Ceres Solver Version 1.13.0 Release Candidate 1

[Sameer Agarwal]

Hello Everyone,

We are pleased to announce the availability of version 1.13.0 Release Candidate 1. The tarball can be downloaded from

http://ceres-solver.org/ceres-solver-1.13.0rc1.tar.gz

The two biggest changes are:

1. A complete re-write of SPARSE_NORMAL_CHOLESKY solver which has resulted in significant performance improvements as well as code cleanup. 
   
2. GradientProblemSolver and LINE_SEARCH minimizer use up to 50% fewer function/gradient evaluations. 

There is one minor API change:

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.

Besides this there is the usual bevy of bug fixes & performance improvements. We would appreciate you testing on as many platforms as possible and we would love to hear of your experiences, good and bad.

Happy optimizing,

Ceres Solver Team

[Philipp Huebner]

Hi

Am 10.07.2017 um 20:54 schrieb 'Sameer Agarwal' via Ceres Solver:
> Hello Everyone,
>
> We are pleased to announce the availability
> of version 1.13.0 Release Candidate 1. The tarball can be downloaded from
>
> http://ceres-solver.org/ceres-solver-1.13.0rc1.tar.gz

Trying to package it for Debian, I encountered
https://github.com/ceres-solver/ceres-solver/issues/304

All other tests succeeded.

Regards,
--
.''`. Philipp Huebner <deba...@debian.org>
: :' : pgp fp: 6719 25C5 B8CD E74A 5225 3DF9 E5CA 8C49 25E4 205F
`. `'`
`-

[Sameer Agarwal]

Thanks Philipp, I will take a look in the next day or so.

Sameer

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[Sameer Agarwal]

Any other testing feedback? especially on windows? If I do not hear about any other bugs, I will plan on making a release thursday (8/3).

Sameer

[Yvonnic]

Hi,

Thanks Sameer for the release.

Tested it a little on Windows with VS2010 and SuiteSparse (cmake -DLAPACK=ON -DSUITESPARSE=ON -DCXSPARSE=ON ...)
Doing Bundle Adjustment with SPARSE_NORMAL_CHOLESKY solver, I see a 6% timing performance improvement (on overall application)
Slight result difference for some camera positions/orientation.

No building issue, crash issue, or incorrect result for the moment.

Regards,

Yvonnic

[Sameer Agarwal]

Thanks Yvonnic. I am glad you see a performance improvement!

Sameer

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