Squashed 'third_party/ceres/' content from commit e51e9b4
Change-Id: I763587619d57e594d3fa158dc3a7fe0b89a1743b
git-subtree-dir: third_party/ceres
git-subtree-split: e51e9b46f6ca88ab8b2266d0e362771db6d98067
diff --git a/docs/source/version_history.rst b/docs/source/version_history.rst
new file mode 100644
index 0000000..0bef4ad
--- /dev/null
+++ b/docs/source/version_history.rst
@@ -0,0 +1,1382 @@
+.. _chapter-version-history:
+
+===============
+Version History
+===============
+
+1.14.0
+======
+
+New Features
+------------
+
+#. New ``EvaluationCallback`` API. (Keir Mierle)
+#. TBB based threading (Yury Prokazov & Mike Vitus)
+#. C++11 threads based threading (Mike Vitus)
+#. A ``ceres::Context`` object to cache and keep track of global
+ state. (Mike Vitus)
+#. TinySolver - A small dense solver meant for solving small problems
+ really fast. [EXPERIMENTAL] (Keir Mierle & Sameer Agarwal)
+#. Bazel Build. (Keir Mierle & Rodrigo Queiro)
+
+
+Backward Incompatible API Changes
+---------------------------------
+
+#. ``Solver::Options::num_linear_solver_threads`` is deprecated,
+ ``Solver::Options::num_threads`` controls all parallelism in Ceres
+ Solver now. Similarly,
+ ``Solver::Summary::num_linear_solver_threads_given`` and
+ ``Solver::Summary::num_linear_solver_threads_used`` are also
+ deprecated.
+
+
+Bug Fixes & Minor Changes
+-------------------------
+
+#. Remove armv7 from target architectures when building for iOS >= 11. (Alex Stewart)
+#. Corrects the documentation of Problem::AddResidualBlock. (Mike Vitus)
+#. Fixes the configuration check in port.h. (Mike Vitus)
+#. Add small_blas_gemm_benchmark. (Sameer Agarwal)
+#. Implement some C++11 math functions for Jet (Emil Ernerfeldt)
+#. Fix integer conversion warning in MSVC. (Alex Stewart)
+#. Improve NDK build error handling (Keir Mierle)
+#. Fix build: -Wreorder, test fail (Keir Mierle)
+#. An implementation of SubsetPreconditioner. (Sameer Agarwal)
+#. Split bundle adjustment tests into individual binaries (Keir Mierle)
+#. Require Eigen >= 3.3.4 on aarch64. (Alex Stewart)
+#. Fix TBB detection on Windows. (Alex Stewart)
+#. Improve ExecutionSummary (Sameer Agarwal)
+#. Remove as typo from callbacks.h (Sameer Agarwal)
+#. Removes two unimplemented class functions. (Mike Vitus)
+#. Update EigenTypes to deal with 1 column matrices (Sameer Agarwal)
+#. Add GradientProblemSolver::Options::update_state_every_iteration (Sameer Agarwal)
+#. Fixes the pose graph example documentation. (Mike Vitus)
+#. Fix Eigen >= 3.3 compilation if EIGEN_DONT_VECTORIZE set (Janick Martinez Esturo)
+#. Add an optional dependency on the Google Benchmark library. (Sameer Agarwal)
+#. Fix the documentation for CostFunction::Evaluate. (Sameer Agarwal)
+#. Fix a mathematical typo. (Sameer Agarwal)
+#. Add TBB information to Ceres version string. (Alex Stewart)
+#. Move discussion of dependency licensing to Sphinx docs. (Alex Stewart)
+#. Fix an erroneous namespace comment (Sameer Agarwal)
+#. Fix use of unnamed type as template argument warnings on Clang. (Alex Stewart)
+#. Add link for CLA in docs; minor fixes (Keir Mierle)
+#. Fix tiny_solver_test (Sameer Agarwal)
+#. Improve compatibility with ceres::Solver (Sameer Agarwal)
+#. Refactor nist.cc to be compatible with TinySolver (Sameer Agarwal)
+#. Report timings with microsecond resolution (Thomas Gamper)
+#. Add missing Eigen traits to Jets (Sameer Agarwal)
+#. Use high-resolution timer on Windows (Thomas Gamper)
+#. Add a comment about default constructed reference counts= (Keir Mierle)
+#. Delete cost and loss functions when not in use. (Sameer Agarwal)
+#. Fix assert_ndk_version for >= r11. (Alex Stewart)
+#. Add docs explaining how to build Ceres with OpenMP on OS X. (Alex Stewart)
+#. Update LAPACK option to refer to direct use by Ceres only. (Alex Stewart)
+#. Hide optional SuiteSparse vars in CMake GUI by default. (Alex Stewart)
+#. Always hide TBB_LIBRARY in CMake GUI by default. (Alex Stewart)
+#. Fix typo in definition of f3 in powell example (x4 -> x3). (Alex Stewart)
+#. Fix suppression of C++11 propagation warning. (Alex Stewart)
+#. Add new Schur specialization for 2, 4, 6. (Chris Sweeney)
+#. Use const keyword for 'int thread_id' variables. (pmoulon)
+
+
+1.13.0
+======
+
+New Features
+------------
+#. ``LineSearchMinimizer`` and ``GradientProblemSolver`` are up to 2x
+ faster due to fewer function evaluations. (Sameer Agarwal)
+#. ``SPARSE_NORMAL_CHOLESKY`` is significantly faster because Ceres
+ now computes the normal equations exploiting the static block
+ sparsity structure. (Cheng Wang & Sameer Agarwal)
+#. Add compound with scalar operators for Jets. (Alex Stewart)
+#. Enable support for AVX instructions for Jets. (Alex Stewart)
+
+Backward Incompatible API Changes
+---------------------------------
+The enum ``CovarianceAlgorithmType`` which controls the linear algebra
+algorithm used to compute the covariance used to combine the choice of
+the algorithm and the choice of the sparse linear algebra library into
+the enum name. So we had ``SUITE_SPARSE_QR`` and
+``EIGEN_SPARSE_QR``. ``Covariance::Options`` now has a separate member
+allowing the user to choose the sparse linear algebra library, just
+like the solver and ``CovarianceAlgorithmType`` now takes values
+``DENSE_SVD`` and ``SPARSE_QR``. This is a forward looking change that
+will allow us to develop more flexible covariance estimation
+algorithms with multiple linear algebra backends.
