2015-10-28 13:55:04 +00:00
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commit aef9c9563b08d5f39eee1576af133a84749d1b48
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Author: Alessandro Gentilini <agentilini@gmail.com>
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Date: Tue Oct 6 20:43:45 2015 +0200
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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Add test for Bessel functions.
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: Ief5881e8027643d7ef627e60a88fdbad17f3d884
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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commit 49c86018e00f196c4aa9bd25daccb9919917efee
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Author: Alessandro Gentilini <agentilini@gmail.com>
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Date: Wed Sep 23 21:59:44 2015 +0200
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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Add Bessel functions in order to use them in residual code.
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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See "How can I use the Bessel function in the residual function?" at
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https://groups.google.com/d/msg/ceres-solver/Vh1gpqac8v0/NIK1EiWJCAAJ
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Change-Id: I3e80d9f9d1cadaf7177076e493ff46ace5233b76
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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commit dfb201220c034fde00a242d0533bef3f73b2907d
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Author: Simon Rutishauser <simon.rutishauser@pix4d.com>
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Date: Tue Oct 13 07:33:58 2015 +0200
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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Make miniglog threadsafe on non-windows system by using
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localtime_r() instead of localtime() for time formatting
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: Ib8006c685cd8ed4f374893bef56c4061ca2c9747
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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commit 41455566ac633e55f222bce7c4d2cb4cc33d5c72
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Mon Sep 28 22:43:42 2015 +0100
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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Remove link-time optimisation (LTO).
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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- On GCC 4.9+ although GCC supports LTO, it requires use of the
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non-default gcc-ar & gcc-ranlib. Whilst we can ensure Ceres is
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compiled with these, doing so with GCC 4.9 causes multiple definition
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linker errors of static ints inside Eigen when compiling the tests
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and examples when they are not also built with LTO.
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- On OS X (Xcode 6 & 7) after the latest update to gtest, if LTO
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is used when compiling the tests (& examples), two tests fail
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due to typeinfo::operator== (things are fine if only Ceres itself is
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compiled with LTO).
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- This patch disables LTO for all compilers. It should be revisited when
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the performance is more stable across our supported compilers.
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I17b52957faefbdeff0aa40846dc9b342db1b02e3
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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commit 89c40005bfceadb4163bd16b7464b3c2ce740daf
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sun Sep 27 13:37:26 2015 +0100
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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Only use LTO when compiling Ceres itself, not tests or examples.
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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- If Ceres is built as a shared library, and LTO is enabled for Ceres
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and the tests, then type_info::operator==() incorrectly returns false
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in gtests' CheckedDowncastToActualType() in the following tests:
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-- levenberg_marquardt_strategy_test.
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-- gradient_checking_cost_function_test.
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on at least Xcode 6 & 7 as reported here:
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https://github.com/google/googletest/issues/595.
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- This does not appear to be a gtest issue, but is perhaps an LLVM bug
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or an RTTI shared library issue. Either way, disabling the use of
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LTO when compiling the test application resolves the issue.
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- Allow LTO to be enabled for GCC, if it is supported.
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- Add CMake function to allow easy appending to target properties s/t
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Ceres library-specific compile flags can be iteratively constructed.
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I923e6aae4f7cefa098cf32b2f8fc19389e7918c9
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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commit 0794f41cca440f7f65d9a44e671f66f6e498ef7c
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2014-10-09 09:29:20 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2015-10-28 13:55:04 +00:00
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Date: Sat Sep 26 14:10:15 2015 -0700
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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Documentation updates.
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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1. Fix a typo in the Trust Region algorithm.
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2. Add ARL in the list of users.
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3. Update the version history.
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: Ic286e8ef1a71af07f3890b7592dd3aed9c5f87ce
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2014-10-09 09:29:20 +00:00
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2015-10-28 13:55:04 +00:00
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commit 90e32a8dc437dfb0e6747ce15a1f3193c13b7d5b
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Mon Sep 21 21:08:25 2015 +0100
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2014-09-30 08:49:34 +00:00
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2015-10-28 13:55:04 +00:00
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Use old minimum iOS version flags on Xcode < 7.0.
