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@@ -43,10 +43,10 @@ Backward Incompatible API Changes
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vector<double> final_residuals;
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problem.Evaluate(Problem::EvaluateOptions(),
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- NULL
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+ NULL, /* No cost */
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&final_residuals,
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- NULL,
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- NULL);
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+ NULL, /* No gradient */
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+ NULL /* No jacobian */ );
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New Features
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@@ -62,14 +62,15 @@ New Features
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directions.
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#. Added ``Problem::Evaluate``. Now you can evaluate a problem or any
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- part of it without calling the solver. In light of this,
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- ``Solver::Options::return_initial_residuals``,
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- ``Solver::Options::return_initial_gradient``,
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- ``Solver::Options::return_initial_jacobian``,
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- ``Solver::Options::return_final_residuals``,
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- ``Solver::Options::return_final_gradient`` and
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- ``Solver::Options::return_final_jacobian`` have been deprecated and
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- removed from the API.
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+ part of it without calling the solver. In light of this the
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+ following settings have been deprecated and removed from the API.
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+
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+ - ``Solver::Options::return_initial_residuals``
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+ - ``Solver::Options::return_initial_gradient``
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+ - ``Solver::Options::return_initial_jacobian``
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+ - ``Solver::Options::return_final_residuals``
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+ - ``Solver::Options::return_final_gradient``
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+ - ``Solver::Options::return_final_jacobian``
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#. New, much improved HTML documentation using Sphinx.
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@@ -83,8 +84,14 @@ New Features
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differentiation. This is done by adding ``CostFunctionToFunctor``
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and ``NumericDiffFunctor`` objects to the API.
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-#. ``Summary::FullReport`` now reports the structure of the ordering
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- used by the ``LinearSolver`` and inner iterations.
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+#. Greatly expanded ``Summary::FullReport``:
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+
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+ - Report the ordering used by the ``LinearSolver``.
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+ - Report the ordering used by the inner iterations.
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+ - Execution timing breakdown into evaluations and linear solves.
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+ - Effective size of the problem solved by the solver, which now
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+ accounts for the size of the tangent space when using a
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+ ``LocalParameterization``.
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#. Ceres when run at the ``VLOG`` level 3 or higher will report
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detailed timing information about its internals.
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@@ -95,7 +102,7 @@ New Features
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#. Automatic differenatiation with a dynamic number of parameter
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blocks. (Based on an idea by Thad Hughes).
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-#. Speeded up problem construction and destruction.
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+#. Sped up problem construction and destruction.
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#. Added matrix adapters to ``rotation.h`` so that the rotation matrix
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routines can work with row and column major matrices. (Markus Moll)
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@@ -106,11 +113,20 @@ New Features
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Bug Fixes
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---------
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+#. Pass the correct flags to the linker when using
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+ ``pthreads``. (Taylor Braun-Jones)
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+
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+#. Only use ``cmake28`` macro when building on RHEL6. (Taylor
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+ Braun-Jones)
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+
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+#. Remove ``-Wno-return-type-c-linkage`` when compiling with
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+ GCC. (Taylor Braun-Jones)
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+
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#. Fix ``No previous prototype`` warnings. (Sergey Sharybin)
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#. MinGW build fixes. (Sergey Sharybin)
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-#. Lots of minor code and lint fixes reported by William Rucklidge.
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+#. Lots of minor code and lint fixes. (William Rucklidge)
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#. Fixed a bug in ``solver_impl.cc`` residual evaluation. (Markus
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Moll)
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@@ -133,7 +149,6 @@ Bug Fixes
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#. Fixed the install directory for libraries by correctly handling
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``LIB_SUFFIX``. (Taylor Braun-Jones)
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-
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1.4.0
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=====
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Sameer Agarwal