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Diffstat (limited to 'docs/source/version_history.rst')
| -rw-r--r-- | docs/source/version_history.rst | 182 |
1 files changed, 30 insertions, 152 deletions
diff --git a/docs/source/version_history.rst b/docs/source/version_history.rst index 5e1a150..f9bc273 100644 --- a/docs/source/version_history.rst +++ b/docs/source/version_history.rst @@ -7,6 +7,12 @@ Version History 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 ------------ @@ -15,9 +21,17 @@ New Features #. ``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) @@ -27,17 +41,31 @@ New Features #. 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 erros in documentation (Pablo Speciale) +#. Minor errors in documentation (Pablo Speciale) #. Updated depend.cmake to follow CMake IF convention. (Joydeep Biswas) #. Stablize the schur ordering algorithm. @@ -97,17 +125,12 @@ New Features #. 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) @@ -183,7 +206,6 @@ New Features 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. @@ -196,23 +218,17 @@ New Features - ``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``. @@ -221,33 +237,22 @@ New Features - 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. @@ -255,55 +260,34 @@ New Features 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 varidic 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) @@ -364,32 +348,22 @@ 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``. @@ -397,40 +371,23 @@ 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) @@ -442,57 +399,37 @@ 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. @@ -500,73 +437,44 @@ 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. @@ -577,10 +485,8 @@ 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). @@ -591,10 +497,8 @@ 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 @@ -604,7 +508,6 @@ 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. @@ -612,17 +515,11 @@ 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 @@ -632,17 +529,12 @@ 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. - +#. ``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. @@ -651,13 +543,9 @@ Bug Fixes --------- #. Fixed integer overflow bug in ``block_random_access_sparse_matrix.cc``. - #. Renamed some macros to prevent name conflicts. - #. Fixed incorrent input to ``StateUpdatingCallback``. - #. Fixes to AutoDiff tests. - #. Various internal cleanups. @@ -668,10 +556,8 @@ 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 @@ -682,20 +568,14 @@ 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. @@ -703,9 +583,7 @@ 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 |