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2014-09-30 08:49:34 +00:00
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2015-10-28 13:55:04 +00:00
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- The newer style, which are more specific and match the SDK names
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are not available on Xcode < 7.0.
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2014-09-30 08:49:34 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I2f07a0365183d2781157cdb05fd49b30ae001ac5
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2014-09-30 08:49:34 +00:00
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2015-10-28 13:55:04 +00:00
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commit 26cd5326a1fb99ae02c667eab9942e1308046984
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Mon Sep 21 10:16:01 2015 +0100
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2014-09-30 08:49:34 +00:00
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2015-10-28 13:55:04 +00:00
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Add gtest-specific flags when building/using as a shared library.
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- Currently these flags are only used to define the relevant DLL export
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prefix for Windows.
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2014-09-30 08:49:34 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I0c05207b512cb4a985390aefc779b91febdabb38
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2014-09-30 08:49:34 +00:00
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2015-10-28 13:55:04 +00:00
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commit c4c79472112a49bc1340da0074af2d15b1c89749
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sun Sep 20 18:26:59 2015 +0100
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2014-09-29 18:39:45 +00:00
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2015-10-28 13:55:04 +00:00
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Clean up iOS.cmake to use xcrun/xcodebuild & libtool.
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2014-09-29 18:39:45 +00:00
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2015-10-28 13:55:04 +00:00
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- Substantial cleanup of iOS.cmake to use xcrun & xcodebuild to
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determine the SDK & tool paths.
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- Use libtool -static to link libraries instead of ar + ranlib, which
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is not compatible with Xcode 7+, this change should be backwards
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compatible to at least Xcode 6.
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- Force locations of unordered_map & shared_ptr on iOS to work around
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check_cxx_source_compiles() running in a forked CMake instance without
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access to the variables (IOS_PLATFORM) defined by the user.
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- Minor CMake style updates.
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2014-09-29 18:39:45 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I5f83a60607db34d461ebe85f9dce861f53d98277
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2014-09-29 18:39:45 +00:00
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2015-10-28 13:55:04 +00:00
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commit 155765bbb358f1d19f072a4b54825faf1c059910
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2014-09-29 18:39:45 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2015-10-28 13:55:04 +00:00
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Date: Wed Sep 16 06:56:08 2015 -0700
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2014-09-29 18:39:45 +00:00
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2015-10-28 13:55:04 +00:00
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Import the latest version of gtest and gmock.
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2014-09-29 18:39:45 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I4b686c44bba823cab1dae40efa99e31340d2b52a
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2014-09-29 18:39:45 +00:00
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2015-10-28 13:55:04 +00:00
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commit 0c4647b8f1496c97c6b9376d9c49ddc204aa08dd
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Wed Sep 16 20:01:11 2015 +0100
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2014-09-29 18:39:45 +00:00
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2015-10-28 13:55:04 +00:00
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Remove FAQ about increasing inlining threshold for Clang.
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2014-09-29 18:39:45 +00:00
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2015-10-28 13:55:04 +00:00
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- Changing the inlining threshold for Clang as described has a minimal
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effect on user performance.
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- The problem that originally prompted the belief that it did was
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due to an erroneous CXX flag configuration (in user code).
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Change-Id: I03017241c0f87b8dcefb8c984ec3b192afd97fc2
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2014-09-29 18:39:45 +00:00
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2015-10-28 13:55:04 +00:00
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commit f4b768b69afcf282568f9ab3a3f0eb8078607468
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2014-09-29 18:39:45 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2015-10-28 13:55:04 +00:00
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Date: Mon Sep 14 13:53:24 2015 -0700
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2014-09-29 18:39:45 +00:00
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2015-10-28 13:55:04 +00:00
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Lint changes from William Rucklidge
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2014-09-29 18:39:45 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I0dac2549a8fa2bfd12f745a8d8a0db623b7ec1ac
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2014-09-29 18:39:45 +00:00
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2015-10-28 13:55:04 +00:00
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commit 5f2f05c726443e35767d677daba6d25dbc2d7ff8
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2014-05-01 23:52:56 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2015-10-28 13:55:04 +00:00
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Date: Fri Sep 11 22:19:38 2015 -0700
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2014-01-13 19:17:54 +00:00
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2015-10-28 13:55:04 +00:00
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Refactor system_test
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1. Move common test infrastructure into test_util.
