forked from bartvdbraak/blender
66cca267b1
This is helpful because it brings CHOLMOB-free ITERATIVE_SCHUR and SCHUR_JACOBI which is really nice for new upcoming bundle adjustment. If also includes all the local fixes we made locally. There're lots of other improvements/fixed which are not currently would be so much visible in Blender, but which opens doors for some great improvements in future.
573 lines
19 KiB
Plaintext
573 lines
19 KiB
Plaintext
commit d2a5195b512164fec286c6a52b40d7766977caa3
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Sun Feb 24 15:09:17 2013 -0800
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Version history update.
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Change-Id: I477ec05a78ca4cd735a525253c9b6adfa3bddea7
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commit 2160c5b757c44206c6face6ca62d381f1db7a291
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Sun Feb 24 14:15:45 2013 -0800
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Minor release script fixes.
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Change-Id: Ifd0a7f4f584c85d4d9574eca46094b372a8d7aff
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commit b53c9667f508c125b8aa833e7a063fa44ef8a98e
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Mon Feb 25 01:14:26 2013 +0600
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Solve No Previous Prototype GCC warning
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In some cases there were missing includes of own
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header files from implementation files.
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In other cases moved function which are only used
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within single file into an anonymous namespace.
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Change-Id: I2c6b411bcfbc521e2a5f21265dc8e009a548b1c8
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commit 267ccc45a3e875bf87832a8ad615be690b4926d3
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Mon Feb 25 01:04:16 2013 +0600
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Fix for MinGW build on Windows
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GG_LONGLONG and GG_ULONGLONG shall use LL and ULL suffixes,
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since MinGW is actuall a GCC compiler.
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Solved by checking whether compilation happens with MinGW
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or not using standard MinGW's __MINGW32__ and __MINGW64__
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definitions.
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Change-Id: I789b34f6342a56ba42f4b280f7242700022ab7a1
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commit 509f68cfe3fd13b794c4e67ff38c761407c858cf
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Feb 20 01:39:03 2013 -0800
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Problem::Evaluate implementation.
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1. Add Problem::Evaluate and tests.
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2. Remove Solver::Summary::initial/final_*
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3. Remove Solver::Options::return_* members.
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4. Various cpplint cleanups.
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Change-Id: I4266de53489896f72d9c6798c5efde6748d68a47
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commit d4a0bf86d688d1b68e00ff302858de5a4e0d9727
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Author: Keir Mierle <mierle@gmail.com>
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Date: Sun Feb 24 10:35:44 2013 -0800
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Fix threading build on Windows.
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On Windows, including the "windows.h" header defines an enormous number of
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symbols; some of which are macros with common names. In particular, "ERROR" and
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"min" and "max" get defined. This causes clashes when user code references
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these names in a context other than the intended use in windows.h.
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To deal with this, the Microsoft engineers added the ability to control the
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definition of these symbols by adding extra defines. In particular, including
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windows.h in the following way
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#define NOGDI
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#define NOMINMAX
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will reduce the number of macros defined. This way they will not conflict with
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other uses in Ceres. For example, numeric_limits<double>::max() is impossible
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to call without defining NOMINMAX.
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Change-Id: I166f5d3bb6dc0e2e4b2ebf800fb19e49206f7874
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commit beb4505311011130a7e54632137b0fbb5824cc9b
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Feb 22 13:37:01 2013 -0800
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Minor fixes
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Based on William Rucklidge's review, including
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a nasty bug in parameter block removal.
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Change-Id: I3a692e589f600ff560ecae9fa85bb0b76063d403
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commit 9a88bd7c4b40e2a1e0cd9b0dc09a3517c467e04e
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Feb 19 13:09:12 2013 -0800
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Minor bug fixes
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Change-Id: I94e4521adf76a6c77db954c4a8955168e9d37b55
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commit 956ed7e8f2054623615e6ae3601055d613897f26
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Feb 19 07:06:15 2013 -0800
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Various minor fixes.
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1. Unused variable warnings and fixes.
