diff options
Diffstat (limited to 'docs/source/version_history.rst')
| -rw-r--r-- | docs/source/version_history.rst | 221 |
1 files changed, 217 insertions, 4 deletions
diff --git a/docs/source/version_history.rst b/docs/source/version_history.rst index f9bc273..a52ab30 100644 --- a/docs/source/version_history.rst +++ b/docs/source/version_history.rst @@ -1,8 +1,217 @@ .. _chapter-version-history: -=============== -Version History -=============== +======== +Releases +======== + +HEAD +==== + +#. Added ``Solver::Options::IsValid`` which allows users to validate + their solver configuration before calling ``Solve``. + +#. Added ``EIGEN_SPARSE_QR`` algorithm for covariance estimation using + ``Eigen``'s sparse QR factorization. (Michael Vitus) + +Backward Incompatible API Changes +--------------------------------- + +#. ``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``. + + +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 replaed 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 fictious 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 occuring ``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 ===== @@ -35,7 +244,10 @@ New Features #. Add BlockRandomAccessCRSMatrix. #. Speeded up automatic differentiation by 7\%. #. Bundle adjustment example from libmv/Blender (Sergey Sharybin) -#. Add the ability to turn shared library compilation on and off +#. 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. @@ -96,6 +308,7 @@ Bug Fixes #. 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 |