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2. system_test now only contains powells function.
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3. Add bundle_adjustment_test.
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2014-01-13 19:17:54 +00:00
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2015-10-28 13:55:04 +00:00
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Instead of a single function which computes everything,
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there is now a test for each solver configuration which
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uses the reference solution computed by the fixture.
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2014-01-13 19:17:54 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I16a9a9a83a845a7aaf28762bcecf1a8ff5aee805
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2014-01-13 19:17:54 +00:00
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2015-10-28 13:55:04 +00:00
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commit 1936d47e213142b8bf29d3f548905116092b093d
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2014-09-24 11:10:02 +00:00
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Author: Alex Stewart <alexs.mac@gmail.com>
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2015-10-28 13:55:04 +00:00
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Date: Tue Sep 8 23:27:42 2015 +0100
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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Revert increased inline threshold (iff Clang) to exported Ceres target.
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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- Increasing the inline threshold results in very variable performance
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improvements, and could potentially confuse users if they are trying
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to set the inline threshold themselves.
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- As such, we no longer export our inline threshold configuration for
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Clang, but instead document how to change it in the FAQs.
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I88e2e0001e4586ba2718535845ed1e4b1a5b72bc
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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commit a66d89dcda47cefda83758bfb9e7374bec4ce866
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2014-09-24 11:10:02 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2015-10-28 13:55:04 +00:00
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Date: Sat Sep 5 16:50:20 2015 -0700
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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Get ready for 1.11.0RC1
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Update version numbers.
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Drop CERES_VERSION_ABI macro.
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: Ib3eadabb318afe206bb196a5221b195d26cbeaa0
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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commit 1ac3dd223c179fbadaed568ac532af4139c75d84
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2014-09-24 11:10:02 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2015-10-28 13:55:04 +00:00
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Date: Sat Sep 5 15:30:01 2015 -0700
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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Fix a bug in CompressedRowSparseMatrix::AppendRows
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2014-05-01 23:52:56 +00:00
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2015-10-28 13:55:04 +00:00
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The test for CompressedRowSparseMatrix::AppendRows tries to add
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a matrix of size zero, which results in an invalid pointer deferencing
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even though that pointer is never written to.
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2014-05-01 23:52:56 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I97dba37082bd5dad242ae1af0447a9178cd92027
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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commit 67622b080c8d37b5e932120a53d4ce76b80543e5
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2014-09-24 11:10:02 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2015-10-28 13:55:04 +00:00
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Date: Sat Sep 5 13:18:38 2015 -0700
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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Fix a pointer access bug in Ridders' algorithm.
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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A pointer to an Eigen matrix was being used as an array.
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: Ifaea14fa3416eda5953de49afb78dc5a6ea816eb
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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commit 5742b7d0f14d2d170054623ccfee09ea214b8ed9
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2014-01-13 13:11:08 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2015-10-28 13:55:04 +00:00
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Date: Wed Aug 26 09:24:33 2015 -0700
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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Improve performance of SPARSE_NORMAL_CHOLESKY + dynamic_sparsity
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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The outer product computation logic in SparseNormalCholeskySolver
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does not work well with dynamic sparsity. The overhead of computing
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the sparsity pattern of the normal equations is only amortized if
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the sparsity is constant. If the sparsity can change from call to call
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SparseNormalCholeskySolver will actually be more expensive.
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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For Eigen and for CXSparse we now explicitly compute the normal
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equations using their respective matrix-matrix product routines and solve.
