public class GameManager
extends java.lang.Object
| Modifier and Type | Field and Description |
|---|---|
private int |
currentPlayerIndex
The current player index (1 or 2).
|
private java.util.ArrayList<java.util.function.BiConsumer<Player,DiskPlacement>> |
diskPlacedCallbacks
The functions to call after a disk has been placed.
|
static int |
EMPTY
Indicates an empty cell.
|
private boolean |
exitGame
Indicates whether the game is done.
|
private GameGrid |
gameGrid
The game grid to play on.
|
private java.util.ArrayList<java.util.function.Consumer<GameResult>> |
gameOverCallbacks
The functions to call after a game has ended.
|
private java.util.ArrayList<java.util.function.BiConsumer<Player,DiskPlacement>> |
invalidMoveCallbacks
The functions to call after an attempt has been made to do an invalid move.
|
static int |
PLAYER_ONE
Indicates that a cell is occupied by player one.
|
static int |
PLAYER_TWO
Indicates that a cell is occupied by player two.
|
private Player |
player1
First player.
|
private Player |
player2
Second player.
|
| Constructor and Description |
|---|
GameManager(GameGrid gameGrid,
Player player1,
Player player2)
Constructor.
|
| Modifier and Type | Method and Description |
|---|---|
private boolean |
checkDirections(int x,
int y,
int player,
boolean flip)
Checks in all (eight) directions from the specified coordinate for flippable
disks.
|
private boolean |
checkMove(int x,
int y,
int player)
Checks whether the specified move is valid.
|
private void |
diskPlaced(Player player,
DiskPlacement diskPlacement)
Calls the disk placed handler functions.
|
DiskPlacement[] |
findValidDiskPlacements(int player)
Finds all valid disk placements and returns them in an array.
|
private void |
gameOver(GameResult gameResult)
Calls the game over handler functions.
|
Player |
getCurrentPlayer()
Gets the current player.
|
int |
getCurrentPlayerIndex()
Gets the index of the current player.
|
int |
getCurrentScore(int player)
Gets the score for the player with the specified index (1 or 2).
|
GameGrid |
getGameGrid()
Gets the game grid.
|
Player |
getPlayer1()
Gets the first player.
|
Player |
getPlayer2()
Gets the second player.
|
private void |
initGameGrid()
Initializes the game grid to its starting state.
|
void |
initialize()
Initializes the game.
|
private void |
invalidMove(Player player,
DiskPlacement diskPlacement)
Calls the invalid move handler functions.
|
boolean |
isValidMove(int x,
int y,
int player)
Checks whether it is considered a valid move to place a disk for the
specified player on the board at the given coordinates.
|
private void |
makeMove(int x,
int y,
int player)
Performs a move by placing a disk at the specified position.
|
GameManager |
onDiskPlaced(java.util.function.BiConsumer<Player,DiskPlacement> cb)
Adds a function to be called when a disk has been placed on the grid.
|
GameManager |
onGameOver(java.util.function.Consumer<GameResult> cb)
Adds a function to be called when the game has ended.
|
GameManager |
onInvalidMove(java.util.function.BiConsumer<Player,DiskPlacement> cb)
Adds a function to be called when an attempt has been made to do an invalid
move.
|
private void |
placeDisk(DiskPlacement diskPlacement,
int player)
Places a disk on the grid at the specified coordinates.
|
GameResult |
play()
Plays the game and returns when the game is over.
|
private void |
playOneTurn(Player player,
int playerIndex)
Plays one turn.
|
void |
quit()
Quits the game on the next turn.
|
private boolean |
recurseDirection(int x,
int y,
int dx,
int dy,
int player,
boolean flip,
boolean flag)
Recurses the direction specified by (dx, dy) and checks for flippable disks
according to the Othello game logic.
