589 lines
21 KiB
Plaintext
589 lines
21 KiB
Plaintext
commit 8590e6e8e057adba4ec0083446d00268565bb444
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Oct 27 12:29:37 2016 -0700
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Remove two checks from rotation.h
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This allows rotation.h to remove its dependency on glog.
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Change-Id: Ia6aede93ee51a4bd4039570dc8edd100a7045329
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commit e892499e8d8977b9178a760348bdd201ec5f3489
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Author: Je Hyeong Hong <jhh37@outlook.com>
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Date: Tue Oct 18 22:49:11 2016 +0100
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Relax the tolerance in QuaternionParameterizationTestHelper.
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This commit relaxes the tolerance value for comparing between the actual
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local matrix and the expected local matrix. Without this fix,
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EigenQuaternionParameterization.ZeroTest could fail as the difference
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exactly matches the value of std::numeric_limits<double>::epsilon().
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Change-Id: Ic4d3f26c0acdf5f16fead80dfdc53df9e7dabbf9
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commit 7ed9e2fb7f1dff264c5e4fbaa89ee1c4c99df269
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Oct 19 04:45:23 2016 -0700
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Occured -> Occurred.
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Thanks to Phillip Huebner for reporting this.
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Change-Id: I9cddfbb373aeb496961d08e434fe661bff4abd29
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commit b82f97279682962d8c8ae1b6d9e801ba072a0ab1
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Author: Je Hyeong Hong <jhh37@outlook.com>
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Date: Tue Oct 18 21:18:32 2016 +0100
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Fix a test error in autodiff_test.cc.
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Previously, the test for the projective camera model would fail as no
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tolerance is set in line 144. To resolve this, this commit changes
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assert_equal to assert_near.
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Change-Id: I6cd3379083b1a10c7cd0a9cc83fd6962bb993cc9
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commit 5690b447de5beed6bdda99b7f30f372283c2fb1a
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Oct 13 09:52:02 2016 -0700
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Fix documentation source for templated functions in rotation.h
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Change-Id: Ic1b2e6f0e6eb9914f419fd0bb5af77b66252e57c
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commit 2f8f98f7e8940e465de126fb51282396f42bea20
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Oct 13 09:35:18 2016 -0700
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Prepare for 1.12.0RC1
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Change-Id: I23eaf0b46117a01440143001b74dacfa5e57cbf0
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commit 55c12d2e9569fe4aeac3ba688ac36810935a37ba
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Author: Damon Kohler <damonkohler@google.com>
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Date: Wed Oct 5 16:30:31 2016 +0200
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Adds package.xml to support Catkin.
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Change-Id: I8ad4d36a8b036417604a54644e0bb70dd1615feb
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commit 0bcce6565202f5476e40f12afc0a99eb44bd9dfb
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Oct 10 23:30:42 2016 -0700
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Fix tabs in Android.mk
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Change-Id: Ie5ab9a8ba2b727721565e1ded242609b6df5f8f5
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commit e6ffe2667170d2fc435443685c0163396fc52d7b
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Oct 10 22:47:08 2016 -0700
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Update the version history.
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Change-Id: I9a57b0541d6cebcb695ecb364a1d4ca04ea4e06c
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commit 0a4ccb7ee939ab35b22e26758401e039b033b176
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Author: David Gossow <dgossow@google.com>
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Date: Wed Sep 7 21:38:12 2016 +0200
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Relaxing Jacobian matching in Gradient Checker test.
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Any result of an arithmetic operation on floating-point matrices
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should never be checked for strict equality with some expected
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value, due to limited floating point precision on different machines.
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This fixes some occurences of exact checks in the gradient checker
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unit test that were causing problems on some platforms.
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Change-Id: I48e804c9c705dc485ce74ddfe51037d4957c8fcb
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commit ee44fc91b59584921c1d1c8db153fda6d633b092
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Author: Je Hyeong Hong <jhh37@outlook.com>
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Date: Mon Oct 3 12:19:30 2016 +0100
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Fix an Intel compiler error in covariance_impl.cc.
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Intel C compiler strictly asks for parallel loops with collapse to be
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perfectly nested. Otherwise, compiling Ceres with ICC will throw an
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error at line 348 of covariance_impl.cc.
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Change-Id: I1ecb68e89b7faf79e4153dfe6675c390d1780db4
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commit 9026d69d1ce1e0bcd21debd54a38246d85c7c6e4
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Sep 22 17:20:14 2016 -0700
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Allow SubsetParameterization to hold all parameters constant
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1. SubsetParameterization can now be constructed such that all
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parameters are constant. This is required for it be used as part
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of a ProductParameterization to hold a part of parameter block
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constant. For example, a parameter block consisting of a rotation
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as a quaternion and a translation vector can now have a local
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parameterization where the translation part is constant and the
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quaternion part has a QuaternionParameterization associated with it.