+
+Bug Fixes & Minor Changes
+-------------------------
+#. Fix ``InvertPSDMatrix`` as it was triggering an Eigen assert in
+ Debug mode. (Philipp Hubner)
+#. Fix cmake error from CeresConfig.cmake when Ceres not found (Taylor
+ Braun-Jones)
+#. Completely refactored ``SparseNormalCholeskySolver``. (Sameer
+ Agarwal)
+#. Fixed time reporting in ``Summary::FullReport`` when
+ ``LineSearchMinimizer`` is used. (Sameer Agarwal)
+#. Remove unused file: collections_port.cc. (Sameer Agarwal)
+#. ``SPARSE_SCHUR`` + ``CX_SPARSE`` = Faster (Sameer Agarwal)
+#. Refactored a number of linear solver tests to be more thorough and
+ informative. (Sameer Agarwal)
+#. Pass user-specified search hints as HINTS not PATHS. (Alex Stewart)
+#. Prefer Eigen installs over exported build directories. (Alex
+ Stewart)
+#. Add OpenMP flags when compiling for C if enabled. (Alex Stewart)
+#. Add a missing ``CERES_EXPORT`` to GradientChecker (Sameer Agarwal)
+#. Use target_compile_features() to specify C++11 requirement if
+ available. (Alex Stewart)
+#. Update docs: .netrc --> .gitcookies (Keir Mierle)
+#. Fix implicit precision loss warning on 64-bit archs (Ricardo
+ Sanchez-Saez)
+#. Optionally use exported Eigen CMake configuration if
+ available. (Alex Stewart)
+#. Use ``Ceres_[SOURCE/BINARY]_DIR`` not ``CMAKE_XXX_DIR`` to support
+ nesting. (Alex Stewart)
+#. Update ``Problem::EvaluateOptions`` documentation. (Sameer Agarwal)
+#. Add public headers to CMake target for IDEs. (Devin Lane)
+#. Add an article on interfacing with automatic
+ differentiation. (Sameer Agarwal)
+#. Add default Fedora/Debian locations for CXSparse to search
+ paths. (Alex Stewart)
+#. Add a test for ``LineSearchMinimizer`` (Sameer Agarwal)
+#. Flatten the table of contents. (Sameer Agarwal)
+#. Fix when ``LineSearchMinimizer`` adds the ``IterationSummary``` to
+ ``Solver::Summary`` (Sameer Agarwal)
+#. Fix search path for miniglog headers when Ceres is exported. (Alex
+ Stewart)
+#. Fix ambiguous reference to ``WARNING`` when using miniglog. (Alex
+ Stewart)
+#. Fix Jet/Eigen compatibility for Eigen > 3.3 (Julien Pilet)
+#. Add max severity option when ``MINIGLOG`` is enabled (Taylor
+ Braun-Jones)
+#. Improvements to Schur template specializations (Sameer Agarwal)
+#. Added an article on derivatives (Sameer Agarwal)
+#. Require Eigen >= 3.3 to define ScalarBinaryOpTraits in Jet. (Alex
+ Stewart)
+#. A hacky fix for the Eigen::FullPivLU changes. (Sameer Agarwal)
+#. Specify ``ScalarBinaryOpTraits`` for Jet types. (Chris Sweeney)
+#. Remove spurious conversion from doubles to Jets. (Sameer Agarwal)
+#. Fix an error in the tutorial code for ``NumericDiffCostFunction``
+ (Sameer Agarwal)
+#. ``CERES_EXPORT`` fix to compile Ceres as DLL (Je Hyeong Hong)
+#. Fix detection of deprecated Bessel function names on MSVC. (Alex
+ Stewart)
+#. Ensure that partial evaluation of residuals triggers an error
+ (Sameer Agarwal)
+#. Fix detection of CMake-built glog on Windows. (Alex Stewart)
+#. Add additional search paths for glog & Eigen on Windows. (Alex
+ Stewart)
+#. Various minor grammar and bug fixes to the documentation (Sameer
+ Agarwal, Alex Stewart, William Rucklidge)
+
+
+1.12.0
+======
+
+New Features
+------------
+#. Aligned ``Jet`` matrices for improved automatic differentiation
+ performance. (Andrew Hunter)
+#. Auto-differentiable implementations of Bessel functions, ``floor``,
+ and ``ceil`` (Alessandro Gentilini & Michael Vitus)
+#. New 2D and 3D SLAM examples. (Michael Vitus)
+#. Added ``EigenQuaternionParameterization``. (Michael Vitus)
+#. Added ``Problem::IsParameterBlockConstant`` (Thomas Schneider)
+#. A complete refactoring of ``TrustRegionMinimizer``. (Sameer Agarwal)
+#. Gradient checking cleanup and local parameterization bugfix (David
+ Gossow)
+
+
+Backward Incompatible API Changes
+---------------------------------
+#. ``Solver::Options::numeric_derivative_relative_step_size`` has been
+ renamed to
+ ``Solver::Options::gradient_check_numeric_derivative_relative_step_size``. (Sameer
+ Agarwal)
+
+Bug Fixes & Minor Changes
+-------------------------
+#. Clear XXX_FOUND in Find<XXX>.cmake prior to searching. (Alex
+ Stewart)
+#. Fix versioning in the documentation (Sameer Agarwal)
+#. Fix missing gflags imported target definition in
+ CeresConfig.cmake. (Alex Stewart)
+#. Make gflags a public dependency of Ceres if it and glog are
+ found. (Alex Stewart)
+#. Add support for glog exported CMake target. (Alex Stewart)
+#. Use ``google::GLOG_WARNING`` instead of ``WARNING`` in tests to
+ support MSVC. (Alex Stewart)
+#. Update gtest and gmock to
+ ``a2b8a8e07628e5fd60644b6dd99c1b5e7d7f1f47`` (Sameer Agarwal)
+#. Add MSVC-specific ``#define`` to expose math constants in
+ ``<cmath>``. (Alex Stewart)
+#. Fix typo. indepdendent -> independent (Hung Lun)
+#. Fix potential invalid reset of CMAKE_FIND_LIBRARY_PREFIXES on MSVC
+ (Alex Stewart)
+#. Fix use of alignas(0) which is not ignored on GCC (Alex Stewart)
+#. Use default alignment if alignof(std::max_align_t) < 16 with C++11
+ (Alex Stewart)
+#. Introduce a common base class for DynamicAutoDiffCostFunction and
+ DynamicNumericDiffCostFunction. (Sameer Agarwal)
+#. Fix an exact equality test causing breakage in
+ gradient_checker_test. (Sameer Agarwal)
+#. Add GradientProblemSolver::Options::parameter_tolerance. (Sameer
+ Agarwal)
+#. Add missing T() wrappers for constants. (Rob Carroll)
+#. Remove two checks from rotation.h (Sameer Agarwal)
+#. Relax the tolerance in QuaternionParameterizationTestHelper. (Je
+ Hyeong Hong)
+#. Occured -> Occurred. (Sameer Agarwal)
+#. Fix a test error in autodiff_test.cc. (Je Hyeong Hong)
+#. Fix documentation source for templated function in ``rotation.h``.
+#. Add ``package.xml`` to enable Catkin builds. (Damon Kohler)
+#. Relaxing Jacobian matching in Gradient Checker test. (David Gossow)
+#. Allow SubsetParameterization to hold all parameters constant
+ (Sameer Agarwal)
+#. Fix an Intel compiler error in covariance_impl.cc (Je Hyeong Hong)
+#. Removing duplicate include directive. (David Gossow)
+#. Remove two DCHECKs from CubicHermiteSpline. (Sameer Agarwal)
+#. Fix some compiler warnings. (Richard Trieu)
+#. Update ExpectArraysClose to use ExpectClose instead of
+ EXPECT_NEAR. (Phillip Hubner)
+#. FindWithDefault returns by value rather than reference. (@aradval)
+#. Fix compiler errors on some systems. (David Gossow)
+#. Note that Problem::Evaluate cannot be called from an
+ IterationCallback. (Sameer Agarwal)
+#. Use ProductParameterization in bundle_adjuster.cc (Sameer Agarwal)
+#. Enable support for OpenMP in Clang if detected. (Alex Stewart)
+#. Remove duplicate entry for the NIST example in the docs. (Michael
+ Vitus)
+#. Add additional logging for analyzing orderings (Sameer Agarwal)
+#. Add readme for the sampled_function example. (Michael Vitus)
+#. Use _j[0,1,n]() Bessel functions on MSVC to avoid deprecation
+ errors. (Alex Stewart & Kichang Kim)
+#. Fix: Copy minimizer option ``is_silent`` to
+ ``LineSearchDirection::Options`` (Nicolai Wojke)
+#. Fix typos in ``users.rst`` (Sameer Agarwal)
+#. Make some Jet comparisons exact. (Sameer Agarwal)
+#. Add colmap to users.rst (Sameer Agarwal)
+#. Fix step norm evaluation in LineSearchMinimizer (Sameer Agarwal)
+#. Remove use of -Werror when compiling Ceres. (Alex Stewart)
+#. Report Ceres compile options as components in find_package(). (Alex
+ Stewart)
+#. Fix a spelling error in nnls_modeling.rst (Timer)
+#. Only use collapse() directive with OpenMP 3.0 or higher. (Keir
+ Mierle)
+#. Fix install path for CeresConfig.cmake to be architecture-aware.
+#. Fix double conversion to degrees in rotation_test (Keir Mierle)
+#. Make Jet string output more readable (Keir Mierle)
+#. Fix rotation_test IsClose() and related tests (Keir Mierle)
+#. Loosen an exact equality in local_parameterization_test (Sameer
+ Agarwal)
+#. make_docs: Pass the file encoding to open() (Niels Ole Salscheider)
+#. Fix error message returned when using SUITE_SPARSE_QR in covariance
+ estimation on a ceres built without SuiteSparse support. (Simon
+ Rutishauser)
+#. Fix CXX11 option to be available on MinGW & CygWin, but not
+ MSVC. (Alex Stewart)
+#. Fix missing early return() in xxx_not_found() dependency
+ macros. (Alex Stewart)
+#. Initialize ``inner_iterations_were_useful_`` correctly. (Sameer
+ Agarwal)
+#. Add an implementation for GradientProblemSolver::Options::IsValid
+ (Sameer Agarwal)
+#. Fix use of va_copy() if compiling with explicit C++ version <
+ C++11. (Alex Stewart)
+#. Install CMake files to lib/cmake/Ceres (Niels Ole Salscheider)
+#. Allow users to override the documentation install directory. (Niels
+ Ole Salscheider)
+#. Add covariance matrix for a vector of parameters (Wannes Van Loock)
+#. Saner tolerances & stricter LRE test. (Sameer Agarwal)
+#. Fix a malformed sentence in the tutorial. (Sameer Agarwal)
+#. Add logging for sparse Cholesky factorization using Eigen. (Sameer
+ Agarwal)
+#. Use std::adjacent_find instead of std::unique. (Sameer Agarwal)
+#. Improve logging in CompressedRowJacobianWriter on crash. (Sameer
+ Agarwal)
+#. Fix free parameter block handling in covariance computation (Wannes
+ Van Loock)
+#. Report the number of line search steps in FullReport. (Sameer
+ Agarwal)
+#. Make CMake read Ceres version directly from
+ include/ceres/version.h. (Alex Stewart)
+#. Lots of code style/lint changes. (William Rucklidge)
+#. Fix covariance computation for constant blocks (Wannes Van Loock)
+#. Add IOS_DEPLOYMENT_TARGET variable to iOS.cmake (Eduard Feicho)
+#. Make miniglog threadsafe on non-windows system by using
+ localtime_r() instead of localtime() for time formatting (Simon
+ Rutishauser)
+
+1.11.0
+======
+
+New Features
+------------
+#. Adaptive numeric differentiation using Ridders' method. (Tal
+ Ben-Nun)
+#. Add ``CubicInterpolator`` and ``BiCubicInterpolator`` to allow
+ smooth interpolation of sampled functions and integration with
+ automatic differentiation.