|
public static final int EMPTY
public static final int PLAYER_ONE
public static final int PLAYER_TWO
private int currentPlayerIndex
private boolean exitGame
private final GameGrid gameGrid
private final Player player1
private final Player player2
private java.util.ArrayList<java.util.function.BiConsumer<Player,DiskPlacement>> diskPlacedCallbacks
private java.util.ArrayList<java.util.function.Consumer<GameResult>> gameOverCallbacks
private java.util.ArrayList<java.util.function.BiConsumer<Player,DiskPlacement>> invalidMoveCallbacks
public Player getCurrentPlayer()
public int getCurrentPlayerIndex()
public int getCurrentScore(int player)
player
- The index of the player to find the score for.public GameGrid getGameGrid()
public Player getPlayer1()
public Player getPlayer2()
public boolean isValidMove(int x, int y, int player)
x
- The x-coordinate of the cell to check.y
- The x-coordinate of the cell to check.player
- The player (player one or player two).public DiskPlacement[] findValidDiskPlacements(int player)
player
- The player to find valid disk placements for (1 or 2).public void initialize()
public GameManager onDiskPlaced(java.util.function.BiConsumer<Player,DiskPlacement> cb)
cb
- The callback function.public GameManager onGameOver(java.util.function.Consumer<GameResult> cb)
cb
- The callback function.public GameManager onInvalidMove(java.util.function.BiConsumer<Player,DiskPlacement> cb)
cb
- The callback function.public GameResult play()
public void quit()
private void diskPlaced(Player player, DiskPlacement diskPlacement)
player
- The player that placed the disk.diskPlacement
- The disk placement.private void gameOver(GameResult gameResult)
gameResult
- The game result.private void invalidMove(Player player, DiskPlacement diskPlacement)
player
- The player that attempted the move.diskPlacement
- The disk placement.private void initGameGrid()
private void playOneTurn(Player player, int playerIndex)
player
- The player that should make a move.playerIndex
- The index of the player that should make a move.private void placeDisk(DiskPlacement diskPlacement, int player) throws InvalidMoveException
diskPlacement
- The disk placement.player
- The player (player one or player two).InvalidMoveException
- The specified disk placement is invalid.private boolean checkMove(int x, int y, int player)
x
- The x-coordinate of the disk placement.y
- The y-coordinate of the disk placement.player
- The index of the player making the move.private void makeMove(int x, int y, int player)
x
- The x-coordinate of the disk placement.y
- The y-coordinate of the disk placement.player
- The index of player making the move.private boolean checkDirections(int x, int y, int player, boolean flip)
x
- The x-coordinate of the starting point on the grid.y
- The y-coordinate of the starting point on the grid.player
- The player index. (1 or 2).flip
- True to actually flip disks (and mutate the grid state).private boolean recurseDirection(int x, int y, int dx, int dy, int player, boolean flip, boolean flag)
x
- The x-coordinate of the starting point on the grid.y
- The y-coordinate of the starting point on the grid.dx
- The x-coordinate of the direction to recurse towards.dy
- The y-coordinate of the direction to recurse towards.player
- The player index. (1 or 2).flip
- True if disks should be flipped when found flippable.flag
- MUST be set to false when called externally.


Our training will be focused on bridal makeover, engagement makeup, brow grooming, face contour and highlighting, smokey eyes, nude makeup glam, colourful makeup glam, advanced gele training and self-branding, eye glitters applications.
Auto Gele Delivery Service Attracts Additional Charge.


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java.lang.Object org.jnetpcap.nio.JMemoryPool
public class JMemoryPool
Provides a mechanism for allocating memory to JMemory objects. This class is intended to be used when for example JPacket objects need to be kept around for longer periods of time than a single loop cycle. Since libpcap library utilizes a round-robin memory buffer for returning packet data buffers, this class provides a mechanism for copying that data into more permanent storage very efficiently.
The pool works by allocating a memory blocks which are given out to any JMemory class that requests a chunk. That memory is given out, out of the pool, until the block is completely exhausted, then a new block is allocated and continues to give out the memory. The memory blocks are released and deallocated when the last JMemory block that receive any of the memory is garbage collected. When that happens the original memory block is deallocated with a native C free() call. The user does not have to do anything special, the memory management is done completely behind the scene, very efficiently and automatically using java's garbage collection mechanism.
