2013-11-28 13:06:35 +00:00
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commit 33e01b9c5e1416fe29c55ac0332cdca21c053c83
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Nov 27 10:24:03 2013 -0800
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Rename LinearSolverTerminationType enums.
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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This increases clarity, drops redundant enums and makes things
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cleaner all around.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I761f195ddf17ea6bd8e4e55bf5a72863660c4c3b
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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commit 068437eb89d495d905465544ccd442efef457b04
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2013-04-22 09:25:37 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Wed Nov 27 07:05:57 2013 -0800
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Pipe minimizer termination messages to Solver::Summary.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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All minimizer termination messages are now available as
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Solver::Summary::error.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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This is part of the ongoing refactoring or
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I4514c3c042645bbd1471bcde9bd3dbf81d9ee8b0
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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commit 89a592f410fb6f80c03dea84b6b9f1a10bea36c1
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Nov 26 11:35:49 2013 -0800
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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LinearSolver::Summary::status -> LinearSolver::Summary::message.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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And a bunch of minor lint cleanups as they showed up.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I430a6b05710923c72daf6a5df4dfcd16fbf44b3a
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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commit b16e118b96c55451c0d8556f3c5b52ad36b69cac
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2013-04-22 09:25:37 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Mon Nov 25 05:47:43 2013 -0800
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Better error checking and reporting for linear solvers.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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A lot of error checking cruft has accumulated over the years
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in the various linear solvers. This change makes the error reporting
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more robust and consistent across the various solvers.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Preconditioners are not covered by this change and will be the
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subject of a future change.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: Ibeb2572a1e67758953dde8d12e3abc6d1df9052d
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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commit 5794d41be2d8d6a67dcdfe607e66050f0ac04c55
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2013-04-22 09:25:37 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Mon Nov 25 13:37:02 2013 -0800
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Remove overzealous checks in Summary::FullReport.
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Thanks to sebi.koch@gmail.com for reporting this.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I1ba9b375e5cf66639e292ba37b34a90446f13162
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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commit 40ef90304ac200bb948549e8e3748e487d27dc53
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Mon Nov 25 16:36:40 2013 +0000
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Adding VLOG output to line search.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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- Previously line search was sparse in terms of debug orientated VLOG
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output which made debugging failure cases difficult.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: Idfabf74d2b3f7b8256f79dff8c6b7fcdc2fcf4d3
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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commit 1284a5141426597f3ca1e29ae8548c9b4c43c9c1
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2013-04-22 09:25:37 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Sun Nov 24 15:09:43 2013 -0800
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Use explicit formula to solve quadratic polynomials.
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polynomial.cc implements a companion matrix base method for solving
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polynomials. This is both expensive and numerically sensitive.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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This change adds a quadratic equation solver. Instead of using the
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usual quadratic formula, it uses the formula suggested by BKP Horn
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for improved numerical stability.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I476933ce010d81db992f1c580d2fb23a4457eb3e
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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commit a9334d67d7973c0f56e65f12ae897dd53504ef0d
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2013-04-22 09:25:37 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Wed Nov 20 10:12:23 2013 -0800
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Fix constant parameter handling in inner iterations.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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There was a bug in the way RemoveFixedBlocksFromProgram was working.
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It only removed the constant parameter blocks from the
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linear_solver_ordering, it was not even aware of the
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inner_iteration_ordering.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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This change fixes this bug. The code for RemoveFixedBlocksFromProgram
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is also cleaned up and made more readable and the test have been updated.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Thanks to Mikael Persson for reporting this.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I454fa89f9b6f4f6320b02d5235e6f322cc15ff51
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commit 331ff090dcae7096cea50144047b71cab2d3e819
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Mon Nov 25 13:44:53 2013 +0000
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Downgrading log status of BFGS secant condition messages.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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- These messages were originally VLOG(2) and were mistakenly upgraded to
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WARNINGs when the tolerances were reduced.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I89dee666a09bc82cfa89b793dc0907268662f95e
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commit 9697a08a2bf29531671526b49df73bfbc0d7d237
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sat Nov 23 10:03:37 2013 +0000
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Defining CERES_FOUND in addition to Ceres_FOUND in CeresConfig.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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- Previously we relied on FindPackage() to define Ceres_FOUND when
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find_package(Ceres) was called.
