a737bc49af
This should contain real fixes for Windows, making it more robost and hopefully faster (due to proper collection port) on that platform. Also hack to fix Eigen alignment shouldn't be needed anymore. Also on platforms which have got broken TR1 collections it's better to define CERES_NO_TR1 instead of using Boost hacks. Made changes to Scons and CMake, but can not check if this indeed works since i don't have OSX here.
525 lines
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525 lines
17 KiB
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commit 552f9f85bba89f00ca307bc18fbda1dff23bd0e4
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Aug 31 07:27:22 2012 -0700
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Various minor bug fixes to the solver logic.
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1. CostFunction returning false is handled better.
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If only the cost is being evaluated, it is possible to
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use the false value as an infinite value signal/outside
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a region of validity. This allows a weak form of constraint
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handling. Useful for example in handling infinities.
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2. Changed the way how the slop around zero when model_cost
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is larger than the current cost. Relative instead of absolute
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tolerances are used. The same logic is propagated how the
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corresponding clamping of the model_cost is done.
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3. Fixed a minor indexing bug in nist.cc.
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4. Some minor logging fixes to nist.cc to make it more
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compatible with the rest of ceres.
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Together these changes, take the successful solve count from
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41/54 to 46/54 and eliminate all NUMERICAL_FAILURE problems.
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Change-Id: If94170ea4731af5b243805c0200963dd31aa94a7
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commit 0b776b5cc9634d3b88d623905b96006f7647ce3e
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Aug 30 15:26:17 2012 -0700
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Update docs.
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Change-Id: I69d50bcd37aed3bea2190ca614f023e83172901b
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commit 2d7176ad7c8fb7238ca8abd6de73415d95877494
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Author: Petter Strandmark <petter.strandmark@gmail.com>
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Date: Thu Aug 30 19:51:24 2012 -0700
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max_consecutive_nonmonotonic_steps should be int
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Found via Visual Studio warning.
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Change-Id: Id2cd7de562dfc8cd35df5d5f5220dd2d7350eb2c
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commit 1a89bcc94e88933f89b20427a45bc40cdd23c056
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Aug 30 15:26:17 2012 -0700
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Better reporting on the NIST problems.
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Change-Id: I7cf774ec3242c0612dbe52fc233c3fc6cff3f031
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commit ea11704857a1e4a735e096896e4d775d83981499
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Aug 29 18:18:48 2012 -0700
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Basic harness for testing NIST problems.
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Change-Id: I5baaa24dbf0506ceedf4a9be4ed17c84974d71a1
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commit 98bf14d2b95386c2c4a6c29154637943dae4c36c
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Aug 30 10:26:44 2012 -0700
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Miscellaneous fixes.
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Change-Id: I521e11f2d20bf24960bbc6b5dab4ec8bb1503d23
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commit 1e3cbd9a4442cdd8fda43a7fb452f19dac8c74af
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Author: Petter Strandmark <strandmark@google.com>
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Date: Wed Aug 29 09:39:56 2012 -0700
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Caching the symbolic Cholesky factorization when using CXSparse
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Average factorization times for bundle adjustment test problem:
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SuiteSparse: 0.2794 s.
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CXSparse: 0.4039 s.
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CXSparse cached: 0.2399 s.
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CXSparse will still be slower, though, because it has to compute
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the transpose and J^T * J.
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Change-Id: If9cdaa3dd520bee84b56e5fd4953b56a93db6bde
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commit 8b64140878ccd1e183d3715c38942a81fdecefde
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Aug 29 05:41:22 2012 -0700
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Documentation update
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Change-Id: I271a0422e7f6f42bcfd1dc6b5dc10c7a18f6a179
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commit a5353acd85a9fd19370b3d74035d87b0f0bac230
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Author: Petter Strandmark <petter.strandmark@gmail.com>
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Date: Tue Aug 28 18:16:41 2012 -0700
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Adding gflags include to test_util.cc
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test_util seems to need gflags.
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Change-Id: I0c4757960f8ac69ad599c138aea58e3c88a4ea28
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commit 87ca1b2ba28ec512752bbcf5fc994ce1434eb765
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Author: Petter Strandmark <petter.strandmark@gmail.com>
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Date: Tue Aug 28 18:05:20 2012 -0700
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Changing random.h to use cstdlib for Windows compability.