| Nested Class Summary | |
|---|---|
static class |
JMemoryPool.Block
A block of native memory allocated with malloc. |
| Field Summary | |
|---|---|
static int |
DEFAULT_BLOCK_SIZE
Default block size. |
| Constructor Summary | |
|---|---|
JMemoryPool()
Uses default allocation size and strategy. |
|
JMemoryPool(int defaultBlockSize)
Allocates blocks in specified size. |
| Method Summary | |
|---|---|
void |
allocate(int size,
JMemory memory)
Allocates size bytes of memory and initializes the supplied memory pointer class. |
JMemory |
allocateExclusive(int size)
Allocates an exclusive block of native memory that once returned is not referenced by JMemoryPool. |
static JBuffer |
buffer(int size)
Allocates requested size of memory from the global memory pool. |
static JMemoryPool |
defaultMemoryPool()
Gets the global default memory pool. |
int |
duplicate(java.nio.ByteBuffer src,
JMemory dst)
Transfers contents from src to newly allocated memory and peers dst with that the new memory. |
int |
duplicate(JMemory src,
JMemory dst)
Transfers contents from src to newly allocated memory and peers dst with that the new memory. |
int |
duplicate2(JMemory src1,
java.nio.ByteBuffer src2,
JMemory dst1,
JMemory dst2)
Transfers contents from src1 and src2 to a contigues block of new memory, then peers dst1 and dst2 with the new memory, using the same sizes as src1 and src2 respectively. |
int |
duplicate2(JMemory src1,
JMemory src2,
JMemory dst1,
JMemory dst2)
Transfers contents from src1 and src2 to a contiguous block of new memory, then peers dst1 and dst2 with the new memory, using the same sizes as src1 and src2 respectively. |
JMemoryPool.Block |
getBlock(int size)
Gets a block of memory that is big enough to hold at least size number of bytes. |
int |
getBlockSize()
Gets the current default block size when creating new memory blocks. |
static void |
malloc(int size,
JMemory storage)
Malloc. |
void |
setBlockSize(int blockSize)
Sets the current default block size when creating new memory blocks. |
static void |
shutdown()
Shutdown. |
| Methods inherited from class java.lang.Object |
|---|
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
| Field Detail |
|---|
public static final int DEFAULT_BLOCK_SIZE
| Constructor Detail |
|---|
public JMemoryPool()
public JMemoryPool(int defaultBlockSize)
defaultBlockSize
- minimum memory block allocation size| Method Detail |
|---|
public static JBuffer buffer(int size)
size
- allocation size in bytes
public static void malloc(int size, JMemory storage)
size
- the sizestorage
- the storagepublic void allocate(int size, JMemory memory)
size
- number of bytesmemory
- memory pointerpublic JMemory allocateExclusive(int size)
size
- amount of native memory to allocate in bytes
public int duplicate(JMemory src, JMemory dst)
src
- source memory to copy fromdst
- destination object to peer with new memory containing copy of
memory pointed to by src
public int duplicate2(JMemory src1, JMemory src2, JMemory dst1, JMemory dst2)
src1
- first src for duplicatesrc2
- second src for duplicate into the same memorydst1
- peered with new memory using src1 lengthdst2
- peered with same memory at src1.length offset using src2 length as
length of peer
public int duplicate2(JMemory src1, java.nio.ByteBuffer src2, JMemory dst1, JMemory dst2)
src1
- first src for duplicatesrc2
- second src for duplicate into the same memorydst1
- peered with new memory using src1 lengthdst2
- peered with same memory at src1.length offset using src2 length as
length of peer
public int duplicate(java.nio.ByteBuffer src, JMemory dst)
src
- source memory to copy fromdst
- destination object to peer with new memory containing copy of
memory pointed to by src
public JMemoryPool.Block getBlock(int size)
size
- minimum available amount of memory in a block
JMemoryPool.Block.allocate(int)
the size of memory needed. The block
will then return an offset into the memory which has been reserved
for this allocation. The pool of used blocks with potential of some
available memory in them is maintained using a WeakReference. This
allows the blocks to be GCed when no references to them exist, even
if there is still a bit of available memory left in them.JMemoryPool.Block.allocate(int)
public static JMemoryPool defaultMemoryPool()
public static void shutdown()
public int getBlockSize()
public void setBlockSize(int blockSize)
blockSize
- the blockSize to set
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WITNESS LIST Juvenile Justice & Family Issues Committee April 13, 2005-10:30A HB 260 - Committee Substitute (CSHB 260) For: Stansbury, Judge Tom (Texas Family Law Foundation) On: Tindall, Harry (Self) HB 460 - Committee Substitute (CSHB 460) On: Shafer, Kathy (Office of the Attorney General/ Child Support Division) HB 1177 - Committee Substitute (CSHB 1177) For: Wolf, Laura (Texas Council on Family Violence) Against: Stansbury, Judge Tom (Texas Family Law Foundation) HB 1181 For: Burke, Cecelia (Self and Texas Association of Domestic Relations Office) HB 1449 - Committee Substitute (CSHB 1449) Against: Getting, Roy (Texas Father's Alliance) On: Key, Alicia (Office of the Attorney General/Child Support Division) Smith, Charles (Office of the Attorney General/ Child Support Division) Weaver, David (State Securities Board) HB 1556 For: Lander, Judge C. Victor (Municipal Judge, City of Dallas) Vasquez, Judge John (Self) Against: Prindle, Judge Sandy (Texas Justice of the Peace and Constables Association) On: Adams, Judge J. Kent (Justices of the Peace of Harris County) HB 1575 - Committee Substitute (CSHB 1575) For: King, Judge Deanie (City of Corpus Christi) On: Klein, Angie (Texas Department of Public Safety) HB 2159 - Committee Substitute (CSHB 2159) For: Allen, Greg (Self) Getting, Roy (Texas Father's Alliance) HB 2354 - Committee Substitute (CSHB 2354) Against: Getting, Roy (Texas Father's Alliance) On: Key, Alicia (Office of the Attorney General) Stansbury, Judge Tom (Texas Family Law Foundation) HB 3006 For: Brower, Sam (Self and Private Investigator) Krakauer, Jon (Self) Mankin, Randy (Self) Shurtleff, The Honorable Mark L. (Utah Attorney General, State of Utah) HB 3120 Against: Devany, Yvonne (Support Kids, Inc.) McMillion, Heather R. (Self and Support Kids, Inc.) HB 3120 - Committee Substitute (CSHB 3120) For: Getting, Roy (Texas Father's Alliance) Against: Diaz, Vanessa (Self and Support Kids, Inc.) Grubbs, Darryl (Child Support Enforcement Council) Rosenkoetter, Eric (Support Kids, Inc.) On: James, Dwain (American Collectors Association of Texas) Phillips, Shannon (Texas Department of Banking) HB 3388 For: Lyle, Debra A. (Self) Risinger, Richard (Self) Against: Spencer, Steve (Self)


The RDF Framework is a critical component of the open-source Catalog Pull Platform. Because of the very recent release of BIBFRAME 2.0 in April of 2016, the tools for converting MARC records to the BIBFRAME classes has just started. The first iteration of a linked-data tool produces the following BIBFRAME 2.0 graphs with minimal mappings.