+#. Add method to return covariance in tangent space. (Michael Vitus &
+ Steve Hsu)
+#. Add Homogeneous vector parameterization. (Michael Vitus)
+#. Add a ``ProductParameterization``, a local parameterization that
+ can be constructed as a cartesian product of other local
+ parameterization.
+#. Add DynamicCostFunctionToFunctor. (David Gossow)
+#. Optionally export Ceres build directory into local CMake package
+ registry.
+#. Faster ``SPARSE_NORMAL_CHOLESKY`` in the presence of dynamic
+ sparsity.
+
+Bug Fixes & Minor Changes
+-------------------------
+#. Remove use of link-time optimisation (LTO) for all compilers due to
+ portability issues with gtest / type_info::operator== & Eigen with
+ Clang on OS X vs GCC 4.9+ on Linux requiring contradictory 'fixes'.
+#. Use link-time optimisation (LTO) only when compiling Ceres itself,
+ not tests or examples, to bypass gtest / type_info::operator==
+ issue.
+#. Use old minimum iOS version flags on Xcode < 7.0.
+#. Add gtest-specific flags when building/using as a shared library.
+#. Clean up iOS.cmake to use xcrun/xcodebuild & libtool.
+#. Import the latest version of ``googletest``.
+#. Refactored ``system_test`` into ``bundle_adjustment_test`` and
+ ``system_test``, where each test case is its own test.
+#. Fix invalid memory access bug in
+ ``CompressedRowSparseMatrix::AppendRows`` when it was called with a
+ matrix of size zero.
+#. Build position independent code when compiling Ceres statically
+ (Alexander Alekhin).
+#. Fix a bug in DetectStructure (Johannes Schonberger).
+#. Reduce memory footprint of SubsetParameterization (Johannes
+ Schonberger).
+#. Fix for reorder program unit test when built without suitesparse
+ (Sergey Sharybin).
+#. Fix a bug in the Schur eliminator (Werner Trobin).
+#. Fix a bug in the reordering code (Bernhard Zeisl).
+#. Add missing CERES_EXPORT to ComposedLoss (Simon Rutishauser).
+#. Add the option to use numeric differentiation to ``nist`` and
+ ``more_garbow_hillstrom``.
+#. Fix EIGENSPARSE option help s/t it displays in CMake ncurses GUI.
+#. Fix SparseNormalCholeskySolver with dynamic sparsity (Richie
+ Stebbing).
+#. Remove legacy dependency detection macros.
+#. Fix failed if() condition expansion if gflags is not found.
+#. Update all CMake to lowercase function name style.
+#. Update minimum iOS version to 7.0 for shared_ptr/unordered_map.
+#. Fix bug in gflags' <= 2.1.2 exported CMake configuration.
+#. Remove the spec file needed for generating RPMs.
+#. Fix a typo in small_blas.h (Werber Trobin).
+#. Cleanup FindGflags & use installed gflags CMake config if present.
+#. Add default glog install location on Windows to search paths
+ (bvanevery).
+#. Add default Eigen install location on Windows to search paths
+ (bvanevery).
+#. Fix explanation of config.h generation in bare config.h.
+#. Fix unused parameter compiler warnings in numeric_diff.h.
+#. Increase tolerance for a test in polynomial_test (Taylor Braun
+ Jones).
+#. Fix addition of Gerrit commit hook when Ceres is a git submodule
+ (Chris Cooper).
+#. Fix missing EIGEN_VERSION expansion typo.
+#. Fix links to SuiteSparse & CXSparse (Henrique Mendonça).
+#. Ensure Eigen is at least 3.1.0 for Eigen/SparseCore.
+#. Add option to use C++11 (not TR1) shared_ptr & unordered_map
+ (Norman Goldstein).
+#. Fix an incorrect usage message in bundle_adjuster.cc
+#. Gracefully disable docs if Sphinx is not found.
+#. Explicitly use (new) default OS X rpath policy if present.
+#. Add support of EIGEN_SPARSE type in
+ IsSparseLinearAlgebraLibraryTypeAvailable function (Pierre Moulon).
+#. Allow the LossFunction contained in a LossFunctionWrapper to be
+ NULL. This is consistent with how NULL LossFunctions are treated
+ everywhere else. (Simon Rutishauser).
+#. Improve numeric differentation near zero.
+#. Refactored DynamicNumericDiffCostFunction to use NumericDiff (Tal
+ Ben-Nun).
+#. Remove use of :caption tag in Sphinx.
+#. Add a small test to make sure GradientProblemSolver works correctly
+ (Petter Strandmark).
+#. Add simple unit tests for GradientProblem (Petter Strandmark).
+#. Make the robust curve fitting example robust.
+#. Homogenize convergence operators in docs and code (Johannes
+ Schonberger).
+#. Add parameter_tolerance convergence to line search minimizer
+ (Johannes Schonberger).
+#. Fix bug where pow(JetA,JetB) returned wrong result for JetA==0
+ (Russell Smith).
+#. Remove duplicate step norm computation (Johannes Schonberger).
+#. Enhance usability when encountering Eigen version mismatches
+ (Andrew Hundt).
+#. Add PLY file logger before and after BA in order to ease visual
+ comparison (Pierre Moulon).
+#. Fix CMake config file docs to include 2.8.x & 3.x styles.
+#. Python3 fixes (Markus Moll).
+#. Remove confusing code from DenseJacobianWriter (Michael Vitus).
+#. Add documentation on CMake package installation process.
+#. Revert a call to SolveUpperTriangularUsingCholesky.
+#. Make CERES_EIGEN_VERSION macro independent of CMake.
+#. Add versions of dependencies used to FullReport().
+#. Ensure local config.h is used if Ceres is already installed.
+#. Small messaging and comment updates in CMake
+#. Handle possible presence of library prefixes in MSVC (Sylvain
+ Duchêne).
+#. Use -O2 not -O3 on MinGW to workaround issue with Eigen
+ (s1m3mu3@gmail.com).
+#. Increase tolerance in small_blas test for Cygwin
+ (s1m3mu3@gmail.com).
+#. Fix iOS cmake file for cmake 3.0 (Jack Feng)
+#. Fix missing gflags shlwapi dependency on MinGW (s1m3mu3@gmail.com).
+#. Add thread dependency & fix namespace detection on Windows for
+ gflags (arrigo.benedetti@gmail.com).
+#. Rename macros in the public API to have a ``CERES_`` prefix.
+#. Fix ``OrderedGroup::Reverse()`` when it is empty (Chris Sweeney).
+#. Update the code to point to ceres-solver.org.
+#. Update documentation to point to the GitHub issue tracker.
+#. Disable ``LAPACK`` for iOS builds. (Greg Coombe)
+#. Force use of single-thread in ``Problem::Evaluate()`` without
+ OpenMP.
+#. Less strict check for multithreading. (Chris Sweeney)
+#. Update tolerances in small_blas_test.cc (Philipp Hubner)
+#. Documentation corrections (Steve Hsu)
+#. Fixed ``sampled_function.cc`` (Pablo Speciale)
+#. Fix example code in the documentation. (Rodney Hoskinson)
+#. Improve the error handling in Conjugate Gradients.
+#. Improve preconditioner documentation.
+#. Remove dead code from fpclassify.h.
+#. Make Android.mk threads sensitive.
+#. Changed the ``CURRENT_CONFIG_INSTALL_DIR`` to be a variable local
+ to Ceres. (Chris Sweeney)
+#. Fix typo in the comments in ``Jet.h``. (Julius Ziegler)
+#. Add the ASL at ETH Zurich, Theia & OpenPTrack to the list of users.