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Change-Id: Ifbd8ed78987cdf71640e66ed69500442526a23d4
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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commit d0b6cf657d6ef0dd739e958af9a5768f2eecfd35
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Author: Keir Mierle <mierle@gmail.com>
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Date: Fri Sep 4 18:43:41 2015 -0700
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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Fix incorrect detect structure test
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I7062f3639147c40b57947790d3b18331a39a366b
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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commit 0e8264cc47661651a11e2dd8570c210082963545
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sat Aug 22 16:23:05 2015 +0100
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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Add increased inline threshold (iff Clang) to exported Ceres target.
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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- When compiled with Clang, Ceres and all of the examples are compiled
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with an increased inlining-threshold, as the default value can result
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in poor Eigen performance.
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- Previously, client code using Ceres would typically not use an
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increased inlining-threshold (unless the user has specifically added
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it themselves). However, increasing the inlining threshold can result
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in significant performance improvements in auto-diffed CostFunctions.
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- This patch adds the inlining-threshold flags to the interface flags
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for the Ceres CMake target s/t any client code using Ceres (via
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CMake), and compiled with Clang, will now be compiled with the same
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increased inlining threshold as used by Ceres itself.
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Change-Id: I31e8f1abfda140d22e85bb48aa57f028a68a415e
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2014-05-01 23:52:56 +00:00
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2015-10-28 13:55:04 +00:00
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commit a1b3fce9e0a4141b973f6b4dd9b08c4c13052d52
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Mon Aug 31 14:14:56 2015 +0100
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2014-05-01 23:52:56 +00:00
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2015-10-28 13:55:04 +00:00
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Add optional export of Ceres build directory to new features list.
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I6f1e42b41957ae9cc98fd9dcd1969ef64c4cd96f
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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commit e46777d8df068866ef80902401a03e29348d11ae
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Mon Aug 31 12:41:54 2015 +0100
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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Credit reporters of buildsystem bugs in version history.
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I16fe7973534cd556d97215e84268ae0b8ec4e11a
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2014-01-13 13:11:08 +00:00
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2015-10-28 13:55:04 +00:00
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commit 01548282cb620e5e3ac79a63a391cd0afd5433e4
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2014-09-24 11:10:02 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2015-10-28 13:55:04 +00:00
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Date: Sun Aug 30 22:29:27 2015 -0700
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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Update the version history.
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I29873bed31675e0108f1a44f53f7bc68976b7f98
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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commit 2701429f770fce69ed0c77523fa43d7bc20ac6dc
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2013-12-29 10:59:15 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2015-10-28 13:55:04 +00:00
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Date: Sun Aug 30 21:33:57 2015 -0700
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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Use Eigen::Dynamic instead of ceres::DYNAMIC in numeric_diff.h
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: Iccb0284a8fb4c2160748dfae24bcd595f1d4cb5c
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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commit 4f049db7c2a3ee8cf9910c6eac96be6a28a5999c
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Author: Tal Ben-Nun <tbennun@gmail.com>
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Date: Wed May 13 15:43:51 2015 +0300
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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Adaptive numeric differentiation using Ridders' method.
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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This method numerically computes function derivatives in different
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scales, extrapolating between intermediate results to conserve function
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evaluations. Adaptive differentiation is essential to produce accurate
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results for functions with noisy derivatives.
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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Full changelist:
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-Created a new type of NumericDiffMethod (RIDDERS).
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-Implemented EvaluateRiddersJacobianColumn in NumericDiff.
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-Created unit tests with f(x) = x^2 + [random noise] and
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f(x) = exp(x).
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I2d6e924d7ff686650272f29a8c981351e6f72091
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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commit 070bba4b43b4b7449628bf456a10452fd2b34d28
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2014-09-24 11:10:02 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2015-10-28 13:55:04 +00:00
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Date: Tue Aug 25 13:37:33 2015 -0700
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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Lint fixes from William Rucklidge
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I719e8852859c970091df842e59c44e02e2c65827
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2014-05-01 23:52:56 +00:00
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2015-10-28 13:55:04 +00:00
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commit 887a20ca7f02a1504e35f7cabbdfb2e0842a0b0b
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Wed Aug 12 21:41:43 2015 +0100
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2014-05-01 23:52:56 +00:00
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2015-10-28 13:55:04 +00:00
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Build position independent code when compiling Ceres statically.