A key advantage of the RDF Framework is that most definitions, mappings, and other tasks are structured in RDF, so learning the basics of RDF and Linked Data will enable staff to use the same technologies to build the tools as well as metadata manipulation need for cataloging and other technical services workflows.
<http://catalog.coloradocollege.edu/fbca3f82-63d2-11e6-90c8-005056c00008> a bf:Instance ; bf:bookFormat [ a bf:BookFormat ; rdf:value "(hbk.)" ] ;
Our instance is created a Colorado College Catalog URL with a RDF class of BIBFRAME Instance. The bookFormat property is set with a blank node and is mapped in the kds-bibcat-marc-ingestion.ttl turtle file
bf:carrier <http://id.loc.gov/vocabulary/carriers/nc> bf:classification [ a bf:ClassificationLcc ; rdf:value "PR6039.O32 Z6916 2015" ] ; bf:dimensions "22 cm." ; bf:extent [ a bf:Extent ; rdf:value "xix, 235 pages, 8 unnumbered pages of plates :" ] ;
The BIBFRAME Carrier is performed and linked to the Library of
Congress ontology available at
http://id.loc.gov/vocabulary/carriers/
. The
Library of Congress classification number is stored in a blank
node with a RDF class of
ClassificationLcc.
The BIBFRAME extent stores the page number and other units information in a blank node.
bf:identifiedBy [ a bf:Isbn ; rdf:value "0718021762", "9780718021764" ] ; bf:instanceOf [ a bf:Work ; bf:originDate "2015" ] ;
This item is identified by two ISBN numbers that are stored in a blank node for
the BF Instance's bf:identifiedBy
property. The ISBN identifiers are
used for de-duplicating Instances in the catalog. For metadata (like bf:originDate)
associated with a BIBFRAME Work is stored in a temporary blank node. A separate
generation process from the ingester is used to generate Work IRI for Instances.
bf:subject [ a bf:Topic ; rdf:value "World War, 1914-1918." ], [ a bf:Person ; rdf:value "Lewis, C. S. 1898-1963 Criticism and interpretation." ], [ a bf:Person ; rdf:value "Lewis, C. S. 1898-1963 Religion." ], [ a bf:Topic ; rdf:value "Literature and society England" ], [ a bf:Person ; rdf:value "Tolkien, J. R. R. 1892-1973 Criticism and interpretation." ], [ a bf:Person ; rdf:value "Tolkien, J. R. R. 1892-1973 Religion." ] ;
The BIBFRAME subjects are stored as blank nodes that with the values of various 600 and 650 MARC subfields. We are a developing a Subject Linker that takes these values and does a look-up on a LOC Authority triplestore to match the corresponding LOC IRI at http://id.loc.gov
bf:summary [ a bf:Summary ; rdf:value ""The untold story of how the First World War shaped the lives, faith, and writings of J.R.R. Tolkien and C.S. Lewis"--Amazon.com." ] ; bf:tableOfContents [ a bf:TableOfContents ; rdf:value "The funeral of a great myth -- The last battle -- In a hole in the ground there lived a hobbit -- The lion, the witch, and the war -- The land of shadow -- That hideous strength -- Conclusion: The Return of the King." ] ;
bf:title [ a bf:InstanceTitle ; bf:mainTitle "A hobbit, a wardrobe, and a great war :" ; bf:subtitle "how J.R.R. Tolkien and C.S. Lewis rediscovered faith, friendship, and heroism in the cataclysm of 1914-1918 /" ] ; relators:aut [ a bf:Person ; schema:name "Loconte, Joe," ] .