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As discussed with Sameer today.
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Change-Id: If3d0284830c6591c71cc77b8400cafb45c0da61f
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commit aeb00a07323808a0a1816e733ad18a87d5109ea3
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Author: Petter Strandmark <strandmark@google.com>
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Date: Mon Aug 27 22:22:57 2012 -0700
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Removing gomp for Visual Studio
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Linking currently fails in Visual Studio due to a missing library
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"gomp.lib". This is not needed in Visual Studio. OpenMP works
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without it.
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Change-Id: I39e204a8dd4f1b7425df7d4b222d86a8bb961432
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commit 6f362464ba99b800494d2f15c27768a342ddaa68
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Author: Markus Moll <markus.moll@esat.kuleuven.be>
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Date: Tue Aug 28 01:03:38 2012 +0200
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Add some tests for DoglegStrategy.
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Not necessarily a complete set.
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Change-Id: I14eb3a38c6fe976c8212f3934655411b6d1e0aa4
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commit 122cf836a6dc9726489ce2fbecc6143bddc1caaf
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Aug 24 16:28:27 2012 -0700
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Documentation update.
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Change-Id: I0a3c5ae4bc981a8f5bdd5a8905f923dc5f09a024
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commit 69081719f73da8de2935774a42d237837a91952a
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Author: Keir Mierle <mierle@gmail.com>
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Date: Mon Aug 27 13:28:56 2012 -0700
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Remove unnecessary overload for hash<>
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The overload for pointers in hash tables was applied in normal
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usage of schur_ordering.cc. However, the tests did not include the
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overload since they only included collections_port.h. As a result,
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the routines in schur_ordering.cc were using a different hash
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function than that inside the tests.
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The fix is to remove the specialization. If this breaks one of the
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compiler configurations, we will find a workaround at that time.
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Change-Id: Idbf60415d5e2aec0c865b514ad0c577d21b91405
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commit 1762420b6ed76b1c4d30b913b2cac1927b666534
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Aug 22 10:01:31 2012 -0700
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Update changelog.
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Change-Id: Idf5af69d5a9dbe35f58e30a8afcbfcd29bb7ebfe
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commit 976ab7aca908309b8282cb40bc080ca859136854
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Author: Keir Mierle <mierle@gmail.com>
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Date: Thu Aug 23 18:21:36 2012 -0700
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Remove Google-era vestigial unit test.
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Change-Id: Ia7a295a5c759a17c1675a3055d287d3e40e9e0fe
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commit 6ad6257de0e2152ac5e77dc003758de45187d6ea
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Author: Keir Mierle <mierle@gmail.com>
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Date: Wed Aug 22 11:10:31 2012 -0700
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Add a workaround for an Android NDK compiler bug.
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On certain NDK build configurations, one of the innermost
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parts of the Schur eliminator would get compiled
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incorrectly. The compiler changed a -= to a +=.
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The normal Ceres unit tests caught the problem; however,
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since it is not possible to build the tests with the NDK
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(only with the standalone toolchain) this was difficult to
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track down. Finding the issue involved pasting the schur
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eliminator unit test inside of solver_impl.cc and other such
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hacks.
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Change-Id: Ie91bb545d74fe39f0c8cbd1a6eb69ee4d8b25fb2
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commit aecb2dc92b4aa7f3bf77a1ac918e62953602392b
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Aug 22 10:08:17 2012 -0700
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Fix relative path bug in bibtex call.
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Change-Id: I0d31786564320a6831259bcdf4c75a6b665c43ad
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commit 1e2892009e591804df6286caebd5c960e7e3b099
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Aug 21 18:00:54 2012 -0700
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Update Summary::FullReport to report dogleg type.
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Change-Id: I0b4be8d7486c1c4b36b299693b3fe8b0d3426537
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commit 295ade1122a86b83e1ea605d5ca394f315874717
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Aug 22 06:51:22 2012 -0700
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Fix Eigen3 Row/Column Major storage issue.