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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- Previously, when Ceres was built as a static library we did not
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compile position independent code. This means that the resulting
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static library could not be linked against shared libraries, but
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could be used by executables.
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- To enable the use of a static Ceres library by other shared libraries
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as reported in [1], the static library must be generated from
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position independent code (except on Windows, where PIC does not
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apply).
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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[1] https://github.com/Itseez/opencv_contrib/pull/290#issuecomment-130389471
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I99388f1784ece688f91b162d009578c5c97ddaf6
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2014-05-01 23:52:56 +00:00
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2015-10-28 13:55:04 +00:00
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commit 860bba588b981a5718f6b73e7e840e5b8757fe65
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2013-12-29 10:59:15 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2015-10-28 13:55:04 +00:00
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Date: Tue Aug 25 09:43:21 2015 -0700
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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Fix a bug in DetectStructure
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2014-05-01 23:52:56 +00:00
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2015-10-28 13:55:04 +00:00
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The logic for determing static/dynamic f-block size in
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DetectStructure was broken in a corner case, where the very first
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row block which was used to initialize the f_block_size contained
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more than one f blocks of varying sizes. The way the if block
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was structured, no iteration was performed on the remaining
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f-blocks and the loop failed to detect that the f-block size
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was actually changing.
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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If in the remaining row blocks, there were no row blocks
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with varying f-block sizes, the function will erroneously
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return a static f-block size.
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Thanks to Johannes Schonberger for providing a reproduction for this
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rather tricky corner case.
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: Ib442a041d8b7efd29f9653be6a11a69d0eccd1ec
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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commit b0cbc0f0b0a22f01724b7b647a4a94db959cc4e4
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Author: Johannes Schönberger <hannesschoenberger@gmail.com>
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Date: Thu Aug 20 14:21:30 2015 -0400
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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Reduce memory footprint of SubsetParameterization
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: If113cb4696d5aef3e50eed01fba7a3d4143b7ec8
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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commit ad2a99777786101411a971e59576ca533a297013
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Sat Aug 22 11:18:45 2015 +0200
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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Fix for reoder program unit test when built without suitesparse
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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This commit fixes failure of reorder_program_test when Ceres is built without
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any suitesparse.
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: Ia23ae8dfd20c482cb9cd1301f17edf9a34df3235
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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commit 4bf3868beca9c17615f72ec03730cddb3676acaa
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2013-12-29 10:59:15 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2015-10-28 13:55:04 +00:00
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Date: Sun Aug 9 15:24:45 2015 -0700
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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Fix a bug in the Schur eliminator
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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The schur eliminator treats rows with e blocks and row with
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no e blocks separately. The template specialization logic only
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applies to the rows with e blocks.
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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So, in cases where the rows with e-blocks have a fixed size f-block
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but the rows without e-blocks have f-blocks of varying sizes,
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DetectStructure will return a static f-block size, but we need to be
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careful that we do not blindly use that static f-block size everywhere.
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2013-12-29 10:59:15 +00:00
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2015-10-28 13:55:04 +00:00
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This patch fixes a bug where such care was not being taken, where
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it was assumed that the static f-block size could be assumed for all
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f-block sizes.
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2013-09-05 10:48:44 +00:00
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2015-10-28 13:55:04 +00:00
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A new test is added, which triggers an exception in debug mode. In
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release mode this error does not present itself, due to a peculiarity
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of the way Eigen works.
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Thanks to Werner Trobin for reporting this bug.