<http://catalog.coloradocollege.edu/fde0cb48-63d2-11e6-8296-005056c00008> a bf:Item ; bf:barcode [ a bf:Barcode ; rdf:value "33027006635050" ] ; bf:generationProcess [ a bf:GenerationProcess ; bf:generationDate "2016-08-16T17:00:53.646383" ; rdf:value "Generated by BIBCAT version 1.1.0 from KnowledgeLinks.io"@en ] ; bf:heldBy <http://www.coloradocollege.edu/> ; bf:identifiedBy [ a bf:Local ; rdf:value ".i23751198" ] ; bf:itemOf <http://catalog.coloradocollege.edu/fbca3f82-63d2-11e6-90c8-005056c00008> .
The BIBCAT Item should have additional properties that are specific to your ILS. In this case, a custom Turtle Rules file is being developed for extracting specific information to store in this BIBFRAME Item like barcode number and the item number from Colorado College's legacy ILS.


Mental Well-Being
Mental Well-Being
Introductory fluff. Why do we need this module? test reference (Nelson 1987).
Methods
What methods are used? Justification due to output data type. explanation of model output.
### Data
What variables are included? Why is this output chosen. What explanatory variables are used and why are they chosen
Results
What are the results. Coefficients tables. diagnostic plots. measures of goodness of fit.
##
## Call:
## lm(formula = formula, data = data, weights = weight)
##
## Weighted Residuals:
## Min 1Q Median 3Q Max
## -11929.0 -51.1 0.0 268.9 5850.7
##
## Coefficients:
## Estimate Std. Error t value Pr(>|t|)
## (Intercept) 34.485409 1.634733 21.095 < 2e-16 ***
## factor(sex)Male 0.575984 0.222052 2.594 0.009498 **
## factor(ethnicity)BLA 6.590234 1.660414 3.969 7.25e-05 ***
## factor(ethnicity)BLC 4.690490 1.865502 2.514 0.011936 *
## factor(ethnicity)CHI 6.343840 2.171633 2.921 0.003491 **
## factor(ethnicity)IND 4.194507 1.549387 2.707 0.006792 **
## factor(ethnicity)MIX 3.753619 1.634865 2.296 0.021690 *
## factor(ethnicity)OAS 6.334935 1.689290 3.750 0.000177 ***
## factor(ethnicity)OBL 7.008550 4.382247 1.599 0.109773
## factor(ethnicity)OTH 5.704026 2.218579 2.571 0.010149 *
## factor(ethnicity)PAK 4.016367 1.639869 2.449 0.014328 *
## factor(ethnicity)WBI 4.207545 1.409282 2.986 0.002835 **
## factor(ethnicity)WHO 3.073975 1.469116 2.092 0.036419 *
## age 0.113208 0.009517 11.895 < 2e-16 ***
## factor(education_state)1 -0.416676 0.836934 -0.498 0.618590
## factor(education_state)2 0.296434 0.307868 0.963 0.335632
## factor(education_state)3 0.660260 0.401769 1.643 0.100324
## factor(education_state)5 1.370757 0.433957 3.159 0.001588 **
## factor(education_state)6 0.447677 0.340639 1.314 0.188789
## factor(education_state)7 0.638411 0.390018 1.637 0.101676
## factor(labour_state)Family Care -2.007455 0.632196 -3.175 0.001499 **
## factor(labour_state)Maternity Leave -2.802892 1.299391 -2.157 0.031014 *
## factor(labour_state)PT Employed -0.749076 0.380365 -1.969 0.048929 *
## factor(labour_state)Retired -1.750428 0.400997 -4.365 1.28e-05 ***
## factor(labour_state)Self-employed -0.820380 0.412457 -1.989 0.046717 *
## factor(labour_state)Sick/Disabled -9.331572 0.612816 -15.227 < 2e-16 ***
## factor(labour_state)Student -0.308230 0.518760 -0.594 0.552409
## factor(labour_state)Unemployed -0.695720 0.584918 -1.189 0.234287
## scale(hh_income) 0.401025 0.105104 3.816 0.000136 ***
## scale(SF_12) 6.392215 0.139857 45.705 < 2e-16 ***
## factor(housing_quality)2 0.696491 0.699976 0.995 0.319741
## factor(housing_quality)3 1.522001 0.714000 2.132 0.033050 *
## ---
## Signif. codes: 0 '***' 0.001 '**' 0.01 '*' 0.05 '.' 0.1 ' ' 1
##
## Residual standard error: 700.4 on 15911 degrees of freedom
## Multiple R-squared: 0.1855, Adjusted R-squared: 0.1839
## F-statistic: 116.9 on 31 and 15911 DF, p-value: < 2.2e-16
References
Nelson, Edward. 1987. Radically Elementary Probability Theory. Princeton University Press.