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- This is fine, but users might legitimately expect the variable to be
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CERES_FOUND given the form of CERES_INCLUDE_DIRS/LIBRARIES.
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- As there is an inconsistency in the CMake recommended names when
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FindPackage() is called in Module vs Config form, we now explicltly
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define both.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I54bce9aa112b684d26b60a9ae4d11eb7925a6ee5
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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commit 66e15b41d80b155f333f099a0278d50312cdaa15
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2013-09-05 10:48:44 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Fri Nov 22 07:59:23 2013 -0800
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Lint cleanup from Jim Roseborough.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I6ddbf5c3d66595d27f7967a309768e5f5dd7e1fd
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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commit 79bde35f29291cf464b59f3dc2dd9f1fa88776a9
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2013-09-05 10:48:44 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Thu Nov 21 21:33:51 2013 -0800
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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SuiteSparse errors do not cause a fatal crash.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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1. Move LinearSolverTerminationType to ceres::internal.
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2. Add FATAL_ERROR as a new enum to LinearSolverTerminationType.
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3. Pipe SuiteSparse errors via a LinearSolverTerminationType so
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to distinguish between fatal and non-fatal errors.
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4. Update levenberg marquardt and dogleg strategies to deal
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with FATAL_ERROR.
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5. Update trust_region_minimizer to terminate when FATAL_ERROR
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is encountered.
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6. Remove SuiteSparse::SolveCholesky as it screws up the error
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handling.
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7. Fix all clients calling SuiteSparse to handle the result of
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SuiteSparse::Cholesky correctly.
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8. Remove fatal failures in SuiteSparse when symbolic factorization
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fails.
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9. Fix all clients of SuiteSparse to deal with null symbolic factors.
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2013-04-22 09:25:37 +00:00
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2013-11-28 13:06:35 +00:00
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This is a temporary fix to deal with some production problems. A more
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extensive cleanup and testing regime will be put in place in a
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subsequent CL.
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2013-04-08 17:05:48 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I1f60d539799dd95db7ecc340911e261fa4824f92
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2013-04-08 17:05:48 +00:00
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2013-11-28 13:06:35 +00:00
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commit a674e0f8534ea6948f70a72fe9718e07b3d039ff
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2013-04-08 17:05:48 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Thu Nov 21 22:12:15 2013 -0800
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2013-04-08 17:05:48 +00:00
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2013-11-28 13:06:35 +00:00
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Fix corrector_test.cc.
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2013-04-08 17:05:48 +00:00
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2013-11-28 13:06:35 +00:00
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Fix two death tests dealing with the sign of the gradient.
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2013-04-08 17:05:48 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: Ic91d54a64cc509307c94fce6d1fca083078936e2
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2013-04-08 17:05:48 +00:00
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2013-11-28 13:06:35 +00:00
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commit a8006af3110e98d64fb369e958fc00ec88d771a3
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Wed Nov 20 19:56:06 2013 +0000
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2013-04-08 17:05:48 +00:00
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2013-11-28 13:06:35 +00:00
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Adding threads libraries to exported dependencies if using OpenMP.
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2013-04-08 17:05:48 +00:00
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2013-11-28 13:06:35 +00:00
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- Previously we were only adding the flags to the link flags for the
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Ceres project, which resulted in them not being exported. Thus
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projects importing Ceres (if using OpenMP) would have to manually
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specify them in addition to CERES_LIBRARIES.