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I8ae7aabf8eed8c3f9cf74b6c74d632ba44f82581
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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commit 1635ce726078f00264b89d7fb6e76fd1c2796e59
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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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2015-10-28 13:55:04 +00:00
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Date: Wed Aug 19 00:26:02 2015 -0700
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Fix a bug in the reordering code.
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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When the user provides an ordering which starts at a non-zero group id,
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or has gaps in the groups, then CAMD, the algorithm used to reorder
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the program can crash or return garbage results.
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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The solution is to map the ordering into grouping constraints, and then
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to re-number the groups to be contiguous using a call to
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MapValuesToContiguousRange. This was already done for CAMD based
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ordering for Schur type solvers, but was not done for SPARSE_NORMAL_CHOLESKY.
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Thanks to Bernhard Zeisl for not only reporting the bug but also
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providing a reproduction.
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I5cfae222d701dfdb8e1bda7f0b4670a30417aa89
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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commit 4c3f8987e7f0c51fd367cf6d43d7eb879e79589f
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Author: Simon Rutishauser <simon.rutishauser@pix4d.com>
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Date: Thu Aug 13 11:10:44 2015 +0200
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Add missing CERES_EXPORT to ComposedLoss
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: Id7db388d41bf53e6e5704039040c9d2c6bf4c29c
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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commit 1a740cc787b85b883a0703403a99fe49662acb79
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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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2015-10-28 13:55:04 +00:00
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Date: Tue Aug 11 18:08:05 2015 -0700
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Add the option to use numeric differentiation to nist and more_garbow_hillstrom
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: If0a5caef90b524dcf5e2567c5b681987f5459401
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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commit ea667ede5c038d6bf3d1c9ec3dbdc5072d1beec6
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sun Aug 9 16:56:13 2015 +0100
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Fix EIGENSPARSE option help s/t it displays in CMake ncurses GUI.
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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- Shorten description for EIGENSPARSE to a single line, as otherwise
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it is not correctly displayed in the ncurses CMake GUI.
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- Made explicit in description that this results in an LGPL licensed
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version of Ceres (this is also made clear in the CMake log output if
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EIGENSPARSE is enabled).
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I11678a9cbc7a817133c22128da01055a3cb8a26d
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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commit a14ec27fb28ab2e8d7f1c9d88e41101dc6c0aab5
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Author: Richard Stebbing <richie.stebbing@gmail.com>
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Date: Fri Aug 7 08:42:03 2015 -0700
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Fix SparseNormalCholeskySolver with dynamic sparsity.
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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The previous implementation incorrectly cached the outer product matrix
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pattern even when `dynamic_sparsity = true`.
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I1e58315a9b44f2f457d07c56b203ab2668bfb8a2
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commit 3dd7fced44ff00197fa9fcb1f2081d12be728062
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sun Aug 9 16:38:50 2015 +0100
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Remove legacy dependency detection macros.
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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- Before the new CMake buildsystem in 1.8, Ceres used non-standard
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HINTS variables for dependencies. For backwards compatibility CMake
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macros were added to translate these legacy variables into the new
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(standard) variables.
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- As it has now been multiple releases since the legacy variables
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were used and they no longer appear in any of the documentation
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support for them has now expired.
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I2cc72927ed711142ba7943df334ee008181f86a2
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2014-05-01 23:52:56 +00:00
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2015-10-28 13:55:04 +00:00
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commit 8b32e258ccce1eed2a50bb002add16cad13aff1e
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2014-09-24 11:10:02 +00:00
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Author: Alex Stewart <alexs.mac@gmail.com>
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2015-10-28 13:55:04 +00:00
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Date: Sun Aug 9 15:42:39 2015 +0100
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2014-05-01 23:52:56 +00:00
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2015-10-28 13:55:04 +00:00
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Fix failed if() condition expansion if gflags is not found.
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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- If a CMake-ified version of gflags is not detected, then
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gflags_LIBRARIES is not set and the TARGET condition within a
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multiconditional if() statement prevents configuration.
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: Ia92e97523d7a1478ab36539726b9540d7cfee5d0
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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commit cc8d47aabb9d63ba4588ba7295058a6191c2df83
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sun Aug 9 15:18:42 2015 +0100
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Update all CMake to lowercase function name style.