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2. The check for the tangent space of a parameterization being
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positive dimensional. We were not doing this check up till now
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and the user could accidentally create parameterizations like this
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and create a problem for themselves. This will ensure that even
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though one can construct a SubsetParameterization where all
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parameters are constant, you cannot actually use it as a local
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parameterization for an entire parameter block. Which is how
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it was before, but the check was inside the SubsetParameterization
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constructor.
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3. Added more tests and refactored existing tests to be more
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granular.
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Change-Id: Ic0184a1f30e3bd8a416b02341781a9d98e855ff7
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commit a36693f83da7a3fd19dce473d060231d4cc97499
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Sat Sep 17 16:31:41 2016 -0700
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Update version history
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Change-Id: Ib2f0138ed7a1879ca3b2173e54092f7ae8dd5c9d
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commit 01e23e3d33178fdd050973666505c1080cfe04c3
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Author: David Gossow <dgossow@google.com>
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Date: Thu Sep 8 12:22:28 2016 +0200
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Removing duplicate include directive.
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Change-Id: I729ae6501497746d1bb615cb893ad592e16ddf3f
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commit 99b8210cee92cb972267537fb44bebf56f812d52
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Sep 7 15:31:30 2016 -0700
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Update Android.mk to include new files.
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Change-Id: Id543ee7d2a65b65c868554a17f593c0a4958e873
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commit 195d8d13a6a3962ac39ef7fcdcc6add0216eb8bc
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Sep 6 07:12:23 2016 -0700
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Remove two DCHECKs from CubicHermiteSpline.
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They were present as debugging checks but were causing problems
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with the build on 32bit i386 due to numerical cancellation issues,
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where x ~ -epsilon.
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Removing these checks only changes the behaviour in Debug mode.
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We are already handling such small negative numbers in production
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if they occur. All that this change does is to remove the crash.
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https://github.com/ceres-solver/ceres-solver/issues/212
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Thanks to @NeroBurner and @debalance for reporting this.
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Change-Id: I66480e86d4fa0a4b621204f2ff44cc3ff8d01c04
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commit 83041ac84f2d67c28559c67515e0e596a3f3aa20
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Sep 2 19:10:35 2016 -0700
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Fix some compiler warnings.
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Reported by Richard Trieu.
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Change-Id: I202b7a7df09cc19c92582d276ccf171edf88a9fb
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commit 8c4623c63a2676e79e7917bb0561f903760f19b9
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Sep 1 00:05:09 2016 -0700
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Update ExpectArraysClose to use ExpectClose instead of EXPECT_NEAR
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The documentation for ExpectArraysClose and its implementation
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did not match.
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This change makes the polynomial_test not fail on 64bit AMD builds.
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Thanks to Phillip Huebner for reporting this.
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Change-Id: I503f2d3317a28d5885a34f8bdbccd49d20ae9ba2
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commit 2fd39fcecb47eebce727081c9ffb8edf86c33669
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Sep 1 16:05:06 2016 -0700
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FindWithDefault returns by value rather than reference.
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Returning by reference leads to lifetime issues with the default
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value which may go out of scope by the time it is used.
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Thanks to @Ardavel for reporting this, as this causes graph_test
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to fail on VS2015x64.
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https://github.com/ceres-solver/ceres-solver/issues/216
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Change-Id: I596481219cfbf7622d49a6511ea29193b82c8ba3
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commit 716f049a7b91a8f3a4632c367d9534d1d9190a81
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Author: Mike Vitus <vitus@google.com>
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Date: Wed Aug 31 13:38:30 2016 -0700
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Convert pose graph 2D example to glog and gflags.
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Change-Id: I0ed75a60718ef95199bb36f33d9eb99157d11d40
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commit 46c5ce89dda308088a5fdc238d0c126fdd2c2b58
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Author: David Gossow <dgossow@google.com>
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Date: Wed Aug 31 18:40:57 2016 +0200
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Fix compiler errors on some systems
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This fixes some signed-unsigned comparisons and a missing header
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include.
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Change-Id: Ieb2bf6e905faa74851bc4ac4658d2f1da24b6ecc
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commit b102d53e1dd7dab132e58411183b6fffc2090590
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Author: David Gossow <dgossow@google.com>
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Date: Wed Aug 31 10:21:20 2016 +0200
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Gradient checker multithreading bugfix.