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2013-04-08 17:05:48 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: If0354cc07e84dbebfc870a8862e1a8ca64659791
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2013-04-08 17:05:48 +00:00
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2013-11-28 13:06:35 +00:00
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commit 6c0d96424e2c27326757936a3738f9efc37c6c24
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2013-04-05 09:22:54 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Wed Nov 20 11:52:01 2013 -0800
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Minor documentation fix.
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Thanks to Satya Mallick.
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Change-Id: I556f1c141bf16739d54450351b0f29fd4ea40014
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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commit 7747bb0e6b0e54366933ed75c1bcafe6a1109c3d
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2013-09-05 10:48:44 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Wed Nov 20 11:29:22 2013 -0800
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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Minor corrections to the documentation.
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Thanks to Satya Mallick for reporting these.
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: Ia52e08a7e21d5247dc475cfbf10bf57265aa118f
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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commit 3fca2c4b2fae9abcaa9611f2bd3885ce6b11963b
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Mon Nov 18 10:26:49 2013 +0000
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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Decreasing update threshold for BFGS as per L-BFGS.
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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- Improves performance of BFGS on NIST, as per L-BFGS.
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- Adding explanation of origin and purpose of Secant condition
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tolerance check for Hessian update in (L)BFGS.
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: If57b9957d31d8629c772c19a069e1e56e727b350
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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commit 54fcbf893852272ba2158d6a56572a2eb3ccc41f
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2013-04-05 09:22:54 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Tue Nov 19 10:12:05 2013 -0800
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Relax the requirements on loss functiond derivatives.
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We now require that the first derivative of the loss function
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be positive only if the second derivative is non-zero. This is
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because when the second derivative is non-positive, we do not use
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the second order correction suggested by BANS and instead use
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a simpler first order strategy which does not use a division by
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the gradient of the loss function.
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I3d65713f152611998e196ff389a7081acfdfd8c1
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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commit db98425b94c9eff9b125bf4a854545162e8c1aec
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2013-04-05 09:22:54 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Fri Nov 15 14:14:09 2013 -0800
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Small bugfix to logging.h from Scott Ettinger.
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: Ie6d51e7883adf36c6fc7a78ff95afab6a78e488b
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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commit 4d0e626b55f36ab8f44a4acc8157b85cfecd4673
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Fri Nov 15 13:53:44 2013 +0000
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Fixing gflags HINTS variable names (adding missing “_DIR”).
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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- The HINTS variables for gflags were incorrectly used as
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GFLAGS_[INCLUDE/LIBRARY]_HINTS when they should have been
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GFLAGS_[INCLUDE/LIBRARY]_DIR_HINTS as per the docs.
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- Also removing a completed TODO in the main CMakeLists.
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- Updating method of extracting current directory in CeresConfig.cmake
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to avoid use of CMAKE_CURRENT_LIST_DIR, which was not present in
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CMake =< v2.8.3.
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I42ae696e3b785febe48688d912f0f343e8947cb0
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commit bf4c1b76e4926c738fc805e9ff4be0ed584d9eee
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Thu Nov 14 21:27:20 2013 +0000
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Decreasing threshold at which L-BFGS Hessian is updated.
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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- Decreasing threshold at which L-BFGS Hessian is updated from 1e-10
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to 1e-14 results in a very significant improvement in NIST scores
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(43 -> 53 for CUBIC).
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- Adding comment in FindPolynomialRoots() explaining why behaviour
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is correct.
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: If668e087e7a86d29659aa74e8528b192b604c841
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commit 7124c3474cd201134c3a3350b46aca468f1edafa
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Thu Nov 7 16:10:02 2013 +0000
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Fixes for some line search bugs & corner cases.
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- Increase precision of numeric values output in error messages to
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allow for easier debugging.
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- Ensure termination after Wolfe search bracketing phase if bracket
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width has been shrunk to below tolerance.
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- Cleaned up return value for BracketingPhase(), now false iff
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optimisation should stop, true otherwise.
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- Fix bug whereby we would mark a step size as satisfying the Wolfe
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conditions when it did not due to numerical issues in the cost
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function.