+#. Fixed a typo in the documentation. (Richard Stebbing)
+#. Fixed a boundary handling bug in the BiCubic interpolation
+ code. (Bernhard Zeisl)
+#. Fixed a ``MSVC`` compilation bug in the cubic interpolation code
+ (Johannes Schönberger)
+#. Add covariance related files to the Android build.
+#. Update Ubuntu 14.04 installation instructions. (Filippo Basso)
+#. Improved logging for linear solver failures.
+#. Improved crash messages in ``Problem``.
+#. Hide Homebrew related variables in CMake GUI.
+#. Add SuiteSparse link dependency for
+ compressed_col_sparse_matrix_utils_test.
+#. Autodetect Homebrew install prefix on OSX.
+#. Lint changes from William Rucklidge and Jim Roseborough.
+#. Remove ``using namespace std:`` from ``port.h``
+#. Add note about glog not currently compiling against gflags 2.1.
+#. Add explicit no sparse linear algebra library available option.
+#. Improve some wording in the FAQ. (Vasily Vylkov)
+#. Delete Incomplete LQ Factorization.
+#. Add a pointer to MacPorts. (Markus Moll)
+
+
+1.10.0
+======
+
+New Features
+------------
+#. Ceres Solver can now be used to solve general unconstrained
+ optimization problems. See the documentation for
+ ``GradientProblem`` and ``GradientProblemSolver``.
+#. ``Eigen`` can now be as a sparse linear algebra backend. This can
+ be done by setting
+ ``Solver::Options::sparse_linear_algebra_library_type`` to
+ ``EIGEN_SPARSE``. Performance should be comparable to
+ ``CX_SPARSE``.
+
+ .. NOTE::
+
+ Because ``Eigen`` is a header only library, and some of the code
+ related to sparse Cholesky factorization is LGPL, building Ceres
+ with support for Eigen's sparse linear algebra is disabled by
+ default and should be enabled explicitly.
+
+ .. NOTE::
+
+ For good performance, use Eigen version 3.2.2 or later.
+
+#. Added ``EIGEN_SPARSE_QR`` algorithm for covariance estimation using
+ ``Eigen``'s sparse QR factorization. (Michael Vitus)
+#. Faster inner iterations when using multiple threads.
+#. Faster ``ITERATIVE_SCHUR`` + ``SCHUR_JACOBI`` for small to medium
+ sized problems (see documentation for
+ ``Solver::Options::use_explicit_schur_complement``).
+#. Faster automatic Schur ordering.
+#. Reduced memory usage when solving problems with dynamic sparsity.
+#. ``CostFunctionToFunctor`` now supports dynamic number of residuals.
+#. A complete re-write of the problem preprocessing phase.
+#. ``Solver::Summary::FullReport`` now reports the build configuration
+ for Ceres.
+#. When building on Android, the ``NDK`` version detection logic has
+ been improved.
+#. The ``CERES_VERSION`` macro has been improved and replaced with the
+ ``CERES_VERSION_STRING`` macro.
+#. Added ``Solver::Options::IsValid`` which allows users to validate
+ their solver configuration before calling ``Solve``.
+#. Added ``Problem::GetCostFunctionForResidualBlock`` and
+ ``Problem::GetLossFunctionForResidualBlock``.
+#. Added Tukey's loss function. (Michael Vitus)
+#. Added RotationMatrixToQuaternion
+#. Compute & report timing information for line searches.
+#. Autodetect gflags namespace.
+#. Expanded ``more_garbow_hillstrom.cc``.
+#. Added a pointer to Tal Ben-Nun's MSVC wrapper to the docs.
+#. Added the ``<2,3,6>`` Schur template specialization. (Alessandro
+ Dal Grande)
+
+Backward Incompatible API Changes
+---------------------------------
+#. ``NumericDiffFunctor`` has been removed. It's API was broken, and
+ the implementation was an unnecessary layer of abstraction over
+ ``CostFunctionToFunctor``.
+#. ``POLAK_RIBIRERE`` conjugate gradients direction type has been
+ renamed to ``POLAK_RIBIERE``.
+#. ``Solver::Options::solver_log`` has been removed. If needed this
+ iteration callback can easily be implemented in user code.
+#. The ``SPARSE_CHOLESKY`` algorithm for covariance estimation has
+ been removed. It is not rank revealing and numerically poorly
+ behaved. Sparse QR factorization is a much better way to do this.
+#. The ``SPARSE_QR`` algorithm for covariance estimation has been
+ renamed to ``SUITE_SPARSE_QR`` to be consistent with
+ ``EIGEN_SPARSE_QR``.
+#. ``Solver::Summary::preconditioner_type`` has been replaced with
+ ``Solver::Summary::preconditioner_type_given`` and
+ ``Solver::Summary::preconditioner_type_used`` to be more consistent
+ with how information about the linear solver is communicated.
+#. ``CERES_VERSION`` and ``CERES_ABI_VERSION`` macros were not
+ terribly useful. They have been replaced with
+ ``CERES_VERSION_MAJOR``, ``CERES_VERSION_MINOR`` ,
+ ``CERES_VERSION_REVISION`` and ``CERES_VERSION_ABI`` macros. In
+ particular the functionality of ``CERES_VERSION`` is provided by
+ ``CERES_VERSION_STRING`` macro.
+
+Bug Fixes
+---------
+#. Do not try the gradient step if TR step line search fails.
+#. Fix missing include in libmv_bundle_adjuster on OSX.
+#. Conditionally log evaluation failure warnings.
+#. Runtime uses four digits after the decimal in Summary:FullReport.
+#. Better options checking for TrustRegionMinimizer.
+#. Fix RotationMatrixToAngleAxis when the angle of rotation is near
+ PI. (Tobias Strauss)
+#. Sometimes gradient norm based convergence would miss a step with a
+ substantial solution quality improvement. (Rodney Hoskinson)
+#. Ignore warnings from within Eigen/SparseQR (3.2.2).
+#. Fix empty Cache HELPSTRING parsing error on OS X 10.10 Yosemite.
+#. Fix a formatting error TrustRegionMinimizer logging.
+#. Add an explicit include for local_parameterization.h (cooordz)
+#. Fix a number of typos in the documentation (Martin Baeuml)
+#. Made the logging in TrustRegionMinimizer consistent with
+ LineSearchMinimizer.
+#. Fix some obsolete documentation in CostFunction::Evaluate.
+#. Fix CG solver options for ITERATIVE_SCHUR, which did not copy
+ min_num_iterations (Johannes Schönberger)
+#. Remove obsolete include of numeric_diff_functor.h. (Martin Baeuml)
+#. Fix max. linear solver iterations in ConjugateGradientsSolver
+ (Johannes Schönberger)
+#. Expand check for lack of a sparse linear algebra library. (Michael
+ Samples and Domink Reitzle)
+#. Fix Eigen Row/ColMajor bug in NumericDiffCostFunction. (Dominik
+ Reitzle)
+#. Fix crash in Covariance if # threads > 1 requested without OpenMP.
+#. Fixed Malformed regex. (Björn Piltz)
+#. Fixed MSVC error C2124: divide or mod by zero. (Björn Piltz)
+#. Add missing #include of <limits> for loss functions.
+#. Make canned loss functions more robust.
+#. Fix type of suppressed compiler warning for Eigen 3.2.0.
+#. Suppress unused variable warning from Eigen 3.2.0.
+#. Add "make install" to the install instructions.
+#. Correct formula in documentation of
+ Solver::Options::function_tolerance. (Alessandro Gentilini)
+#. Add release flags to iOS toolchain.
+#. Fix a broken hyperlink in the documentation. (Henrique Mendonca)
+#. Add fixes for multiple definitions of ERROR on Windows to docs.
+#. Compile miniglog into Ceres if enabled on all platforms.
+#. Add two missing files to Android.mk (Greg Coombe)
+#. Fix Cmake error when using miniglog. (Greg Coombe)
+#. Don't build miniglog unconditionally as a static library (Björn
+ Piltz)
+#. Added a missing include. (Björn Piltz)
+#. Conditionally disable SparseNormalCholesky.
+#. Fix a memory leak in program_test.cc.
+
+
+1.9.0
+=====
+
+New Features
+------------
+#. Bounds constraints: Support for upper and/or lower bounds on
+ parameters when using the trust region minimizer.
+#. Dynamic Sparsity: Problems in which the sparsity structure of the
+ Jacobian changes over the course of the optimization can now be
+ solved much more efficiently. (Richard Stebbing)
+#. Improved support for Microsoft Visual C++ including the ability to
+ build and ship DLLs. (Björn Piltz, Alex Stewart and Sergey
+ Sharybin)
+#. Support for building on iOS 6.0 or higher (Jack Feng).