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Eigen3 does not allow column vectors to be stored in row-major
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format. NumericDiffCostFunction by default stores its Jacobian
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matrices in row-major format. This works fine if the residual
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contains more than one variable. But if the residual block
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depends on one variable and has more than one residuals, the
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resulting Jacobian matrix is a column matrix in row-major format
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resulting in a compile time error.
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The fix is to check the template parameters and switch to column-major
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storage as needed.
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Thanks to Lena Gieseke for reporting this.
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Change-Id: Icc51c5b38e1f3609e0e1ecb3c4e4a02aecd72c3b
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commit 9ad27e8e9fb1bbd2054e2f6ae37623e01428f1c0
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Author: Arnaud Gelas <arnaudgelas@gmail.com>
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Date: Tue Aug 21 09:56:30 2012 +0200
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Add one uninstall target to remove all installed files
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Change-Id: Ifcf89a6c27b25f28403d95a50e29c093a525298f
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commit 0c3a748ee49e04fe334f8f5a433649d18003d550
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Author: Markus Moll <markus.moll@esat.kuleuven.be>
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Date: Tue Aug 21 14:44:59 2012 +0200
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Allow equal lower and upper bound for diagonal scaling.
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This way, setting the lower and upper bound both to 1.0, one can disable
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the automatic trust region scaling.
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Change-Id: Ifa317a6911b813a89c1cf7fdfde25af603705319
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commit 3d644b76adefac6475b91dc53c3ae5e01c4f4d66
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Author: Arnaud Gelas <arnaudgelas@gmail.com>
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Date: Thu Aug 16 17:33:21 2012 +0200
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Install headers, libraries and pdf
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Headers are installed in ${CMAKE_INSTALL_PREFIX}/include/ceres
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Libraries are installed in ${CMAKE_INSTALL_PREFIX}/lib
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pdf is installed in ${CMAKE_INSTALL_PREFIX}/share/ceres/docs
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Change-Id: Ic175f2c2f5fa86820a1e8c64c2ed171f4a302a68
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commit d2fb5adea4d8c2aeb43c4289c6976798a54d3cf1
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Author: Arnaud Gelas <arnaudgelas@gmail.com>
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Date: Fri Aug 17 10:11:02 2012 +0200
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Configure gerrit hook at CMake time
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If the source directory is a clone, at CMake time the commit-msg hook gets
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downloaded and installed in the right location.
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Change-Id: I5fee17d050ca22d8b92a49fdcc2a1cd6659f209b
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commit 73166098fc4b1072adc30321c666188a3909c43c
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Author: Arnaud Gelas <arnaudgelas@gmail.com>
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Date: Mon Aug 20 15:40:41 2012 +0200
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Add one CMake option to build the examples.
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Currently the examples are always built. For external projects, it is useful
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not to compile the examples.
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Change-Id: I41d3bde19c7e742818e60f78222d39c43992ca8b
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commit 86d4f1ba41ef14eb1b6b61a7936af83387b35eb2
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Author: Keir Mierle <mierle@gmail.com>
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Date: Mon Aug 20 11:52:04 2012 -0700
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Add missing return statement.
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Change-Id: I5eaf718318e27040e3c97e32ee46cf0a11176a37
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commit 51eb229da34187a4e8ce73ed9cc0e731998bb2be
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Author: Keir Mierle <mierle@gmail.com>
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Date: Mon Aug 20 11:46:12 2012 -0700
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Add Program::ToString() to aid debugging.
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Change-Id: I0ab37ed2fe0947ca87a152919d4e7dc9b56dedc6
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commit bcc7100635e2047dc2b77df19a4ded8a6ab4d4b9
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Author: Keir Mierle <mierle@gmail.com>
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Date: Mon Aug 20 11:45:04 2012 -0700
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Ignore minted.sty.
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Change-Id: I2467a6f801812b9007b51bf14b00757f026e4322
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commit 9705a736dd3d6fbead0d8a6ff77102c69bbcdc08
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Author: Keir Mierle <mierle@gmail.com>
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Date: Mon Aug 20 11:24:05 2012 -0700
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Add ParameterBlock::ToString() to aid debugging.
