jets. |
| #. Drop alignment requirements for Jets. |
| #. Fixed Jet to integer comparison. (Keith Leung) |
| #. Fix use of uninitialized arrays. (Sebastian Koch & Markus Moll) |
| #. Conditionally compile gflag dependencies.(Casey Goodlett) |
| #. Add ``data_fitting.cc`` to the examples ``CMake`` file. |
| |
| |
| 1.2.3 |
| ===== |
| |
| Bug Fixes |
| --------- |
| #. ``suitesparse_test`` is enabled even when ``-DSUITESPARSE=OFF``. |
| #. ``FixedArray`` internal struct did not respect ``Eigen`` |
| alignment requirements (Koichi Akabe & Stephan Kassemeyer). |
| #. Fixed ``quadratic.cc`` documentation and code mismatch |
| (Nick Lewycky). |
| |
| 1.2.2 |
| ===== |
| |
| Bug Fixes |
| --------- |
| #. Fix constant parameter blocks, and other minor fixes (Markus Moll) |
| #. Fix alignment issues when combining ``Jet`` and |
| ``FixedArray`` in automatic differeniation. |
| #. Remove obsolete ``build_defs`` file. |
| |
| 1.2.1 |
| ===== |
| |
| New Features |
| ------------ |
| #. Powell's Dogleg solver |
| #. Documentation now has a brief overview of Trust Region methods and |
| how the Levenberg-Marquardt and Dogleg methods work. |
| |
| Bug Fixes |
| --------- |
| #. Destructor for ``TrustRegionStrategy`` was not virtual (Markus |
| Moll) |
| #. Invalid ``DCHECK`` in ``suitesparse.cc`` (Markus Moll) |
| #. Iteration callbacks were not properly invoked (Luis Alberto |
| Zarrabeiti) |
| #. Logging level changes in ConjugateGradientsSolver |
| #. VisibilityBasedPreconditioner setup does not account for skipped |
| camera pairs. This was debugging code. |
| #. Enable SSE support on MacOS |
| #. ``system_test`` was taking too long and too much memory (Koichi |
| Akabe) |
| |
| 1.2.0 |
| ===== |
| |
| New Features |
| ------------ |
| |
| #. ``CXSparse`` support. |
| #. Block oriented fill reducing orderings. This reduces the |
| factorization time for sparse ``CHOLMOD`` significantly. |
| #. New Trust region loop with support for multiple trust region step |
| strategies. Currently only Levenberg-Marquardt is supported, but |
| this refactoring opens the door for Dog-leg, Stiehaug and others. |
| #. ``CMake`` file restructuring. Builds in ``Release`` mode by default, and now has platform specific tuning flags. |
| #. Re-organized documentation. No new content, but better |
| organization. |
| |
| |
| Bug Fixes |
| --------- |
| |
| #. Fixed integer overflow bug in ``block_random_access_sparse_matrix.cc``. |
| #. Renamed some macros to prevent name conflicts. |
| #. Fixed incorrect input to ``StateUpdatingCallback``. |
| #. Fixes to AutoDiff tests. |
| #. Various internal cleanups. |
| |
| |
| 1.1.1 |
| ===== |
| |
| Bug Fixes |
| --------- |
| #. Fix a bug in the handling of constant blocks. (Louis Simard) |
| #. Add an optional lower bound to the Levenberg-Marquardt regularizer |
| to prevent oscillating between well and ill posed linear problems. |
| #. Some internal refactoring and test fixes. |
| |
| 1.1.0 |
| ===== |
| |
| New Features |
| ------------ |
| #. New iterative linear solver for general sparse problems - ``CGNR`` |
| and a block Jacobi preconditioner for it. |
| #. Changed the semantics of how ``SuiteSparse`` dependencies are |
| checked and used. Now ``SuiteSparse`` is built by default, only if |
| all of its dependencies are present. |
| #. Automatic differentiation now supports dynamic number of residuals. |
| #. Support for writing the linear least squares problems to disk in |
| text format so that they can loaded into ``MATLAB``. |
| #. Linear solver results are now checked for nan and infinities. |
| #. Added ``.gitignore`` file. |
| #. A better more robust build system. |
| |
| |
| Bug Fixes |
| --------- |
| #. Fixed a strict weak ordering bug in the schur ordering. |
| #. Grammar and typos in the documents and code comments. |
| #. Fixed tests which depended on exact equality between floating point |
| values. |
| |
| 1.0.0 |
| ===== |
| Initial open source release. Nathan Wiegand contributed to the Mac OSX |
| port. |
| |
| |
| Origins |
| ======= |
| |
| Ceres Solver grew out of the need for general least squares solving at |
| Google. In early 2010, Sameer Agarwal and Frederik Schaffalitzky |
| started the development of Ceres Solver. Frederik left Google shortly |
| thereafter and Keir Mierle stepped in to take his place. After two |
| years of on-and-off development, Ceres Solver was released as open |
| source in May of 2012. |