+#. Autogeneration of config.h that captures all the defines used to
+ build and use Ceres Solver.
+#. Simpler and more informative solver termination type
+ reporting. (See below for more details)
+#. New `website <http://www.ceres-solver.org>`_ based entirely on
+ Sphinx.
+#. ``AutoDiffLocalParameterization`` allows the use of automatic
+ differentiation for defining ``LocalParameterization`` objects
+ (Alex Stewart)
+#. LBFGS is faster due to fewer memory copies.
+#. Parameter blocks are not restricted to be less than 32k in size,
+ they can be up to 2G in size.
+#. Faster ``SPARSE_NORMAL_CHOLESKY`` solver when using ``CX_SPARSE``
+ as the sparse linear algebra library.
+#. Added ``Problem::IsParameterBlockPresent`` and
+ ``Problem::GetParameterization``.
+#. Added the (2,4,9) and (2,4,8) template specializations.
+#. An example demonstrating the use of
+ DynamicAutoDiffCostFunction. (Joydeep Biswas)
+#. Homography estimation example from Blender demonstrating the use of
+ a custom ``IterationCallback``. (Sergey Sharybin)
+#. Support user passing a custom CMAKE_MODULE_PATH (for BLAS /
+ LAPACK).
+
+Backward Incompatible API Changes
+---------------------------------
+#. ``Solver::Options::linear_solver_ordering`` used to be a naked
+ pointer that Ceres took ownership of. This is error prone behaviour
+ which leads to problems when copying the ``Solver::Options`` struct
+ around. This has been replaced with a ``shared_ptr`` to handle
+ ownership correctly across copies.
+
+#. The enum used for reporting the termination/convergence status of
+ the solver has been renamed from ``SolverTerminationType`` to
+ ``TerminationType``.
+
+ The enum values have also changed. ``FUNCTION_TOLERANCE``,
+ ``GRADIENT_TOLERANCE`` and ``PARAMETER_TOLERANCE`` have all been
+ replaced by ``CONVERGENCE``.
+
+ ``NUMERICAL_FAILURE`` has been replaced by ``FAILURE``.
+
+ ``USER_ABORT`` has been renamed to ``USER_FAILURE``.
+
+ Further ``Solver::Summary::error`` has been renamed to
+ ``Solver::Summary::message``. It contains a more detailed
+ explanation for why the solver terminated.
+
+#. ``Solver::Options::gradient_tolerance`` used to be a relative
+ gradient tolerance. i.e., The solver converged when
+
+ .. math:: \|g(x)\|_\infty < \text{gradient_tolerance} *
+ \|g(x_0)\|_\infty
+
+ where :math:`g(x)` is the gradient of the objective function at
+ :math:`x` and :math:`x_0` is the parmeter vector at the start of
+ the optimization.
+
+ This has changed to an absolute tolerance, i.e. the solver
+ converges when
+
+ .. math:: \|g(x)\|_\infty < \text{gradient_tolerance}
+
+#. Ceres cannot be built without the line search minimizer
+ anymore. Thus the preprocessor define
+ ``CERES_NO_LINE_SEARCH_MINIMIZER`` has been removed.
+
+Bug Fixes
+---------
+#. Disabled warning C4251. (Björn Piltz)
+#. Do not propagate 3d party libs through
+ `IMPORTED_LINK_INTERFACE_LIBRARIES_[DEBUG/RELEASE]` mechanism when
+ building shared libraries. (Björn Piltz)
+#. Fixed errant verbose levels (Björn Piltz)
+#. Variety of code cleanups, optimizations and bug fixes to the line
+ search minimizer code (Alex Stewart)
+#. Fixed ``BlockSparseMatrix::Transpose`` when the matrix has row and
+ column blocks. (Richard Bowen)
+#. Better error checking when ``Problem::RemoveResidualBlock`` is
+ called. (Alex Stewart)
+#. Fixed a memory leak in ``SchurComplementSolver``.
+#. Added ``epsilon()`` method to ``NumTraits<ceres::Jet<T, N>
+ >``. (Filippo Basso)
+#. Fixed a bug in `CompressedRowSparseMatrix::AppendRows`` and
+ ``DeleteRows``.q
+#. Handle empty problems consistently.
+#. Restore the state of the ``Problem`` after a call to
+ ``Problem::Evaluate``. (Stefan Leutenegger)
+#. Better error checking and reporting for linear solvers.
+#. Use explicit formula to solve quadratic polynomials instead of the
+ eigenvalue solver.
+#. Fix constant parameter handling in inner iterations (Mikael
+ Persson).
+#. SuiteSparse errors do not cause a fatal crash anymore.
+#. Fix ``corrector_test.cc``.
+#. Relax the requirements on loss function derivatives.
+#. Minor bugfix to logging.h (Scott Ettinger)
+#. Updated ``gmock`` and ``gtest`` to the latest upstream version.
+#. Fix build breakage on old versions of SuiteSparse.
+#. Fixed build issues related to Clang / LLVM 3.4 (Johannes
+ Schönberger)
+#. METIS_FOUND is never set. Changed the commit to fit the setting of
+ the other #._FOUND definitions. (Andreas Franek)
+#. Variety of bug fixes and cleanups to the ``CMake`` build system
+ (Alex Stewart)
+#. Removed fictitious shared library target from the NDK build.
+#. Solver::Options now uses ``shared_ptr`` to handle ownership of
+ ``Solver::Options::linear_solver_ordering`` and
+ ``Solver::Options::inner_iteration_ordering``. As a consequence the
+ ``NDK`` build now depends on ``libc++`` from the ``LLVM`` project.
+#. Variety of lint cleanups (William Rucklidge & Jim Roseborough)
+#. Various internal cleanups including dead code removal.
+
+
+1.8.0
+=====
+
+New Features
+------------
+#. Significant improved ``CMake`` files with better robustness,
+ dependency checking and GUI support. (Alex Stewart)
+#. Added ``DynamicNumericDiffCostFunction`` for numerically
+ differentiated cost functions whose sizing is determined at run
+ time.
+#. ``NumericDiffCostFunction`` now supports a dynamic number of
+ residuals just like ``AutoDiffCostFunction``.
+#. ``Problem`` exposes more of its structure in its API.
+#. Faster automatic differentiation (Tim Langlois)
+#. Added the commonly occurring ``2_d_d`` template specialization for
+ the Schur Eliminator.
+#. Faster ``ITERATIVE_SCHUR`` solver using template specializations.
+#. Faster ``SCHUR_JACOBI`` preconditioner construction.
+#. Faster ``AngleAxisRotatePoint``.
+#. Faster Jacobian evaluation when a loss function is used.
+#. Added support for multiple clustering algorithms in visibility
+ based preconditioning, including a new fast single linkage
+ clustering algorithm.
+
+Bug Fixes
+---------
+#. Fix ordering of ParseCommandLineFlags() & InitGoogleTest() for
+ Windows. (Alex Stewart)
+#. Remove DCHECK_GE checks from fixed_array.h.
+#. Fix build on MSVC 2013 (Petter Strandmark)
+#. Fixed ``AngleAxisToRotationMatrix`` near zero.
+#. Move ``CERES_HASH_NAMESPACE`` macros to ``collections_port.h``.
+#. Fix handling of unordered_map/unordered_set on OSX 10.9.0.
+#. Explicitly link to libm for ``curve_fitting_c.c``. (Alex Stewart)
+#. Minor type conversion fix to autodiff.h
+#. Remove RuntimeNumericDiffCostFunction.
+#. Fix operator= ambiguity on some versions of Clang. (Alex Stewart)
+#. Various Lint cleanups (William Rucklidge & Jim Roseborough)
+#. Modified installation folders for Windows. (Pablo Speciale)
+#. Added librt to link libraries for SuiteSparse_config on
+ Linux. (Alex Stewart)
+#. Check for presence of return-type-c-linkage option with
+ Clang. (Alex Stewart)
+#. Fix Problem::RemoveParameterBlock after calling solve. (Simon
+ Lynen)
+#. Fix a free/delete bug in covariance_impl.cc
+#. Fix two build errors. (Dustin Lang)
+#. Add RequireInitialization = 1 to NumTraits::Jet.
+#. Update gmock/gtest to 1.7.0
+#. Added IterationSummary::gradient_norm.
+#. Reduced verbosity of the inner iteration minimizer.
+#. Fixed a bug in TrustRegionMinimizer. (Michael Vitus)
+#. Removed android/build_android.sh.