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- Adding explanation of a subtlety in which a zoom could still be
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acceptably invoked with bracket_low.f > bracket_high.f.
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- Replacing hard check of a pre-condition of ZoomPhase() with a
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conditional return if not satisfied to address issue whereby a
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bracket could be incorrectly identified due to inconsistent values
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& gradients returned from the cost function.
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- Adding missing check for step size validity in line search minimizer.
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- Adding ToDebugString() for FunctionSample.
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Change-Id: Iad98e635749877f80c079ebad126bf022d82232d
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commit 54fc9423673886ac9ed3fe329a80f07544aeea70
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Thu Nov 14 11:42:00 2013 +0000
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Removing incorrect specialisation of install dirs on Windows.
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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- Previously on Windows the leaf include & lib install directories
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passed to CeresConfig.cmake.in when configured where capitalised on
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Windows.
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- This capitalisation was incorrect, as the actual paths used are
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specified in the install() statements and are always in the standard
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lower-case form.
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- This likely did not cause any issues previously as although NTFS is
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case sensitive, the Win32 API is not, and most applications access
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files through the Win32 API, and are thus not case-sensitive.
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I335b6e2d10a1c64f320c2a1a68eeda1b22344e73
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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commit fcbbb11e37386097b1427dc3aa89f264d6951ded
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Wed Nov 13 22:22:30 2013 +0000
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Ensure build paths for dependencies are searched in FindPackage(Ceres)
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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- Append to hint locations used by FindPackage scripts for public
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dependencies (glog & Eigen) the locations of the dependencies when
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Ceres was built.
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- This means that the user should not have to supply them again when
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using find_package(Ceres) even if they are installed in a
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non-standard location.
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I9550de91025ba47f01f1ea3c3fefe80fe38d14ff
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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commit 7899e45d378f589a67ad8e042bf6a7cb7e15df00
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Wed Nov 13 21:08:27 2013 +0000
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Fixing a documentation typo, DIRS -> DIR in HINTS variables.
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I42b75a5e0b8a451c3a43ab29d0c14856e4b86ab8
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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commit 1a041c35b780e60c3b497eb096b72ad20f47960e
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2013-04-05 09:22:54 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Tue Nov 12 14:17:52 2013 -0800
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Update to 1.8.0.
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: Id42e594f03e3575d06e18c1ef66df64f43d86839
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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commit 36b26139296060511718b3ef0da03a52706db481
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Thu Nov 7 16:57:36 2013 +0000
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Fix ordering of ParseCommandLineFlags() & InitGoogleTest() for Windows.
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- On Windows gtest passes additional non-gflags command line flags
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for death-tests, to avoid gflags invoking an error for these flags
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InitGoogleTest() must be called before ParseCommandLineFlags() to
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handle and remove them before gflags parses the remaining flags.
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Change-Id: I0c705ecd3aa029b70a2589b592e6a2c192745c0e
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commit 8c155d51fab099ee7bf64f4bdbfeda82881925a5
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2013-04-05 09:22:54 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Fri Nov 8 08:04:44 2013 -0800
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Speed up the application of robust loss functions.
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Since we added special handling for the case for rho[2] < 0,
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the bulk of CorrectJacobian is pointless in the common case.
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So add a simple one dimensional loop which rescales the Jacobian.
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This speeds up this method immensely.
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The robustification of a Jacobian gets speeded up by > 50%.
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I97c4e897ccbb5521c053e1fb931c5d0d32f542c7
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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commit 58792dc8ee0e4b56331f33f753f1b1932c5c2960
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2013-09-05 10:48:44 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Wed Nov 6 09:42:46 2013 -0800
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Update to 1.8.0rc2.
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: Ifbf5312377bf1791a29aefd3edc3a765999c5824
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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commit af04d7f18740faf452e9171af530aa1bdead44bb
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2013-09-05 10:48:44 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Tue Nov 5 13:47:30 2013 -0800
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Remove DCHECK_GE checks from fixed_array.h
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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This triggers -Wtype-limits warnings on comparisons
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which are always true, since the test being done is
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n >= 0, where n is of type size_t, which is always
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true.