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Change-Id: Id3f5cb27b855c536dd65a986f345bd8eb2799dfa
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commit 0c714a70e6123ceb68e5cfcd3cfbee0d09deb1db
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Aug 20 11:18:16 2012 -0700
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Fix blanks before private in loss_function.h
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Change-Id: I068bed6431bc7c9b7958af391655df61499000b2
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commit 51cf7cbe3bac45c6807c2703a2fc3175d76a1b47
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Author: Markus Moll <markus.moll@esat.kuleuven.be>
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Date: Mon Aug 20 20:10:20 2012 +0200
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Add the two-dimensional subspace search to DoglegStrategy
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Change-Id: I5163744c100cdf07dd93343d0734ffe0e80364f3
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commit ad1f7b772e559a911ac3a3b078b0aee1836fe785
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Aug 20 11:10:34 2012 -0700
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Add ArcTanLoss, TolerantLoss and ComposedLossFunction.
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Based on work by James Roseborough.
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Change-Id: Idc4e0b099028f67702bfc7fe3e43dbd96b6f9256
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commit 05292bf8fc5208b86b4a13544615b584f6efa936
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Aug 20 07:40:45 2012 -0700
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Add a TrustRegionStrategy::Summary object.
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Change-Id: I7caee35a3408ee4a0ec16ba407410d822929340d
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commit b12b906c4d21c3949f0dce62c4c0d083c8edecf1
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Author: Arnaud Gelas <arnaudgelas@gmail.com>
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Date: Wed Aug 15 16:27:38 2012 +0200
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Add one option to generate the PDF from CMake at build time
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Make sure pygmentize is installed
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Change-Id: I068ba45c33a8e96acc906a464b12d10d58b3e231
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commit b9f15a59361c609ffc4a328aea9be3d265b5da81
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Sat Aug 18 13:06:19 2012 -0700
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Add a dense Cholesky factorization based linear solver.
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For problems with a small number of variables, but a large
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number of residuals, it is sometimes beneficial to use the
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Cholesky factorization on the normal equations, instead of
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the dense QR factorization of the Jacobian, even though it
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is numerically the better thing to do.
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Change-Id: I3506b006195754018deec964e6e190b7e8c9ac8f
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commit b3fa009435acf476cd373052e62988f6437970b1
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Author: Arnaud Gelas <arnaudgelas@gmail.com>
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Date: Fri Aug 17 10:31:41 2012 +0200
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Set CMAKE_*_OUTPUT_DIRECTORY
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Gather
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* all executables in ${CMAKE_BINARY_DIR}/bin
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* all libraries (static and dynamic) in ${CMAKE_BINARY_DIR}/lib
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Change-Id: Ibc2fa1adfb6f0aea65d66d570259b79546bf3b07
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commit 1b8a4d5d11671ed83cf6077e363dd95333f08ef8
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Aug 17 16:49:11 2012 -0700
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Fix a minor bug in detect_structure logging.
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Change-Id: I117f7745e4c67595b3ff9244cde82b5b5b34ee4b
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commit 31c1e784ab2cb9294c6e05414cf06aae2b3766de
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Author: Keir Mierle <mierle@gmail.com>
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Date: Fri Aug 17 16:16:32 2012 -0700
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Minor cleanups.
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Change-Id: Ida4866997deeaa1bc2cebd6b69313a05ac82e457
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commit e83f7879a8b21c6976e116958caf35bcdcf41cb0
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Aug 17 15:34:42 2012 -0700
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Fix SuiteSparse3 UFConfig.h detection really.
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Change-Id: Id187102e755b7d778dff4363f22f9a4697ed12dd
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commit 96f25dc57658d296ee6b6633818b4f1e51d7d587
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Aug 17 15:34:42 2012 -0700
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Fix SuiteSparse3 UFConfig.h detection.
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Change-Id: Ia59aefdb0ad7f713f76ed79692f2db4fa2821e5b
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commit c497bd6cd9aa944f518aa491d3bc645851ff9594
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Author: Markus Moll <markus.moll@esat.kuleuven.be>
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Date: Fri Aug 17 14:40:13 2012 +0200
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Add UFconfig and/or SuiteSparse_config test to CMakeLists.txt
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SuiteSparse 4 requires linking to libsuitesparseconfig.a.