+
+
+1.7.0
+=====
+
+Backward Incompatible API Changes
+---------------------------------
+
+#. ``Solver::Options::sparse_linear_algebra_library`` has been renamed
+ to ``Solver::Options::sparse_linear_algebra_library_type``.
+
+New Features
+------------
+#. Sparse and dense covariance estimation.
+#. A new Wolfe line search. (Alex Stewart)
+#. ``BFGS`` line search direction. (Alex Stewart)
+#. C API
+#. Speeded up the use of loss functions > 17x.
+#. Faster ``DENSE_QR``, ``DENSE_NORMAL_CHOLESKY`` and ``DENSE_SCHUR``
+ solvers.
+#. Support for multiple dense linear algebra backends. In particular
+ optimized ``BLAS`` and ``LAPACK`` implementations (e.g., Intel MKL,
+ ACML, OpenBLAS etc) can now be used to do the dense linear algebra
+ for ``DENSE_QR``, ``DENSE_NORMAL_CHOLESKY`` and ``DENSE_SCHUR``
+#. Use of Inner iterations can now be adaptively stopped. Iteration
+ and runtime statistics for inner iterations are not reported in
+ ``Solver::Summary`` and ``Solver::Summary::FullReport``.
+#. Improved inner iteration step acceptance criterion.
+#. Add BlockRandomAccessCRSMatrix.
+#. Speeded up automatic differentiation by 7\%.
+#. Bundle adjustment example from libmv/Blender (Sergey Sharybin)
+#. Shared library building is now controlled by CMake, rather than a
+ custom solution. Previously, Ceres had a custom option, but this is
+ now deprecated in favor of CMake's built in support for switching
+ between static and shared. Turn on BUILD_SHARED_LIBS to get shared
+ Ceres libraries.
+#. No more dependence on Protocol Buffers.
+#. Incomplete LQ factorization.
+#. Ability to write trust region problems to disk.
+#. Add sinh, cosh, tanh and tan functions to automatic differentiation
+ (Johannes Schönberger)
+#. Simplifications to the cmake build file.
+#. ``miniglog`` can now be used as a replacement for ``google-glog``
+ on non Android platforms. (This is NOT recommended).
+
+Bug Fixes
+---------
+#. Fix ``ITERATIVE_SCHUR`` solver to work correctly when the schur
+ complement is of size zero. (Soohyun Bae)
+#. Fix the ``spec`` file for generating ``RPM`` packages (Brian Pitts
+ and Taylor Braun-Jones).
+#. Fix how ceres calls CAMD (Manas Jagadev)
+#. Fix breakage on old versions of SuiteSparse. (Fisher Yu)
+#. Fix warning C4373 in Visual Studio (Petter Strandmark)
+#. Fix compilation error caused by missing suitesparse headers and
+ reorganize them to be more robust. (Sergey Sharybin)
+#. Check GCC Version before adding -fast compiler option on
+ OSX. (Steven Lovegrove)
+#. Add documentation for minimizer progress output.
+#. Lint and other cleanups (William Rucklidge and James Roseborough)
+#. Collections port fix for MSC 2008 (Sergey Sharybin)
+#. Various corrections and cleanups in the documentation.
+#. Change the path where CeresConfig.cmake is installed (Pablo
+ Speciale)
+#. Minor errors in documentation (Pablo Speciale)
+#. Updated depend.cmake to follow CMake IF convention. (Joydeep
+ Biswas)
+#. Stabilize the schur ordering algorithm.
+#. Update license header in split.h.
+#. Enabling -O4 (link-time optimization) only if compiler/linker
+ support it. (Alex Stewart)
+#. Consistent glog path across files.
+#. ceres-solver.spec: Use cleaner, more conventional Release string
+ (Taylor Braun-Jones)
+#. Fix compile bug on RHEL6 due to missing header (Taylor Braun-Jones)
+#. CMake file is less verbose.
+#. Use the latest upstream version of google-test and gmock.
+#. Rationalize some of the variable names in ``Solver::Options``.
+#. Improve Summary::FullReport when line search is used.
+#. Expose line search parameters in ``Solver::Options``.
+#. Fix update of L-BFGS history buffers after they become full. (Alex
+ Stewart)
+#. Fix configuration error on systems without SuiteSparse installed
+ (Sergey Sharybin)
+#. Enforce the read call returns correct value in
+ ``curve_fitting_c.c`` (Arnaud Gelas)
+#. Fix DynamicAutoDiffCostFunction (Richard Stebbing)
+#. Fix Problem::RemoveParameterBlock documentation (Johannes
+ Schönberger)
+#. Fix a logging bug in parameter_block.h
+#. Refactor the preconditioner class structure.
+#. Fix an uninitialized variable warning when building with ``GCC``.
+#. Fix a reallocation bug in
+ ``CreateJacobianBlockSparsityTranspose``. (Yuliy Schwartzburg)
+#. Add a define for O_BINARY.
+#. Fix miniglog-based Android NDK build; now works with NDK r9. (Scott
+ Ettinger)
+
+
+1.6.0
+=====
+
+New Features
+------------
+#. Major Performance improvements.
+
+ a. Schur type solvers (``SPARSE_SCHUR``, ``DENSE_SCHUR``,
+ ``ITERATIVE_SCHUR``) are significantly faster due to custom BLAS
+ routines and fewer heap allocations.
+
+ b. ``SPARSE_SCHUR`` when used with ``CX_SPARSE`` now uses a block
+ AMD for much improved factorization performance.
+
+ c. The jacobian matrix is pre-ordered so that
+ ``SPARSE_NORMAL_CHOLESKY`` and ``SPARSE_SCHUR`` do not have to
+ make copies inside ``CHOLMOD``.
+
+ d. Faster autodiff by replacing division by multplication by inverse.
+
+ e. When compiled without threads, the schur eliminator does not pay
+ the penalty for locking and unlocking mutexes.
+
+#. Users can now use ``linear_solver_ordering`` to affect the
+ fill-reducing ordering used by ``SUITE_SPARSE`` for
+ ``SPARSE_NORMAL_CHOLESKY``.
+#. ``Problem`` can now report the set of parameter blocks it knows about.
+#. ``TrustRegionMinimizer`` uses the evaluator to compute the gradient
+ instead of a matrix vector multiply.
+#. On ``Mac OS``, whole program optimization is enabled.
+#. Users can now use automatic differentiation to define new
+ ``LocalParameterization`` objects. (Sergey Sharybin)
+#. Enable larger tuple sizes for Visual Studio 2012. (Petter Strandmark)
+
+
+Bug Fixes
+---------
+
+#. Update the documentation for ``CostFunction``.
+#. Fixed a typo in the documentation. (Pablo Speciale)
+#. Fix a typo in suitesparse.cc.
+#. Bugfix in ``NumericDiffCostFunction``. (Nicolas Brodu)
+#. Death to BlockSparseMatrixBase.
+#. Change Minimizer::Options::min_trust_region_radius to double.
+#. Update to compile with stricter gcc checks. (Joydeep Biswas)
+#. Do not modify cached CMAKE_CXX_FLAGS_RELEASE. (Sergey Sharybin)
+#. ``<iterator>`` needed for back_insert_iterator. (Petter Strandmark)
+#. Lint cleanup. (William Rucklidge)
+#. Documentation corrections. (Pablo Speciale)
+
+
+1.5.0
+=====
+
+Backward Incompatible API Changes
+---------------------------------
+#. Added ``Problem::Evaluate``. Now you can evaluate a problem or any
+ part of it without calling the solver.
+
+ In light of this the following settings have been deprecated and
+ removed from the API.
+
+ - ``Solver::Options::return_initial_residuals``
+ - ``Solver::Options::return_initial_gradient``
+ - ``Solver::Options::return_initial_jacobian``
+ - ``Solver::Options::return_final_residuals``
+ - ``Solver::Options::return_final_gradient``
+ - ``Solver::Options::return_final_jacobian``
+
+ Instead we recommend using something like this.
+
+ .. code-block:: c++
+
+ Problem problem;
+ // Build problem
+
+ vector<double> initial_residuals;
+ problem.Evaluate(Problem::EvaluateOptions(),
+ NULL, /* No cost */
+ &initial_residuals,
+ NULL, /* No gradient */
+ NULL /* No jacobian */ );
+
+ Solver::Options options;
+ Solver::Summary summary;
+ Solver::Solve(options, &problem, &summary);
+
+ vector<double> final_residuals;
+ problem.Evaluate(Problem::EvaluateOptions(),
+ NULL, /* No cost */
+ &final_residuals,
+ NULL, /* No gradient */
+ NULL /* No jacobian */ );
+
+
+New Features
+------------
+#. Problem now supports removal of ParameterBlocks and
+ ResidualBlocks. There is a space/time tradeoff in doing this which
+ is controlled by
+ ``Problem::Options::enable_fast_parameter_block_removal``.