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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This causes problems when compiling Ceres on linux
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with miniglog.
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: Ia1d1d1483e03469c71fde029b62ca6d84e9b27e0
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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commit b5be6b9c065a02158337ee7eacfdb8be811dec7f
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Tue Nov 5 13:10:27 2013 +0000
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Cleaning up messages output when SuiteSparse is not found.
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- Automatically generated failure message now provides more
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information as to which sub-modules are missing.
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I6eed94af49263540b8f87917b75c41b8f49658a0
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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commit 9ba0b352a282f08b1b6368a5690434407d7c81af
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2013-09-05 10:48:44 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Tue Nov 5 13:04:56 2013 -0800
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Lint and other cleanups from William Rucklidge
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I7fb23c2db85f0f121204560b79f1966f3d584431
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2013-04-05 09:22:54 +00:00
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2013-11-28 13:06:35 +00:00
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commit 69bd65ff4368ce2841519f00ff48c5284c1743a3
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Mon Nov 4 23:01:14 2013 +0000
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Downgrading warning messages when optional deps are not found.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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- Now when find_package() is called for a dependency without the
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REQUIRED or QUIET qualifiers, we emit no priority (above STATUS, but
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below WARNING) messages and continue.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I8cdeda7a8f6c91d45fb7f24fb366244c6c9b66e1
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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commit b0a8731fcdde31e6c37a54e8c1e1c00f853c0d5c
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2013-09-05 10:48:44 +00:00
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Author: Alex Stewart <alexs.mac@gmail.com>
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2013-11-28 13:06:35 +00:00
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Date: Mon Nov 4 20:32:40 2013 +0000
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Removing duplicate SuiteSparse found message.
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- Also flipping ordering of variables in
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find_package_handle_standard_args() so that the automatically
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generated message prints the include directories, not TRUE.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I2bf62eacd5c96f27152e9542b9a74651243a584e
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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commit 6fed9fe0de9d1737095c24e19ad8df9735b7e572
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2013-09-05 10:48:44 +00:00
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Author: Alex Stewart <alexs.mac@gmail.com>
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2013-11-28 13:06:35 +00:00
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Date: Mon Nov 4 18:33:05 2013 +0000
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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Fix FindPackage scripts to emit warnings, not errors if not found.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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- Previously we used message priority: SEND_ERROR when a package was
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not found and find_package() was called without QUIET or REQUIRED,
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which emits an error message, and prevents generation, but continues
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configuration.
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- The fact SEND_ERROR induces an error message was confusing for users
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as it implies that something bad has happened and they cannot
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continue, when in fact we were disabling the option in question
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and were thus able to continue, all they had to do was re-configure.
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- This commit also reorders the search lists for includes/libraries
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so that we always search user installed locations (e.g. /usr/local)
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before system installed locations. Thus we will now always prefer
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a user install to a system install if both are available, which is
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likely to be the users desired intention.
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Change-Id: Ide84919f27d3373f31282f70c685720cd77a6723
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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commit cada337149cbc4b9e6f2bae14593b87ecf8f1a5c
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Mon Nov 4 18:08:24 2013 +0000
|
2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Fixing CXSparse include directories statement.
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- Reported as issue #135:
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https://code.google.com/p/ceres-solver/issues/detail?id=135.
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- CXSPARSE_INCLUDE was the legacy include directory variable, since
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the buildsystem updates we now use the CMake standard:
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CXSPARSE_INCLUDE_DIRS.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: Iab0c2de14d524bb9e9da230bc574b5e6f09e1f31
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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commit c71085ed326239dc2d318d848ded9a99e4e3c107
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2013-09-05 10:48:44 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Thu Oct 31 13:56:38 2013 -0700
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Update to 1.8.0rc1.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: Iaa10fd5a20be2ef84aca0119306c44669d87cc5d
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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commit 88a703f44ff0d6d5d4601584fa77f5ce853025f4
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Author: Petter Strandmark <petter.strandmark@gmail.com>
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Date: Thu Oct 31 21:13:48 2013 +0100
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Fix compilation in Visual C++ 2013.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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I had to fix the following things to make Ceres compile in 2013:
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* Not link to 'm' (GNU math library).