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2. Minor documentation update.
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Change-Id: I815588a5806df1030a7c8750f4fb594c503f8998
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commit 3e2c4ef9ad35e94198f4f3367b99fd91e26996a1
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Author: Keir Mierle <mierle@gmail.com>
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Date: Sun Feb 17 12:37:55 2013 -0800
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Add adapters for column/row-major matrices to rotation.h
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This patch introduces a matrix wrapper (MatrixAdapter) that allows to
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transparently pass pointers to row-major or column-major matrices
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to the conversion functions.
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Change-Id: I7f1683a8722088cffcc542f593ce7eb46fca109b
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commit 04938efe4bedec112083c5ceb227ba004f96bd01
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Author: Keir Mierle <mierle@gmail.com>
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Date: Sun Feb 17 12:37:55 2013 -0800
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Add support for removing parameter and residual blocks.
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This adds support for removing parameter and residual blocks.
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There are two modes of operation: in the first, removals of
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paremeter blocks are expensive, since each remove requires
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scanning all residual blocks to find ones that depend on the
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removed parameter. In the other, extra memory is sacrificed to
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maintain a list of the residuals a parameter block depends on,
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removing the need to scan. In both cases, removing residual blocks
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is fast.
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As a caveat, any removals destroys the ordering of the parameters,
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so the residuals or jacobian returned from Solver::Solve() is
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meaningless. There is some debate on the best way to handle this;
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the details remain for a future change.
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This also adds some overhead, even in the case that fast removals
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are not requested:
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- 1 int32 to each residual, to track its position in the program.
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- 1 pointer to each parameter, to store the dependent residuals.
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Change-Id: I71dcac8656679329a15ee7fc12c0df07030c12af
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commit fa21df8cd969bb257b87c9ef7c0147d8d5ea8725
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Feb 18 08:48:52 2013 -0800
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Add script for building documentation.
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Update make_release
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Minor documentation fixes.
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Change-Id: I1248ec3f58be66b5929aee6f2aa392c15d53ed83
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commit 290b975d1d4eba44205bbeb0fa6b3ce8a6fa4a0c
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Sun Feb 17 16:50:37 2013 -0800
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Preconditioner refactoring.
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1. Added a Preconditioner interface.
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2. SCHUR_JACOBI is now its own class and is independent of
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SuiteSparse.
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Change-Id: Id912ab19cf3736e61d1b90ddaf5bfba33e877ec4
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commit d010de543530001fa917501a13ba02879c8ea52f
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Feb 15 14:26:56 2013 -0800
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Solver::Summary::FullReport() supports line search now.
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Change-Id: Ib08d300198b85d9732cfb5785af4235ca4bd5226
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commit fbbea464d1c9575d8224220d3e61f92d93fe9739
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Feb 15 11:25:03 2013 -0800
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Update documentation.
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Change-Id: Idb03741fab9facbbbda85d5a82723f0b4c1c6c60
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commit 8e1f83c4c457fb7238eb342eab744c5570b73c4d
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Feb 15 08:35:40 2013 -0800
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Speed up Problem construction and destruction.
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Change-Id: I3147b0b60eedf40f8453d5a39ff04a572c445a2f
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commit efb47f39c31f0ef1bb9c015c8c0d114153df6379
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Feb 14 19:44:11 2013 -0800
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Documentation update
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Change-Id: I0fec43bff4fe0ea6cd2d2a8b34dac2330a517da0
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commit be418a336cae5672111e0f6989e6d8d6c1fa24a6
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Author: Markus Moll <markus.moll@esat.kuleuven.be>
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Date: Fri Feb 15 17:19:28 2013 +0100
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Fix evaluation of initial cost and corresponding test
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Commit f102a68e411d11b4864e17b69a2d781e9c2692ad seems to have introduced
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a bug in both solver_impl.cc and solver_impl_test.cc
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solver_impl_test showed 3 errors, where two were due to ceres NOT
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failing when the test expected that, and one was due to the initial cost
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being wrong (-1 instead of 0.5)
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Ceres now does not attempt to evaluate the initial cost if
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options.return_initial_xxx is not set. It therefore did not fail in
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the tests.