+
+#. Ceres now supports Line search based optimization algorithms in
+ addition to trust region algorithms. Currently there is support for
+ gradient descent, non-linear conjugate gradient and LBFGS search
+ directions.
+#. Added ``Problem::Evaluate``. Now you can evaluate a problem or any
+ part of it without calling the solver. In light of this the
+ following settings have been deprecated and removed from the API.
+
+ - ``Solver::Options::return_initial_residuals``
+ - ``Solver::Options::return_initial_gradient``
+ - ``Solver::Options::return_initial_jacobian``
+ - ``Solver::Options::return_final_residuals``
+ - ``Solver::Options::return_final_gradient``
+ - ``Solver::Options::return_final_jacobian``
+
+#. New, much improved HTML documentation using Sphinx.
+#. Changed ``NumericDiffCostFunction`` to take functors like
+ ``AutoDiffCostFunction``.
+#. Added support for mixing automatic, analytic and numeric
+ differentiation. This is done by adding ``CostFunctionToFunctor``
+ and ``NumericDiffFunctor`` objects to the API.
+#. Sped up the robust loss function correction logic when residual is
+ one dimensional.
+#. Sped up ``DenseQRSolver`` by changing the way dense jacobians are
+ stored. This is a 200-500% improvement in linear solver performance
+ depending on the size of the problem.
+#. ``DENSE_SCHUR`` now supports multi-threading.
+#. Greatly expanded ``Summary::FullReport``:
+
+ - Report the ordering used by the ``LinearSolver``.
+ - Report the ordering used by the inner iterations.
+ - Execution timing breakdown into evaluations and linear solves.
+ - Effective size of the problem solved by the solver, which now
+ accounts for the size of the tangent space when using a
+ ``LocalParameterization``.
+#. Ceres when run at the ``VLOG`` level 3 or higher will report
+ detailed timing information about its internals.
+#. Remove extraneous initial and final residual evaluations. This
+ speeds up the solver a bit.
+#. Automatic differenatiation with a dynamic number of parameter
+ blocks. (Based on an idea by Thad Hughes).
+#. Sped up problem construction and destruction.
+#. Added matrix adapters to ``rotation.h`` so that the rotation matrix
+ routines can work with row and column major matrices. (Markus Moll)
+#. ``SCHUR_JACOBI`` can now be used without ``SuiteSparse``.
+#. A ``.spec`` file for producing RPMs. (Taylor Braun-Jones)
+#. ``CMake`` can now build the sphinx documentation (Pablo Speciale)
+#. Add support for creating a CMake config file during build to make
+ embedding Ceres in other CMake-using projects easier. (Pablo
+ Speciale).
+#. Better error reporting in ``Problem`` for missing parameter blocks.
+#. A more flexible ``Android.mk`` and a more modular build. If binary
+ size and/or compile time is a concern, larger parts of the solver
+ can be disabled at compile time.
+
+Bug Fixes
+---------
+#. Compilation fixes for MSVC2010 (Sergey Sharybin)
+#. Fixed "deprecated conversion from string constant to char*"
+ warnings. (Pablo Speciale)
+#. Correctly propagate ifdefs when building without Schur eliminator
+ template specializations.
+#. Correct handling of ``LIB_SUFFIX`` on Linux. (Yuliy Schwartzburg).
+#. Code and signature cleanup in ``rotation.h``.
+#. Make examples independent of internal code.
+#. Disable unused member in ``gtest`` which results in build error on
+ OS X with latest Xcode. (Taylor Braun-Jones)
+#. Pass the correct flags to the linker when using
+ ``pthreads``. (Taylor Braun-Jones)
+#. Only use ``cmake28`` macro when building on RHEL6. (Taylor
+ Braun-Jones)
+#. Remove ``-Wno-return-type-c-linkage`` when compiling with
+ GCC. (Taylor Braun-Jones)
+#. Fix ``No previous prototype`` warnings. (Sergey Sharybin)
+#. MinGW build fixes. (Sergey Sharybin)
+#. Lots of minor code and lint fixes. (William Rucklidge)
+#. Fixed a bug in ``solver_impl.cc`` residual evaluation. (Markus
+ Moll)
+#. Fixed variadic evaluation bug in ``AutoDiff``.
+#. Fixed ``SolverImpl`` tests.
+#. Fixed a bug in ``DenseSparseMatrix::ToDenseMatrix()``.
+#. Fixed an initialization bug in ``ProgramEvaluator``.
+#. Fixes to Android.mk paths (Carlos Hernandez)
+#. Modify ``nist.cc`` to compute accuracy based on ground truth
+ solution rather than the ground truth function value.
+#. Fixed a memory leak in ``cxsparse.cc``. (Alexander Mordvintsev).
+#. Fixed the install directory for libraries by correctly handling
+ ``LIB_SUFFIX``. (Taylor Braun-Jones)
+
+1.4.0
+=====
+
+Backward Incompatible API Changes
+---------------------------------
+The new ordering API breaks existing code. Here the common case fixes.
+
+**Before**
+
+.. code-block:: c++
+
+ options.linear_solver_type = ceres::DENSE_SCHUR
+ options.ordering_type = ceres::SCHUR
+
+**After**
+
+
+.. code-block:: c++
+
+ options.linear_solver_type = ceres::DENSE_SCHUR
+
+
+**Before**
+
+.. code-block:: c++
+
+ options.linear_solver_type = ceres::DENSE_SCHUR;
+ options.ordering_type = ceres::USER;
+ for (int i = 0; i < num_points; ++i) {
+ options.ordering.push_back(my_points[i])
+ }
+ for (int i = 0; i < num_cameras; ++i) {
+ options.ordering.push_back(my_cameras[i])
+ }
+ options.num_eliminate_blocks = num_points;
+
+
+**After**
+
+.. code-block:: c++
+
+ options.linear_solver_type = ceres::DENSE_SCHUR;
+ options.ordering = new ceres::ParameterBlockOrdering;
+ for (int i = 0; i < num_points; ++i) {
+ options.linear_solver_ordering->AddElementToGroup(my_points[i], 0);
+ }
+ for (int i = 0; i < num_cameras; ++i) {
+ options.linear_solver_ordering->AddElementToGroup(my_cameras[i], 1);
+ }
+
+
+New Features
+------------
+#. A new richer, more expressive and consistent API for ordering
+ parameter blocks.
+#. A non-linear generalization of Ruhe & Wedin's Algorithm II. This
+ allows the user to use variable projection on separable and
+ non-separable non-linear least squares problems. With
+ multithreading, this results in significant improvements to the
+ convergence behavior of the solver at a small increase in run time.
+#. An image denoising example using fields of experts. (Petter
+ Strandmark)
+#. Defines for Ceres version and ABI version.
+#. Higher precision timer code where available. (Petter Strandmark)
+#. Example Makefile for users of Ceres.
+#. IterationSummary now informs the user when the step is a
+ non-monotonic step.
+#. Fewer memory allocations when using ``DenseQRSolver``.
+#. GradientChecker for testing CostFunctions (William Rucklidge)
+#. Add support for cost functions with 10 parameter blocks in
+ ``Problem``. (Fisher)
+#. Add support for 10 parameter blocks in ``AutoDiffCostFunction``.
+
+
+Bug Fixes
+---------
+
+#. static cast to force Eigen::Index to long conversion
+#. Change LOG(ERROR) to LOG(WARNING) in ``schur_complement_solver.cc``.
+#. Remove verbose logging from ``DenseQRSolve``.
+#. Fix the Android NDK build.
+#. Better handling of empty and constant Problems.
+#. Remove an internal header that was leaking into the public API.
+#. Memory leak in ``trust_region_minimizer.cc``
+#. Schur ordering was operating on the wrong object (Ricardo Martin)
+#. MSVC fixes (Petter Strandmark)
+#. Various fixes to ``nist.cc`` (Markus Moll)
+#. Fixed a jacobian scaling bug.
+#. Numerically robust computation of ``model_cost_change``.
+#. Signed comparison compiler warning fixes (Ricardo Martin)
+#. Various compiler warning fixes all over.
+#. Inclusion guard fixes (Petter Strandmark)
+#. Segfault in test code (Sergey Popov)
+#. Replaced ``EXPECT/ASSERT_DEATH`` with the more portable
+ ``EXPECT_DEATH_IF_SUPPORTED`` macros.