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* Excplicitly convert an std::ostream to bool.
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* Include <algorithm> for std::max.
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I3ff65413baf8711364360d46dd71fd553fa63e72
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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commit f06b9face5bfbbc2b338aa2460bee2298a3865c5
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2013-09-05 10:48:44 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Sun Oct 27 21:38:13 2013 -0700
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Add support for multiple visibility clustering algorithms.
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The original visibility based preconditioning paper and
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implementation only used the canonical views algorithm.
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This algorithm for large dense graphs can be particularly
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expensive. As its worst case complexity is cubic in size
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of the graph.
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Further, for many uses the SCHUR_JACOBI preconditioner
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was both effective enough while being cheap. It however
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suffers from a fatal flaw. If the camera parameter blocks
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are split between two or more parameter blocks, e.g,
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extrinsics and intrinsics. The preconditioner because
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it is block diagonal will not capture the interactions
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between them.
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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Using CLUSTER_JACOBI or CLUSTER_TRIDIAGONAL will fix
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this problem but as mentioned above this can be quite
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expensive depending on the problem.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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This change extends the visibility based preconditioner
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to allow for multiple clustering algorithms. And adds
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a simple thresholded single linkage clustering algorithm
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which allows you to construct versions of CLUSTER_JACOBI
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and CLUSTER_TRIDIAGONAL preconditioners that are cheap
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to construct and are more effective than SCHUR_JACOBI.
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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Currently the constants controlling the threshold above
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which edges are considered in the single linkage algorithm
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are not exposed. This would be done in a future change.
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Change-Id: I7ddc36790943f24b19c7f08b10694ae9a822f5c9
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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commit 5a161a2b9653489ee9040f054b24df971e6b9bbc
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2013-09-05 10:48:44 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Tue Oct 29 22:08:15 2013 -0700
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Template specializations for PartitionedMatrixView.
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This speeds up the matrix vector products in the
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IterativeSchurSolver by upto 40%.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: Ib5e8d77c7269cf5ffdd2d161893734bb6d38215d
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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commit e5ce1170bc9993085c81a788e16eb48f1b2fdb97
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2013-09-05 10:48:44 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Tue Oct 29 07:40:51 2013 -0700
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Minor bug fix to autodiff.h
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: Ib41050a2f2ba1898c71ff19d74f8eca2496212c0
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commit 9e9a7d6ca0e75727293f94452d602f02b56d10ba
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Oct 29 06:54:44 2013 -0700
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Documentation update.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Add documentation for the new methods added to Problem.
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Fix a bunch of ReST bugs.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I8a79a84040cfa8a679cc5355baccbe6d69bc9e70
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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commit c6bafdd02c33ec0ccb705578d83e4f601ddeedea
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2013-03-21 18:07:03 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Mon Oct 28 19:38:08 2013 -0700
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Comments from Jim Roseborough.
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1. Fix the tolerance on the rotation matrix conversion test.