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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- Updated to new CMake style where function names are all lowercase,
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this will be backwards compatible as CMake function names are
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case insensitive.
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- Updated using Emacs' M-x unscreamify-cmake-buffer.
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: If7219816f560270e59212813aeb021353a64a0e2
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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commit 1f106904c1f47460c35ac03258d6506bb2d60838
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sun Aug 9 14:55:02 2015 +0100
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Update minimum iOS version to 7.0 for shared_ptr/unordered_map.
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- In order to correctly detect shared_ptr (& unordered_map)
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the iOS version must be >= 7.0 (Xcode 5.0+). This only affects the
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SIMULATOR(64) platform builds, as the OS (device) build uses the
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latest SDK which is now likely 8.0+.
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: Iefec8f03408b8cdc7a495f442ebba081f800adb0
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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commit 16ecd40523a408e7705c9fdb0e159cef2007b8ab
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sat Aug 8 17:32:31 2015 +0100
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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Fix bug in gflags' <= 2.1.2 exported CMake configuration.
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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- gflags <= 2.1.2 has a bug in its exported gflags-config.cmake:
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https://github.com/gflags/gflags/issues/110 whereby it sets
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gflags_LIBRARIES to a non-existent 'gflags' target.
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- This causes linker errors if gflags is installed in a non-standard
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location (as otherwise CMake resolves gflags to -lgflags which
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links if gflags is installed somewhere on the current path).
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- We now check for this case, and search for the correct gflags imported
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target and update gflags_LIBRARIES to reference it if found, otherwise
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proceed on to the original manual search to try to find gflags.
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: Iceccc3ee53c7c2010e41cc45255f966e7b13d526
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2013-11-28 13:06:35 +00:00
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2015-10-28 13:55:04 +00:00
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commit 56be8de007dfd65ed5a31c795eb4a08ad765f411
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Thu Jun 25 21:31:00 2015 +0100
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2013-11-28 13:06:35 +00:00
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2015-10-28 13:55:04 +00:00
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Add docs for new CXX11 option & mask option for Windows.
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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- The CXX11 option has no effect on Windows, as there, any new C++11
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features are enabled by default, as such to avoid confusion we only
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present the option for non-Windows.
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I38925ae3bb8c16682d404468ba95c611a519b9b9
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2013-11-28 13:06:35 +00:00
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2015-10-28 13:55:04 +00:00
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commit cf863b6415ac4dbf3626e70adeac1ac0f3d87ee5
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2014-09-24 11:10:02 +00:00
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Author: Sameer Agarwal <sameeragarwal@google.com>
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2015-10-28 13:55:04 +00:00
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Date: Thu Aug 6 14:52:18 2015 -0700
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2013-11-28 13:06:35 +00:00
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2015-10-28 13:55:04 +00:00
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Remove the spec file needed for generating RPMs.
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Now that ceres is part of RawHide, there is no need to carry
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this spec file with the ceres distribution.
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: Icc400b9874ba05ba05b353e2658f1de94c72299e
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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commit 560940fa277a469c1ab34f1aa303ff1af9c3cacf
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Sat Jul 11 22:21:31 2015 -0700
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2014-09-24 11:10:02 +00:00
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2015-10-28 13:55:04 +00:00
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A refactor of the cubic interpolation code
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2014-05-01 23:52:56 +00:00
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2015-10-28 13:55:04 +00:00
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1. Push the boundary handling logic into the underlying array
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object. This has two very significant impacts:
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2014-05-01 23:52:56 +00:00
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2015-10-28 13:55:04 +00:00
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a. The interpolation code becomes extremely simple to write
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and to test.
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b. The user has more flexibility in implementing how out of bounds
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values are handled. We provide one default implementation.