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It also seems that the CERES_EVALUATE macro erroneously always sets
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final_cost, even when called with 'initial' as argument.
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Change-Id: Ia3c3eeb476e7023a3f80b201124010d6c67e9824
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commit 974513a41ff1ddc671d3dc6aa09ce708bbe447da
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Feb 12 14:22:40 2013 -0800
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Bug fix in DynamicAutoDiffCostFunction
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Add handling of constant parameter blocks.
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Change-Id: I8b2ea79f47e190604fc4bed27705798240689f71
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commit 3130b3cea4028c71d9ae18b7465d7627f29fef7d
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Author: Keir Mierle <mierle@gmail.com>
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Date: Mon Feb 11 19:39:29 2013 -0800
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Add support for dynamic autodiff
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Change-Id: I17d573696172ab691a9653db99a620e4bc1bd0d0
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commit c58e6dc3ea550302c8151003b17e9bc2a1acc316
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Feb 11 16:41:06 2013 -0800
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More refined event logging in solver_impl.cc
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Change-Id: Ie3061c921c006d2600d16185c690f52ccf816f68
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commit f102a68e411d11b4864e17b69a2d781e9c2692ad
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Feb 11 15:08:40 2013 -0800
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Remove extraneous initial and final evals.
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Change-Id: I80ed87435f399cbf452c68be7ea1e7139696aa4a
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commit 0593747ee09e21a9c0a2b604d51e21a6cdd21315
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Feb 11 13:57:12 2013 -0800
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Fix a memory leak in cxsparse.cc
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Thanks to Alexander Mordvintsev for reporting it.
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Change-Id: Ia872be42ce80209e46722fc16a928496cf97e256
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commit 0abfb8f46f534b05413bb4d64b960d6fd0a9befb
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Feb 11 13:40:04 2013 -0800
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Delete the tex documentation.
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Change-Id: I15c78a8b33c5fd94941238814ac023a8fb251a20
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commit 085cd4a6641c404334d17e5ea38f9e5b68a06ba7
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Feb 6 14:31:07 2013 -0800
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Rewrite of the tutorial.
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1. Quicker starting point.
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2. Better discussion of derivatives.
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3. Better hyperlinking to code and class documentation.
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4. New robust estimation example.
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5. Better naming of example code.
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6. Removed dependency on gflags in all the core examples covered
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in the tutorial.
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Change-Id: Ibf3c7fe946fa2b4d22f8916a9366df267d34ca26
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commit c0fdc9753909fc37fed2cb5e0fcc02fc65789d68
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Feb 6 14:31:07 2013 -0800
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Update nist.cc to better evaluate results.
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Ceres beats Minpack and HBN handily.
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Change-Id: I7df8a47b753202ed0b53ab128ce48466bf9f8083
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commit d91b671798125fd4889914d92a29cf0f7a5fef21
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Feb 6 01:08:40 2013 -0800
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More small changes
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More small changes to the docs.
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1. Better landing page.
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2. Minor tweaks to the side bar.
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3. Reference to more example code.
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4. Local MathJax references.
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Change-Id: I39b9436dc2803732a875bbbee7f15802c4934031
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commit 42a84b87fa5cc34551244a3b2b6a3e1f13a29514
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Feb 1 12:22:53 2013 -0800
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Expand reporting of timing information.
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1. Add an ExecutionSummary object to record execution
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information about Ceres objects.
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2. Add an EventLogger object to log events in a function call.
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3. Add a ScopedExecutionTimer object to log times in ExecutionSummary.
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4. Instrument ProgramEvaluator and all the linear solvers
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to report their timing statistics.
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5. Connect the timing statistics to Summary::FullReport.
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6. Add high precision timer on unix systems using
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gettimeofday() call.
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7. Various minor clean ups all around.