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This is a follow-up on c/7470. GradientCheckingCostFunction calls
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callback_->SetGradientErrorDetected() in its Evaluate method,
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which will run in multiple threads simultaneously when enabling
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this option in the solver. Thus, the string append operation
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inside that method has to be protected by a mutex.
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Change-Id: I314ef1df2be52595370d9af05851bf6da39bb45e
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commit 79a28d1e49af53f67af7f3387d07e7c9b7339433
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Aug 31 06:47:45 2016 -0700
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Rename a confusingly named member of Solver::Options
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Solver::Options::numeric_derivative_relative_step_size to
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Solver::Options::gradient_check_numeric_derivative_relative_step_size
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Change-Id: Ib89ae3f87e588d4aba2a75361770d2cec26f07aa
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commit 358ae741c8c4545b03d95c91fa546d9a36683677
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Aug 31 06:58:41 2016 -0700
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Note that Problem::Evaluate cannot be called from an IterationCallback
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Change-Id: Ieabdc2d40715e6b547ab22156ba32e9c8444b7ed
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commit 44044e25b14d7e623baae4505a17c913bdde59f8
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Aug 31 05:50:58 2016 -0700
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Update the NumTraits for Jets
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1. Use AVX if EIGEN_VECTORIZE_AVX is defined.
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2. Make the cost of division same as the cost of multiplication.
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These are updates to the original numtraits update needed for eigen 3.3
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that Shaheen Gandhi sent out.
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Change-Id: Ic1e3ed7d05a659c7badc79a894679b2dd61c51b9
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commit 4b6ad5d88e45ce8638c882d3e8f08161089b6dba
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Sat Aug 27 23:21:55 2016 -0700
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Use ProductParameterization in bundle_adjuster.cc
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Previously, when using a quaternion to parameterize the camera
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orientation, the camera parameter block was split into two
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parameter blocks. One for the rotation and another for the
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translation and intrinsics. This was to enable the use of the
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Quaternion parameterization.
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Now that we have a ProductParameterization which allows us
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to compose multiple parameterizations, this is no longer needed
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and we use a size 10 parameter block instead.
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This leads to a more than 2x improvements in the linear solver time.
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Change-Id: I78b8f06696f81fee54cfe1a4ae193ee8a5f8e920
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commit bfc916cf1cf753b85c1e2ac037e2019ee891f6f9
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Author: Shaheen Gandhi <visigoth@gmail.com>
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Date: Thu Aug 4 12:10:14 2016 -0700
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Allow ceres to be used with the latest version of Eigen
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Change-Id: Ief3b0f6b405484ec04ecd9ab6a1e1e5409a594c2
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commit edbd48ab502aa418ad9700ee5c3ada5f9268b90a
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sun Jul 10 14:13:51 2016 +0100
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Enable support for OpenMP in Clang if detected.
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- Previously we disabled OpenMP if Clang was detected, as it did not
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support it. However as of Clang 3.8 (and potentially Xcode 8) OpenMP
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is supported.
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Change-Id: Ia39dac9fe746f1fc6310e08553f85f3c37349707
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commit f6df6c05dd83b19fa90044106ebaca40957998ae
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Author: Mike Vitus <vitus@google.com>
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Date: Thu Aug 18 19:27:43 2016 -0700
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Add an example for modeling and solving a 3D pose graph SLAM problem.
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Change-Id: I750ca5f20c495edfee5f60ffedccc5bd8ba2bb37
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commit ac3b8e82175122e38bafaaa9cd419ba3cee11087
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Author: David Gossow <dgossow@google.com>
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Date: Fri Apr 29 16:07:11 2016 +0200
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Gradient checking cleanup and local parameterization bugfix
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Change the Ceres gradient checking API to make is useful for
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unit testing, clean up code duplication and fix interaction between
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gradient checking and local parameterizations.
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There were two gradient checking implementations, one being used
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when using the check_gradients flag in the Solver, the other
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being a standalone class. The standalone version was restricted
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to cost functions with fixed parameter sizes at compile time, which
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is being lifted here. This enables it to be used inside the
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GradientCheckingCostFunction as well.
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In addition, this installs new hooks in the Solver to ensure
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that Solve will fail if any incorrect gradients are detected. This
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way, you can set the check_gradient flags to true and detect
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errors in an automated way, instead of just printing error information
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to the log. The error log is now also returned in the Solver summary
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instead of being printed directly. The user can then decide what to
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do with it. The existing hooks for user callbacks are used for
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this purpose to keep the internal API changes minimal and non-invasive.