+#. Fixed the camera projection model in Ceres' implementation of
+ Snavely's camera model. (Ricardo Martin)
+
+
+1.3.0
+=====
+
+New Features
+------------
+#. Android Port (Scott Ettinger also contributed to the port)
+#. Windows port. (Changchang Wu and Pierre Moulon also contributed to the port)
+#. New subspace Dogleg Solver. (Markus Moll)
+#. Trust region algorithm now supports the option of non-monotonic steps.
+#. New loss functions ``ArcTanLossFunction``, ``TolerantLossFunction``
+ and ``ComposedLossFunction``. (James Roseborough).
+#. New ``DENSE_NORMAL_CHOLESKY`` linear solver, which uses Eigen's
+ LDLT factorization on the normal equations.
+#. Cached symbolic factorization when using ``CXSparse``.
+ (Petter Strandark)
+#. New example ``nist.cc`` and data from the NIST non-linear
+ regression test suite. (Thanks to Douglas Bates for suggesting this.)
+#. The traditional Dogleg solver now uses an elliptical trust
+ region (Markus Moll)
+#. Support for returning initial and final gradients & Jacobians.
+#. Gradient computation support in the evaluators, with an eye
+ towards developing first order/gradient based solvers.
+#. A better way to compute ``Solver::Summary::fixed_cost``. (Markus Moll)
+#. ``CMake`` support for building documentation, separate examples,
+ installing and uninstalling the library and Gerrit hooks (Arnaud
+ Gelas)
+#. ``SuiteSparse4`` support (Markus Moll)
+#. Support for building Ceres without ``TR1`` (This leads to
+ slightly slower ``DENSE_SCHUR`` and ``SPARSE_SCHUR`` solvers).
+#. ``BALProblem`` can now write a problem back to disk.
+#. ``bundle_adjuster`` now allows the user to normalize and perturb the
+ problem before solving.
+#. Solver progress logging to file.
+#. Added ``Program::ToString`` and ``ParameterBlock::ToString`` to
+ help with debugging.
+#. Ability to build Ceres as a shared library (MacOS and Linux only),
+ associated versioning and build release script changes.
+#. Portable floating point classification API.
+
+
+Bug Fixes
+---------
+#. Fix how invalid step evaluations are handled.
+#. Change the slop handling around zero for model cost changes to use
+ relative tolerances rather than absolute tolerances.
+#. Fix an inadvertant integer to bool conversion. (Petter Strandmark)
+#. Do not link to ``libgomp`` when building on
+ windows. (Petter Strandmark)
+#. Include ``gflags.h`` in ``test_utils.cc``. (Petter
+ Strandmark)
+#. Use standard random number generation routines. (Petter Strandmark)
+#. ``TrustRegionMinimizer`` does not implicitly negate the
+ steps that it takes. (Markus Moll)
+#. Diagonal scaling allows for equal upper and lower bounds. (Markus Moll)
+#. TrustRegionStrategy does not misuse LinearSolver:Summary anymore.
+#. Fix Eigen3 Row/Column Major storage issue. (Lena Gieseke)
+#. QuaternionToAngleAxis now guarantees an angle in $[-\pi, \pi]$. (Guoxuan Zhang)
+#. Added a workaround for a compiler bug in the Android NDK to the
+ Schur eliminator.
+#. The sparse linear algebra library is only logged in
+ Summary::FullReport if it is used.
+#. Rename the macro ``CERES_DONT_HAVE_PROTOCOL_BUFFERS``
+ to ``CERES_NO_PROTOCOL_BUFFERS`` for consistency.
+#. Fix how static structure detection for the Schur eliminator logs
+ its results.
+#. Correct example code in the documentation. (Petter Strandmark)
+#. Fix ``fpclassify.h`` to work with the Android NDK and STLport.
+#. Fix a memory leak in the ``levenber_marquardt_strategy_test.cc``
+#. Fix an early return bug in the Dogleg solver. (Markus Moll)
+#. Zero initialize Jets.
+#. Moved ``internal/ceres/mock_log.h`` to ``internal/ceres/gmock/mock-log.h``
+#. Unified file path handling in tests.
+#. ``data_fitting.cc`` includes ``gflags``
+#. Renamed Ceres' Mutex class and associated macros to avoid
+ namespace conflicts.
+#. Close the BAL problem file after reading it (Markus Moll)
+#. Fix IsInfinite on Jets.
+#. Drop alignment requirements for Jets.
+#. Fixed Jet to integer comparison. (Keith Leung)
+#. Fix use of uninitialized arrays. (Sebastian Koch & Markus Moll)
+#. Conditionally compile gflag dependencies.(Casey Goodlett)
+#. Add ``data_fitting.cc`` to the examples ``CMake`` file.
+
+
+1.2.3
+=====
+
+Bug Fixes
+---------
+#. ``suitesparse_test`` is enabled even when ``-DSUITESPARSE=OFF``.
+#. ``FixedArray`` internal struct did not respect ``Eigen``
+ alignment requirements (Koichi Akabe & Stephan Kassemeyer).
+#. Fixed ``quadratic.cc`` documentation and code mismatch
+ (Nick Lewycky).
+
+1.2.2
+=====
+
+Bug Fixes
+---------
+#. Fix constant parameter blocks, and other minor fixes (Markus Moll)
+#. Fix alignment issues when combining ``Jet`` and
+ ``FixedArray`` in automatic differeniation.
+#. Remove obsolete ``build_defs`` file.
+
+1.2.1
+=====
+
+New Features
+------------
+#. Powell's Dogleg solver
+#. Documentation now has a brief overview of Trust Region methods and
+ how the Levenberg-Marquardt and Dogleg methods work.
+
+Bug Fixes
+---------
+#. Destructor for ``TrustRegionStrategy`` was not virtual (Markus
+ Moll)
+#. Invalid ``DCHECK`` in ``suitesparse.cc`` (Markus Moll)
+#. Iteration callbacks were not properly invoked (Luis Alberto
+ Zarrabeiti)
+#. Logging level changes in ConjugateGradientsSolver
+#. VisibilityBasedPreconditioner setup does not account for skipped
+ camera pairs. This was debugging code.
+#. Enable SSE support on MacOS
+#. ``system_test`` was taking too long and too much memory (Koichi
+ Akabe)
+
+1.2.0
+=====
+
+New Features
+------------
+
+#. ``CXSparse`` support.
+#. Block oriented fill reducing orderings. This reduces the
+ factorization time for sparse ``CHOLMOD`` significantly.
+#. New Trust region loop with support for multiple trust region step
+ strategies. Currently only Levenberg-Marquardt is supported, but
+ this refactoring opens the door for Dog-leg, Stiehaug and others.
+#. ``CMake`` file restructuring. Builds in ``Release`` mode by default, and now has platform specific tuning flags.
+#. Re-organized documentation. No new content, but better
+ organization.
+
+
+Bug Fixes
+---------
+
+#. Fixed integer overflow bug in ``block_random_access_sparse_matrix.cc``.
+#. Renamed some macros to prevent name conflicts.
+#. Fixed incorrect input to ``StateUpdatingCallback``.
+#. Fixes to AutoDiff tests.
+#. Various internal cleanups.
+
+
+1.1.1
+=====
+
+Bug Fixes
+---------
+#. Fix a bug in the handling of constant blocks. (Louis Simard)
+#. Add an optional lower bound to the Levenberg-Marquardt regularizer
+ to prevent oscillating between well and ill posed linear problems.
+#. Some internal refactoring and test fixes.
+
+1.1.0
+=====
+
+New Features
+------------
+#. New iterative linear solver for general sparse problems - ``CGNR``
+ and a block Jacobi preconditioner for it.
+#. Changed the semantics of how ``SuiteSparse`` dependencies are
+ checked and used. Now ``SuiteSparse`` is built by default, only if
+ all of its dependencies are present.
+#. Automatic differentiation now supports dynamic number of residuals.
+#. Support for writing the linear least squares problems to disk in
+ text format so that they can loaded into ``MATLAB``.
+#. Linear solver results are now checked for nan and infinities.
+#. Added ``.gitignore`` file.
+#. A better more robust build system.
+
+
+Bug Fixes
+---------
+#. Fixed a strict weak ordering bug in the schur ordering.
+#. Grammar and typos in the documents and code comments.
+#. Fixed tests which depended on exact equality between floating point
+ values.
+
+1.0.0
+=====
+Initial open source release. Nathan Wiegand contributed to the Mac OSX
+port.
+
+
+Origins
+=======
+
+Ceres Solver grew out of the need for general least squares solving at
+Google. In early 2010, Sameer Agarwal and Fredrik Schaffalitzky
+started the development of Ceres Solver. Fredrik left Google shortly
+thereafter and Keir Mierle stepped in to take his place. After two
+years of on-and-off development, Ceres Solver was released as open
+source in May of 2012.