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Change-Id: I5e09804b730b09535484124be7dbc1c58eccd1d4
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commit 08c891fcb6ea1bf66e6d4619273765a644605dfc
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Feb 4 20:18:58 2013 -0800
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Various small changes.
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1. Compact build instructions.
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2. Lots of small edits by Simon Fuhrmann.
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Change-Id: I8c0c67922021041dcf7f4ecdb6c6e6dd2e2fd7e5
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commit e2e857ad6be322e9cf750d4b11ccf10800e57d96
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Feb 4 19:40:45 2013 -0800
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Sidebar has global table of contents.
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Change-Id: I7fe9053868a4660b0db8d7607ee618fc30ddaefd
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commit b9182147d96f865673c2756ced4cbb127ca082a3
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Feb 4 17:55:25 2013 -0800
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Change the theme to be closer to ReadTheDocs.org
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Change-Id: I61a76f5b5e5c292b54fdf51b66940ce80bd1cd5f
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commit 3d87b72c895835bbfc10965d50dc96608632114d
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Sat Feb 2 00:49:31 2013 -0800
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Convert documentation from LaTeX to Sphinx.
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A live version of the doc can be found at
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http://homes.cs.washington.edu/~sagarwal/ceres-solver/
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As it stands, the documentation has better hyperlinking
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and coverage than the latex documentation now.
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Change-Id: I7ede3aa83b9b9ef25104caf331e5727b4f5beae5
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commit 71c8058478311ff9b3087360827e048dec5dd69a
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Jan 31 17:33:01 2013 -0800
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Remove ExecutionSummary from Evaluator and LinearSolver
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Change-Id: If4dbaf516a8b14e0a79e1a2116ce66a99ed4a592
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commit fa1c31eee33051d6483bc90fa7b66c3664b23bf3
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Jan 29 17:24:54 2013 -0800
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Correct the documentation for crs_matrix.h
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Thanks to Joydeep Biswas for reporting this.
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Change-Id: Iae5fc2274644aab40f2f922a671f65da15ae71fc
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commit bdd87c03ed1cbac62990bf79aa6faed0a132bba9
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Jan 29 16:24:31 2013 -0800
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Add an ExecutionSummary object that the Evaluator and LinearSolver can use to
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report execution statistics of all kinds.
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Currently a single map which maps arbitrary strings to doubles is supported,
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which allows for precise timing information to be communicated.
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Change-Id: Ibd930aca5c9e6cae89bcfeffe9b13e2887644881
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commit a2fd9ca8beb5aa11fcc5d2b32e23f161edc93d28
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Jan 29 16:02:41 2013 -0800
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Fix Android.mk
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Change-Id: I1093c2731283890d1f3792bf8e6741f448f1465d
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commit 977be7cac37316524038fa0168cc5994a5654acd
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Sat Jan 26 16:01:54 2013 -0800
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Add support for reporting linear solver and inner iteration
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orderings.
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Change-Id: I0588a4285e0925ce689e47bd48ddcc61ce596a1f
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commit 146b9acb4d5570da311fedb5222ad65fe12f233c
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Jan 21 16:16:58 2013 -0800
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Update include/ceres.h to export headers.
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Update the ABI version.
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Change-Id: I5c1c4f110cddc816bbb5a737634f55b4cbea98e1
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commit e837aeaf9e63936d745519fa53c726a2ca9d5822
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Jan 21 13:05:01 2013 -0800
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Documentation update.
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Change-Id: Ica8681f4bb58c60349d0dae453c652f2522eebf6
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commit 2f0d7249ccedac8183e6e5a9cb45ca7c51bb6b41
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Jan 18 13:11:32 2013 -0800
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NumericDiffFunctor.
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A wrapper class that takes a variadic functor evaluating a
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function, numerically differentiates it and makes it available as a
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templated functor so that it can be easily used as part of Ceres'
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automatic differentiation framework.
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The tests for NumericDiffCostFunction and NumericDiffFunctor have
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a lot of stuff that is common, so refactor them to reduce code.