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The last and biggest change is the way the the interaction between
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local parameterizations and the gradient checker works. Before,
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local parameterizations would be ignored by the checker. However,
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if a cost function does not compute its Jacobian along the null
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space of the local parameterization, this wil not have any effect
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on the solver, but would result in a gradient checker error.
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With this change, the Jacobians are multiplied by the Jacobians
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of the respective local parameterization and thus being compared
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in the tangent space only.
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The typical use case for this are quaternion parameters, where
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a cost function will typically assume that the quaternion is
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always normalized, skipping the correct computation of the Jacobian
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along the normal to save computation cost.
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Change-Id: I5e1bb97b8a899436cea25101efe5011b0bb13282
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commit d4264ec10d9a270b53b5db86c0245ae8cbd2cf18
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Author: Mike Vitus <vitus@google.com>
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Date: Wed Aug 17 13:39:05 2016 -0700
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Add a quaternion local parameterization for Eigen's quaternion element convention.
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Change-Id: I7046e8b24805313c5fb6a767de581d0054fcdb83
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commit fd7cab65ef30fbc33612220abed52dd5073413c4
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Author: Mike Vitus <vitus@google.com>
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Date: Wed Aug 10 09:29:12 2016 -0700
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Fix typos in the pose graph 2D example.
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Change-Id: Ie024ff6b6cab9f2e8011d21121a91931bd987bd1
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commit 375dc348745081f89693607142d8b6744a7fb6b4
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Author: Mike Vitus <vitus@google.com>
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Date: Wed Aug 3 18:51:16 2016 -0700
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Remove duplicate entry for the NIST example in the docs.
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Change-Id: Ic4e8f9b68b77b5235b5c96fe588cc56866dab759
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commit f554681bf22d769abc12dd6d346ef65f9bb22431
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Author: Mike Vitus <vitus@google.com>
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Date: Mon Jul 25 18:30:48 2016 -0700
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Add an example for modeling and solving a 2D pose graph SLAM problem.
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Change-Id: Ia89b12af7afa33e7b1b9a68d69cf2a0b53416737
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commit e1bcc6e0f51512f43aa7bfb7b0d62f7ac1d0cd4b
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed May 18 07:52:48 2016 -0700
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Add additional logging for analyzing orderings
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Change-Id: Ic68d2959db35254e2895f11294fb25de4d4b8a81
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commit 16980b4fec846f86910c18772b8145bcb55f4728
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Author: Mike Vitus <vitus@google.com>
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Date: Fri Jul 15 13:37:49 2016 -0700
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Delete the remove_definitons command from sampled_functions
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CMakeLists.txt because it will be inherited from the top level examples
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CMakeLists.txt.
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Change-Id: I25593587df0ae84fd8ddddc589bc2a13f3777427
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commit a04490be97800e78e59db5eb67fa46226738ffba
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Author: Mike Vitus <vitus@google.com>
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Date: Thu Jul 14 10:10:13 2016 -0700
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Add readme for the sampled_function example.
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Change-Id: I9468b6a7b9f2ffdd2bf9f0dd1f4e1d5f894e540c
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commit ff11d0e63d4678188e8cabd40a532ba06912fe5a
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Wed Jun 29 09:31:45 2016 +0100
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Use _j[0,1,n]() Bessel functions on MSVC to avoid deprecation errors.
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- Microsoft deprecated the POSIX Bessel functions: j[0,1,n]() in favour
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of _j[0,1,n](), it appears since at least MSVC 2005:
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https://msdn.microsoft.com/en-us/library/ms235384(v=vs.100).aspx.
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- As this occurs in jet.h (templated public header), although Ceres
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suppresses the warning when it itself is built (to suppress a warning
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about the insecurity of using std::copy), it will crop up again in
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client code (without this fix) unless it is explicitly suppressed
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there also.
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- Raised as Issue #190:
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https://github.com/ceres-solver/ceres-solver/issues/190.
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Change-Id: If7ac5dbb856748f9900be93ec0452a40c0b00524
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commit 8ea86e1614cf77644ce782e43cde6565a54444f5
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Author: Nicolai Wojke <nwojke@uni-koblenz.de>
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Date: Mon Apr 25 14:24:41 2016 +0200
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Fix: Copy minimizer option 'is_silent' to LinSearchDirection::Options
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Change-Id: I23b4c3383cad30033c539ac93883d77c8dd4ba1a
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commit 080ca4c5f2ac42620971a07f06d2d13deb7befa8
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Sun Apr 24 22:46:54 2016 -0700
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Fix typos in users.rst
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Change-Id: Ifdc67638a39403354bc9589f42a1b42cb9984dd2
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commit 21ab397dc55335c147fdd795899b1f8981037b09
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Sun Apr 24 21:13:00 2016 -0700
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Make some Jet comparisons exact.