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Change-Id: Ic2f6cf9257ce7110c62e492688e5a6c8be1e7df2
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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commit dfdf19e111c2b0e6daeb6007728ec2f784106d49
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Aug 5 15:20:57 2015 -0700
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +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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2015-10-28 13:55:04 +00:00
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Change-Id: Id6845c85644d40e635ed196ca74fc51a387aade4
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2013-04-22 09:25:37 +00:00
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2015-10-28 13:55:04 +00:00
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commit 7444f23ae245476a7ac8421cc2f88d6947fd3e5f
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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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2015-10-28 13:55:04 +00:00
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Date: Mon Aug 3 12:22:44 2015 -0700
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2013-04-08 17:05:48 +00:00
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2015-10-28 13:55:04 +00:00
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Fix a typo in small_blas.h
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2013-04-08 17:05:48 +00:00
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2015-10-28 13:55:04 +00:00
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The reason this rather serious looking typo has not
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caused any problems uptil now is because NUM_ROW_B is
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computed but never actually used.
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2013-04-08 17:05:48 +00:00
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2015-10-28 13:55:04 +00:00
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Thanks to Werner Trobin for pointing this out.
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2013-04-08 17:05:48 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: Id2b4d9326ec21baec8a85423e3270aefbafb611e
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2013-04-08 17:05:48 +00:00
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2015-10-28 13:55:04 +00:00
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commit 5a48b92123b30a437f031eb24b0deaadc8f60d26
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sat Jul 4 17:59:52 2015 +0100
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2013-04-05 09:22:54 +00:00
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2015-10-28 13:55:04 +00:00
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Export Ceres build directory into local CMake package registry.
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2013-11-28 13:06:35 +00:00
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2015-10-28 13:55:04 +00:00
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- Optionally use CMake's export() functionality to export the Ceres
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build directory as a package into the local CMake package registry.
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- This enables the detection & use of Ceres from CMake *without*
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requiring that Ceres be installed.
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2014-05-01 23:52:56 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: Ib5a7588446f490e1b405878475b6b1dd13accd1f
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commit d9790e77894ea99d38137d359d6118315b2d1601
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Sun Jul 12 19:39:47 2015 -0700
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Add ProductParameterization
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2013-04-05 09:22:54 +00:00
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2015-10-28 13:55:04 +00:00
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Often a parameter block is the Cartesian product of a number of
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manifolds. For example, a rigid transformation SE(3) = SO(3) x R^3
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In such cases, where you have the local parameterization
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of the individual manifolds available,
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ProductParameterization can be used to construct a local
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parameterization of the cartesian product.
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2013-04-05 09:22:54 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I4b5bcbd2407a38739c7725b129789db5c3d65a20
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commit 7b4fb69dad49eaefb5d2d47ef0d76f48ad7fef73
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sun Jun 28 21:43:46 2015 +0100
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Cleanup FindGflags & use installed gflags CMake config if present.
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- Split out gflags namespace detection methods:
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check_cxx_source_compiles() & regex, into separate functions.
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- Use installed/exported gflags CMake configuration (present for
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versions >= 2.1) if available, unless user expresses a preference not
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to, or specifies search directories, in which case fall back to manual
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search for components.
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-- Prefer installed gflags CMake configurations over exported gflags
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build directories on all OSs.
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- Remove custom version of check_cxx_source_compiles() that attempted
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to force the build type of the test project. This only worked for
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NMake on Windows, not MSVC as msbuild ignored our attempts to force
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the build type. Now we always use the regex method on Windows if
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we cannot find an installed gflags CMake configuration which works
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even on MSVC by bypassing msbuild.
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- Add default search paths for gflags on Windows.
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Change-Id: I083b267d97a7a5838a1314f3d41a61ae48d5a2d7
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commit b3063c047906d4a44503dc0187fdcbbfcdda5f38
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Wed Jul 15 20:56:56 2015 +0100
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Add default glog install location on Windows to search paths.
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2013-04-05 09:22:54 +00:00
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2015-10-28 13:55:04 +00:00
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Change-Id: I083d368be48986e6780c11460f5a07b2f3b6c900
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