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Change-Id: I83b01e58b05e575fb2530d15cbd611928298646a
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commit 2fc0ed6143ad499d6dc82d621ff5ec69170beb52
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Jan 15 11:34:10 2013 -0800
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Change NumericDiffCostFunction to accept variadic functors.
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The interface for NumericDiffCostFunction and AutoDiffCostFunction
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are not comparable. They both accept variadic functors.
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The change is backward compatible, as it still supports numeric
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differentiation of CostFunction objects.
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Some refactoring of documentation and code in auto_diff_cost_function
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and its relatives was also done to make things consistent.
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Change-Id: Ib5f230a1d4a85738eb187803b9c1cd7166bb3b92
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commit 9c5acce674e3ec1ba08509123ff519f106cc4348
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Sun Jan 13 22:14:12 2013 -0800
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Add CostFunctionToFunctor.
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CostFunctionToFunctor wraps a CostFunction, and makes it available
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as a templated functor that can be called from other templated
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functors. This is useful for when one wants to mix automatic,
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numeric and analytic differentiated functions.
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Also a bug fix in autodiff.h
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Change-Id: If8ba281a89fda976ef2ce10a5844a74c4ac7b84a
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commit c89ea4b9de588e2e2e82c54cd1c30cddb11454c5
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Jan 9 16:09:35 2013 -0800
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Minor corrections based on Jim Roseborough's comments
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Change-Id: I4a8c7a454ddf038a3ed2567c101f9aee582044bf
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commit 00c8a061929b912bda3cfd4615fb8688c246c969
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Author: Keir Mierle <mierle@gmail.com>
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Date: Sat Dec 1 13:22:59 2012 -0800
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Fix bug in DenseSparseMatrix::ToDenseMatrix().
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Change-Id: I74a1a03149d74fbc4268ec3ce9d20e09746a7227
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commit bcac4de5b75cae210c5557c81239222176d2709a
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Nov 30 23:11:26 2012 -0800
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Speedup corrector.cc
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Add a specialization for the common case where the residual block
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outputs exactly one residual.
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The matrix routines used by Corrector can be then specialized to
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a scalar and be made considerably faster.
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For denoising upto 400% speedup is observed.
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Change-Id: I8e3f24b8ba41caa8e62ad97c5f5e96ab6ea47150
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commit 9883fc396b2913fbc597afa795c39d365229c299
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Nov 30 12:32:43 2012 -0800
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Refactoring of the LineSearchMinimizer.
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1. New LineSearchDirection interface, factory and instances.
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2. Cleanup of LineSearchMinimizer to use the State and Direction objects.
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3. LBFGS -> LowRankInverseHessian.
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4. Refactoring of the RunCallbacks function and share it across
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LineSearchMinimizer and TrustRegionMinimizer.
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Change-Id: I19354afc6f5d6567b28918710c2012dc30ef8f32
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commit 2293cb5bc96a5b317ed4ca52aa3494cadecbc07c
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Nov 29 16:00:18 2012 -0800
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Add missing documentation to solver.h
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Change-Id: I86e7c4f1f6cc1e15d5eb2cf23e73c32d94d458c1
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commit aed99615c017839df09c98f518dcc0a59a9819ec
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Nov 29 10:33:19 2012 -0800
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Expose lbfgs rank in solver.h
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Change-Id: Ibc184b1a2f94a4057fa6569d539ca3a55d6d6098
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commit 1afd498f50ef520868c18a0f26b55409d8471ceb
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Nov 29 10:28:11 2012 -0800
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String to and from enum conversion routines.
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Update types.h/cc with stringication and unstringication
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routines for the newly introduced enums.
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Change-Id: I0fe2842b5b1c75ba351f4ab87ec9fa60af2f9ed2
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commit 3e8d192f2871bcf6d5f248c119c8a6eef19186d3
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Nov 28 17:20:22 2012 -0800
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Add a rough implementation of LBFGS.
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Change-Id: I2bc816adfe0c02773a23035ea31de3cddc1322a4
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