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Man, 26, dies after car slips off pier on Arranmore Island
It is thought that the men may have been trying to turn the car on the pier when it slipped into the sea
by Stephen MaguireOne man has drowned and another escaped with his life after their car slipped off a pier off the west coast of Ireland.
The tragic accident occurred on Saturday night on the Island of Arranmore, when a car came off a pier and entered the harbour.
It is thought that the men may have been trying to turn the car on the pier when it slipped into the sea.
One man managed to get out of the vehicle but one was left trapped inside.
It is understood the man who died was a 26-year-old local man and was the driver of the car.
A full Garda investigation into the cause of the tragedy is underway.
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The Irish Mirror Twitter account is @IrishMirror while our sports account is @MirrorSportIE.
Our Instagram account can be found here.


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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
andSolver::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
andGradientProblemSolver
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
whenLineSearchMinimizer
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 precission loss warning on 64-bit archs (Ricardo Sanchez-Saez)
- Optionally use exported Eigen CMake configuration if available. (Alex Stewart)
- Use
Ceres_[SOURCE/BINARY]_DIR
notCMAKE_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 theIterationSummary`
toSolver::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
, andceil
(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 toSolver::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 ofWARNING
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
toLineSearchDirection::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
andBiCubicInterpolator
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
intobundle_adjustment_test
andsystem_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
andmore_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:
fromport.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
andGradientProblemSolver
.Eigen
can now be as a sparse linear algebra backend. This can be done by settingSolver::Options::sparse_linear_algebra_library_type
toEIGEN_SPARSE
. Performance should be comparable toCX_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 usingEigen
’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 forSolver::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 theCERES_VERSION_STRING
macro.Added
Solver::Options::IsValid
which allows users to validate their solver configuration before callingSolve
.Added
Problem::GetCostFunctionForResidualBlock
andProblem::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 overCostFunctionToFunctor
.POLAK_RIBIRERE
conjugate gradients direction type has been renamed toPOLAK_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 toSUITE_SPARSE_QR
to be consistent withEIGEN_SPARSE_QR
. Solver::Summary::preconditioner_type
has been replaced withSolver::Summary::preconditioner_type_given
andSolver::Summary::preconditioner_type_used
to be more consistent with how information about the linear solver is communicated.CERES_VERSION
andCERES_ABI_VERSION
macros were not terribly useful. They have been replaced withCERES_VERSION_MAJOR
,CERES_VERSION_MINOR
,CERES_VERSION_REVISION
andCERES_VERSION_ABI
macros. In particular the functionality ofCERES_VERSION
is provided byCERES_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 based entirely on Sphinx.
AutoDiffLocalParameterization
allows the use of automatic differentiation for definingLocalParameterization
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 usingCX_SPARSE
as the sparse linear algebra library. - Added
Problem::IsParameterBlockPresent
andProblem::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).
 This is error prone behaviour which leads to problems when copying theSolver::Options
struct around. This has been replaced with ashared_ptr
to handle ownership correctly across copies.The enum used for reporting the termination/convergence status of the solver has been renamed from
SolverTerminationType
toTerminationType
.The enum values have also changed.
FUNCTION_TOLERANCE
,GRADIENT_TOLERANCE
andPARAMETER_TOLERANCE
have all been replaced byCONVERGENCE
.NUMERICAL_FAILURE
has been replaed byFAILURE
.USER_ABORT
has been renamed toUSER_FAILURE
.Further
Solver::Summary::error
has been renamed toSolver::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\[\|g(x)\|_\infty < \text{gradient_tolerance} * \|g(x_0)\|_\infty\]where \(g(x)\) is the gradient of the objective function at \(x\) and \(x_0\) is the parmeter vector at the start of the optimization.
This has changed to an absolute tolerance, i.e. the solver converges when
\[\|g(x)\|_\infty < \text{gradient_tolerance}\]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 toNumTraits<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 toProblem::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
andgtest
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 ofSolver::Options::linear_solver_ordering
andSolver::Options::inner_iteration_ordering
. As a consequence theNDK
build now depends onlibc++
from theLLVM
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 likeAutoDiffCostFunction
.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 tocollections_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 toSolver::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
andDENSE_SCHUR
solvers. - Support for multiple dense linear algebra backends. In particular
optimized
BLAS
andLAPACK
implementations (e.g., Intel MKL, ACML, OpenBLAS etc) can now be used to do the dense linear algebra forDENSE_QR
,DENSE_NORMAL_CHOLESKY
andDENSE_SCHUR
- Use of Inner iterations can now be adaptively stopped. Iteration
and runtime statistics for inner iterations are not reported in
Solver::Summary
andSolver::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 forgoogle-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 generatingRPM
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)
- Stablize 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.