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Change-Id: Ia08c72f3b8779df96f5c0d5a954b2c0a1dd3a061
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commit ee40f954cf464087eb8943abf4d9db8917a33fbe
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Sun Apr 24 07:49:55 2016 -0700
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Add colmap to users.rst
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Change-Id: I452a8c1dc6a3bc55734b2fc3a4002ff7939ba863
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commit 9665e099022bd06e53b0779550e9aebded7f274d
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Apr 18 06:00:58 2016 -0700
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Fix step norm evaluation in LineSearchMinimizer
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TrustRegionMinimizer evaluates the size of the step
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taken in the ambient space, where as the LineSearchMinimizer
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was using the norm in the tangent space. This change fixes
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this discrepancy.
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Change-Id: I9fef64cbb5622c9769c0413003cfb1dc6e89cfa3
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commit 620ca9d0668cd4a00402264fddca3cf6bd2e7265
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Mon Apr 18 15:14:11 2016 +0100
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Remove use of -Werror when compiling Ceres.
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- As noted in Issue #193 (in that case for GCC 6), Ceres' use of -Werror
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when compiling on *nix can prevent compilation on new compilers that
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add new warnings and there is an inevitable delay between new compiler
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versions and Ceres versions.
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- Removing the explicit use of -Werror, and relying on indirect
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verification by maintainers should fix build issues for Ceres releases
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on newer compilers.
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Change-Id: I38e9ade28d4a90e53dcd918a7d470f1a1debd7b4
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commit 0c63bd3efbf1d41151c9fab41d4b77dc64c572c8
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Author: Mike Vitus <vitus@google.com>
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Date: Thu Apr 14 10:25:52 2016 -0700
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Add floor and ceil functions to the Jet implementation.
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Change-Id: I72ebfb0e9ade2964dbf3a014225ead345d5ae352
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commit 9843f3280356c158d23c06a16085c6c5ba35e053
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Mon Mar 7 21:24:32 2016 +0000
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Report Ceres compile options as components in find_package().
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- Users can now specify particular components from Ceres, such as
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SuiteSparse support) that must be present in a detected version of
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Ceres in order for it to be reported as found by find_package().
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- This allows users to specify for example that they require a version
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of Ceres with SuiteSparse support at configure time, rather than
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finding out only at run time that Ceres was not compiled with the
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options they require.
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- The list of available components are built directly from the Ceres
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compile options.
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- The meta-module SparseLinearAlgebraLibrary is present if at least
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one sparse linear algebra backend is available.
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Change-Id: I65f1ddfd7697e6dd25bb4ac7e54f5097d3ca6266
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commit e4d4d88bbe51b9cc0f7450171511abbea0779790
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Author: Timer <linyicx@126.com>
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Date: Fri Apr 8 15:42:18 2016 +0800
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Fix a spelling error in nnls_modeling.rst
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Change-Id: I341d901d3df993bc5397ed15e6cb330b0c38fd72
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commit 5512f58536e1be0d92010d8325b606e7b4733a08
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Author: Keir Mierle <mierle@gmail.com>
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Date: Thu Apr 7 12:03:16 2016 -0700
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Only use collapse() directive with OpenMP 3.0 or higher
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Change-Id: Icba544c0494763c57eb6dc61e98379312ca15972
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commit d61e94da5225217cab7b4f93b72f97055094681f
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Author: Thomas Schneider <schneith@ethz.ch>
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Date: Wed Apr 6 10:40:29 2016 +0200
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Add IsParameterBlockConstant to the ceres::Problem class.
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Change-Id: I7d0e828e81324443209c17fa54dd1d37605e5bfe
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commit 77d94b34741574e958a417561702d6093fba87fb
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sun Feb 14 16:54:03 2016 +0000
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Fix install path for CeresConfig.cmake to be architecture-aware.
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- Previously we were auto-detecting a "64" suffix for the install path
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for the Ceres library on non-Debian/Arch Linux distributions, but
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we were installing CeresConfig.cmake to an architecture independent
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location.
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- We now install CeresConfig.cmake to lib${LIB_SUFFIX}/cmake/Ceres.
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- Also make LIB_SUFFIX visible to the user in the CMake GUI s/t they can
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easily override the auto-detected value if desired.
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- Reported by jpgr87@gmail.com as Issue #194.
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Change-Id: If126260d7af685779487c01220ae178ac31f7aea
|