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2. Fix some out of date comments.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I65e80da1f96d7b4d9ac0630ad8cb708c41739840
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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commit fda69b52130955479591e8f03f97b1cfceca369f
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2013-09-05 10:48:44 +00:00
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Author: Keir Mierle <mierle@gmail.com>
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2013-11-28 13:06:35 +00:00
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Date: Thu Oct 10 00:25:24 2013 -0700
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Export the structure of a problem to the public API
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This adds three new public methods to ceres::Problem:
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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Problem::GetResidualBlocks()
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Problem::GetParameterBlocksForResidualBlock()
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Problem::GetResidualBlocksForParameterBlock()
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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These permit access to the underlying graph structure of the problem.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I55a4c7f0e5f325f140cb4830e7a7070554594650
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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commit 63bcdffa7d188b8d8c5309a62c255ba33f061764
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2013-03-21 18:07:03 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Sun Oct 27 21:34:13 2013 -0700
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Add the 2_d_d SchurEliminator specialization.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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This occurs far too often in bundle adjustment problems to be ignored.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: Ib137f1566acf5fffa63e50a55fe8e78ea9eb1c14
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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commit 602096c91363a0b9384f887a15c82e2dac1fb923
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2013-03-21 18:07:03 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Sun Oct 27 05:09:38 2013 -0700
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Move CERES_HASH_NAMESPACE macros to collections_port.h
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Now that we have a clearer understanding of the naming rules
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there is no need for these macro definitions to be done in
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the cmake file.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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This cleans up the compilation command line.
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: Idc8fc7a7c9376e021dc4790af66e599105351917
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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commit f6b67df54ad6daa7036f5b6619243f722d678892
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2013-09-05 10:48:44 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Fri Oct 25 06:24:19 2013 -0700
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Fix handling of unordered_map/unordered_set on OSX 10.9.0.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Depending on the compiler + standard library combination,
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unordered_map/set may or may not be available. If available
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they maybe in the std or the std::tr1 namespaces.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Apple switched to using libc++ with 10.9.0 which places
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unordered_map in std, breaking our assumptions about the
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platform.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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This change refactors our logic for dealing with the namespace
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switching, making it a three state thing rather than two. There
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are three defines now, CERES_NO_UNORDERED_MAP, CERES_STD_UNORDERED_MAP
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and CERES_TR1_UNORDERED_MAP. Earlier the first two were conflated
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into one, leading to the breakage.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I904fe8c49529169bdefa9f2ee6d629e7eab0b855
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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commit 21d6a99fe68e99fa51db32d55f587b42ef9a476c
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2013-03-21 18:07:03 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Fri Oct 25 10:20:24 2013 -0700
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Fix AngleAxisToRotationMatrix near zero.
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The Taylor series approximation had its sign flipped and the
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tests did not catch it since we were switching exactly at zero,
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which was not getting triggered.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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This changes modifies the tolerance, adds a test that triggers
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and fixes the bug.
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Thanks to Michael Samples for reporting this.
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Change-Id: I6f92f6348e5d4421ffe194fba92c04285449484c
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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commit 0e2743e24d013b25109396cfa0d8d0f1e8e84964
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2013-09-05 10:48:44 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2013-11-28 13:06:35 +00:00
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Date: Wed Oct 23 14:51:07 2013 -0700
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Add BlockRandomAccessDiagonalMatrix.
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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This class is used in the SchurJacobiPreconditioner for
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storing the preconditioner matrix. Using it speeds up
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the computation of the preconditioner by ~15% due to
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the elimination of a hash table lookup.
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: Iba2b34aad0d9eb9bcb7f6e6fad16aa416aac0d2a
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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commit 6a2bcaa1d55d38bc10d043f1458657caac2be7a7
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2013-09-05 10:48:44 +00:00
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Author: Alex Stewart <alexs.mac@gmail.com>
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2013-11-28 13:06:35 +00:00
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Date: Wed Oct 23 14:06:44 2013 +0100
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2013-03-21 18:07:03 +00:00
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2013-11-28 13:06:35 +00:00
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Adding explicit link to libm for pure-C curve fitting example.
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2013-09-05 10:48:44 +00:00
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2013-11-28 13:06:35 +00:00
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- Any pure-C program #including <math.h> will need to link against
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libm, some compilers will let an indirect link slide (via Ceres in
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this case) but some won't.
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2013-03-05 09:38:43 +00:00
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2013-11-28 13:06:35 +00:00
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Change-Id: I6890702fa0d2c3fbb747f0f81fc3fa3631839de4
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