- Schur type solvers (
SPARSE_SCHUR
,DENSE_SCHUR
,ITERATIVE_SCHUR
) are significantly faster due to custom BLAS routines and fewer heap allocations. SPARSE_SCHUR
when used withCX_SPARSE
now uses a block AMD for much improved factorization performance.- The jacobian matrix is pre-ordered so that
SPARSE_NORMAL_CHOLESKY
andSPARSE_SCHUR
do not have to make copies insideCHOLMOD
. - Faster autodiff by replacing division by multplication by inverse.
- When compiled without threads, the schur eliminator does not pay the penalty for locking and unlocking mutexes.
- Schur type solvers (
- Users can now use
linear_solver_ordering
to affect the fill-reducing ordering used bySUITE_SPARSE
forSPARSE_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.
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 likeAutoDiffCostFunction
. - Added support for mixing automatic, analytic and numeric
differentiation. This is done by adding
CostFunctionToFunctor
andNumericDiffFunctor
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
.
- Report the ordering used by the
- 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 withoutSuiteSparse
.- 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 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)
1.4.0¶
Backward Incompatible API Changes¶
The new ordering API breaks existing code. Here the common case fixes.
Before
options.linear_solver_type = ceres::DENSE_SCHUR
options.ordering_type = ceres::SCHUR
After
options.linear_solver_type = ceres::DENSE_SCHUR
Before
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
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 portableEXPECT_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
andComposedLossFunction
. (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 slowerDENSE_SCHUR
andSPARSE_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
andParameterBlock::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
intest_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
toCERES_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
tointernal/ceres/gmock/mock-log.h
- Unified file path handling in tests.
data_fitting.cc
includesgflags
- 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 examplesCMake
file.
1.2.3¶
Bug Fixes¶
suitesparse_test
is enabled even when-DSUITESPARSE=OFF
.FixedArray
internal struct did not respectEigen
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
andFixedArray
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
insuitesparse.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 inRelease
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 incorrent 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. NowSuiteSparse
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.


[Gecode] License and Authorship
Gabor Szokoli
szokoli at ps.uni-sb.de
Fri Sep 3 14:41:58 CEST 2004
I agree as is.
It might work differently here, but in the US, our university had a
whole legal department for bullet-proofing our licenses and disclaimers
and file-header notices.
They made us put things in licences for example about not allowing the
use of the software in countries where local laws override any point of
the disclaimer, and so on. It definitely made them feel useful :-)
Gabor
Ps: Sorry about the top posting, no further comments, just for reference:
Christian Schulte wrote:
>Dear all,
>
>an important decision to be taken is which license should be used with
>Gecode. In discussion with Guido we went basically for the Mozart license,
>for your information please find it attached.
>
>Another important issue is about authorship. Here I have been always
>dissatisfied with how things were run with Mozart. Here Guido's and my
>proposal is as follows:
> - An author of a file is somebody who at one point in time has
>contributed more than 10% percent
> of the lines to that file.
> - A contributing author is somebody who has contributed more than 2%
>but not exceeding 10%
> (measure of contribution as above).
>
>I intend to automatize the generation of headers: years, authors,
>contributing authors, the statement of lack of liablity will all be
>generated automatically from the information in the CVS.
>
>I want that the following people agree to this by sending an okay to me:
> - Christian (which I do)
> - Guido (which he does, no Email needed)
> - Gabor
> - Gert (as Gert provides the resources for Guido and Gabor)
>
>Is there anything you want to add to that? The please do so as early as you
>can.
>
>Cheers
>Christian
>
>
>--
>Christian Schulte, http://www.imit.kth.se/~schulte/
>
>
>------------------------------------------------------------------------
>
>_______________________________________________
>Gecode mailing list
>Gecode at ps.uni-sb.de
>http://www.ps.uni-sb.de/mailman/listinfo/gecode
>
>
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mailing list


Chop your guys money very well – Tracey Boakye tells young ladies
by Qwame BenedictActress turned producer Tracey Boakye has advised that young ladies out there must be smart and get something beneficial from their relationship.
According to the actress in an interview with Zionfelix, the ladies must be very smart in recouping things from the guy since they are not married yet before its too late.
She stated that since they’ve made up their minds of dating then they should make sure they are able to get something out of the relationship.
She dilated about how people will never extend a helping hand to them if they fail to make good use of their relationships.
The actress further stated it is not beneficial for these ladies to be hungry while in a relationship.
Tracey Boakye also confessed to being in a relationship with someone older than her. She added that many older men are more responsible than the younger ones.