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Both SuiteSparse 3 and SuiteSparse 4 require an additional header
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(either UFconfig.h or SuiteSparse_config.h) that is not found if it is
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in a separate path. Therefore, add explicit checks.
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Change-Id: I699902b5db4f1b7f17134b5a54f9aa681445e294
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commit 383c04f4236d92801c7c674892814362dedf7ad6
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Aug 17 10:14:04 2012 -0700
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Fix QuaternionToAngleAxis to ensure rotations are between -pi and pi.
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Thanks to Guoxuan Zhang for reporting this.
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Change-Id: I2831ca3a04d5dc6467849c290461adbe23faaea3
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commit dd2b17d7dd9750801ba4720bdece2062e59b7ae3
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Aug 16 19:34:57 2012 -0700
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CERES_DONT_HAVE_PROTOCOL_BUFFERS -> CERES_NO_PROTOCOL_BUFFERS.
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Change-Id: I6c9f50e4c006faf4e75a8f417455db18357f3187
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commit 8b4cb7aa2c74a0da62c638b2023566aa242af995
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Aug 16 19:26:55 2012 -0700
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Fix sparse linear algebra library logging in Summary::FullReport.
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Change-Id: Id2c902dc86c00954fde7749c7b4a67dd94215a31
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commit 47d26bcd3b38b5ff53b34768c33b499d47b26bd0
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Author: Markus Moll <markus.moll@esat.kuleuven.be>
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Date: Thu Aug 16 00:23:38 2012 +0200
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Do not implicitly negate the step in the TrustRegionMinimizer.
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In the TrustRegionMinimizer, the step is currently implicitly negated.
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This is done so that the linearized residual is |r - J*step|^2, which
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corresponds to J*step = r, so neither J nor r have to be modified.
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However, it leads to the rather unintuitive situation that the strategy
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returns a step in positive gradient direction, which you would expect to
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increase the function value. One way is to rename the "step" parameter in
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the strategy to "negative_step" and document it.
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This patch instead moves the negation inside the strategy, just around
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the linear solver call, so that it is done in a local context and easier
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to document.
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Change-Id: Idb258149a01f61c64e22128ea221c5a30cd89c89
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commit 51da590c8457e6664f76fe9813425a0c71351497
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Author: Markus Moll <markus.moll@esat.kuleuven.be>
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Date: Fri Aug 17 12:56:09 2012 +0200
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Remove tmp file
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Change-Id: I07496fafae7b0c5c12cc26ae336e0db3b5592735
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commit 7006a1f2b1701b8d89b8d1525fc0101943802221
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Aug 16 18:04:22 2012 -0700
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Correct example code in Powell's function example.
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Thanks to Petter Strandmark for pointing this out.
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Change-Id: I967632235dccdb481396e94904bb911c9a1efe1e
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commit 57a44b27bc6fc95b4e70fdc25c25c9925a2072a0
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Author: Keir Mierle <mierle@gmail.com>
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Date: Thu Aug 16 17:04:50 2012 -0700
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Remove unnecessary flags in NDK build.
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Change-Id: Ib5b4d0b7f2d898671252734978c789b8171d96a8
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commit f21bee247251a8b2e836c215a84c4668c31d75cd
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Author: Keir Mierle <mierle@gmail.com>
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Date: Thu Aug 16 16:27:10 2012 -0700
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Fix for fpclassify.h NDK porting work.
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Change-Id: I69df1b4caf2941ed96a53e35e43ec54073f84f59
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commit 8ceb02cb75b66602de44a35e413225386cb21c27
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Author: Keir Mierle <mierle@gmail.com>
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Date: Thu Aug 16 14:23:47 2012 -0700
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Add Android NDK build files.
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This adds a Android.mk build that builds a Ceres static library
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suitable for embetting in larger Android applications. This is
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useful when needing to build Ceres without GPL'd components, since
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the standalone toolchain (needed for the CMake Android build) does
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not work with STLPort.
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Change-Id: I8d857237f6f82658741017d161b2e31d9a20e5a7
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