Francis Estores
StudentExperiences
20182019
Automotive Technology I
Auto Tech certified Arlington, VA- Learned how to fix cars in general
- Learned about the engine, construction, fuel and ignition systems, brakes, transmissions, electronic and diagnostic equipment, and more.
20172018
Photography
For fun... Arlington, VA- I take photos for fun and whatever I think its good... But I did take a photography class and that was fun.
- Learned a few photography techniques which was helpful
- How to use a camera in general... plus techniques to take good photos.
20192020
Animal Science/Veterinarian I
ANIMALS! Arlington, VA- Learned how to take care of different kinds of animals
- Learned how to use Pet First Aid, it can come in handy
Selected Projects
20172020
De'Aaron Fox Project
NBA PG for Sacramento Kings- Named McDonald's All-American & participated in the Jordan Brand Classic Game & shared MVP honors at the Jordan Brand Classic with Malik Monk after scoring a game-high 23 points on 8-of-16 shooting to go along with 5 rebounds.
- From Kentucky, 22-years old, NBA Debut-2017
- Sacramento Kings with the 5th overall pick in the 2017 NBA Draft. Became an early entry candidate after one collegiate season at the University of Kentucky
Education
20162020
Washington-Liberty High School
WnL Arlington, VAFun 4 years of High School.


PLANET SICK-BOY: http://www.sick-boy.com "We Put the SIN in Cinema"
If you're familiar with the name Shakespeare, the premise of Solomon and Gaenor shouldn't come as much of a surprise. It's got the whole doomed romance equation (young man + young woman x secret love = tragedy), but Gaenor is much more than a Romeo and Juliet rip-off. It was nominated for a Best Foreign Language Film Oscar earlier this year, and it's probably the first picture to have dialogue in Yiddish, Celtic and English.
Abandoning Verona for 1911 Wales, Gaenor begins by introducing each of the victims in the forthcoming romance. Solomon (Ioan Gruffudd, from the upcoming 102 Dalmatians) is an Orthodox Jew whose family hails from Russia. They run a successful pawnshop, where Solomon keeps the books and hits the town's streets with a pack full of fabric samples to woo potential customers to the family store.
Along with her mom, Gaenor (Nia Roberts, in her acting debut) is essentially a servant to her hard-working father and brother. Both burly men work at the coal mine, where Gaenor lost her boyfriend in an explosion. Like most of the inhabitants of this impoverished town, her Gentile family spends most of their time either at church or thinking about the next time they'll get to go to church.
When Gaenor opens the door to Solomon and his fabric, you can practically see the sparks fly. Utterly smitten, Solomon makes her a lovely dress out of one particular material that Gaenor admired during their first meeting. When he goes back to present her with the dress, the film almost captures an audible swoon coming from Gaenor, who finally succumbs to her secret attraction to Solomon.
The kicker is that Solomon never lets on that he's a Jew. In fact, he covers it up, pretending to be an Englishman named Sam Livingstone in order to pry Gaenor away from her overprotective family. Gaenor's parents seem pretty happy with `Sam,' but her big brother becomes suspicious when he notices that Solomon's hands aren't covered in calluses
The star-crossed lovers literally roll around in the hay but, like any guy who's just gotten some, Solomon turns into a jealous, post-coital jerk. Gaenor expects him to marry her, but he knows matrimony would be impossible if she learned the truth about his religion. And before you know it, Gaenor is blowing chunks during the morning chores.
 First-time writer/director Paul Morrisson keeps things even gloomier by setting the film in rainy, overcast weather. There's also a devastating scene where the pregnant Gaenor is booted out of church after she's accused of having pre-marital sex.
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{% extends 'email_base.html' %} {% load i18n %} {% block email_con %} {% autoescape off %}
{% trans "Hi," %}
{% blocktrans %} Your request for changing email from {{old_email}} to {{new_email}} is now done successfully. {% endblocktrans %}
{% blocktrans %} Please use the new email to login from now on.{% endblocktrans %}
{% endautoescape %} {% endblock %}


Tips:
Please be patient while using Thesaurus . It will respond a bit slower for now. Fix coming soon.
If you don't find your word in the dictionary, be patient .
I am in process upgrading the database very soon .
Please be patient while using Thesaurus . It will respond a bit slower for now. Fix coming soon.
If you don't find your word in the dictionary, be patient .
I am in process upgrading the database very soon .
About Developer
Bhanu Pratap Chaudhary is a web Developer since 2009 and currentlty deals with HTML5,CSS,SCALA and NOSQL databases.


[26]
Kristeller, P. O. (1993). The alleged ritual murder of Simon of Trent (1475) and its literary repercussions: A bibliographic study. Proceedings of the American Academy for Jewish Research, 59, 103-135.
https://doi.org/10.2307/3622714


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