Ceres Solver

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Ceres Solver (www.ceres-solver.org) is an open source C++ library for modeling and solving large, complicated optimization problems. It can be used to solve Non-linear Least Squares problems with bounds constraints and general unconstrained optimization problems. It is a mature, feature rich, and performant library that has been used in production at Google since 2010.

This is the mailing list for discussion, bug reports etc.

0 selected

Kip Warner, Sameer Agarwal5

Dec 2

ceres::AutoDiffCostFunction template instantiation chokes gcc

On Mon, 2024-12-02 at 11:11 -0800, 'Sameer Agarwal' via Ceres Solver wrote: > It's

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ceres::AutoDiffCostFunction template instantiation chokes gcc

On Mon, 2024-12-02 at 11:11 -0800, 'Sameer Agarwal' via Ceres Solver wrote: > It's

Dec 2

Anatoly Ryabchenko, Sameer Agarwal2

Dec 1

Ceres solver crashes the app, after throwing "Check failed: step_quality > 0.0..." error

This indicates a numerical error in computing the step size, and likely an indication of a bug in

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Ceres solver crashes the app, after throwing "Check failed: step_quality > 0.0..." error

This indicates a numerical error in computing the step size, and likely an indication of a bug in

Dec 1

Sep 28

Build issues at HEAD

Hi Folks, As we made the transition to using absl in Ceres Solver, the build and install process went

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Build issues at HEAD

Hi Folks, As we made the transition to using absl in Ceres Solver, the build and install process went

Sep 28

Paul-Edouard Sarlin, Sameer Agarwal4

Sep 26

Weighted cost function wrapper

Nice bit of template meta programming. Two comments. 1. WeightedCostFunction is really

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Weighted cost function wrapper

Nice bit of template meta programming. Two comments. 1. WeightedCostFunction is really

Sep 26

raf...@dotproduct3d.com, Sameer Agarwal2

Sep 26

Run multiple ceres::Solve() in parallel

Yes. On Thu, Sep 26, 2024, 2:37 AM raf...@dotproduct3d.com <raf...@dotproduct3d.com> wrote:

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Run multiple ceres::Solve() in parallel

Yes. On Thu, Sep 26, 2024, 2:37 AM raf...@dotproduct3d.com <raf...@dotproduct3d.com> wrote:

Sep 26

Kip Warner, … Sameer Agarwal38

Sep 24

Correct usage for triplet loss / non-metric multidimensional scaling problem

On Tue, 2024-09-24 at 10:05 -0700, Sameer Agarwal wrote: > Gradient checking is based on numerical

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Correct usage for triplet loss / non-metric multidimensional scaling problem

On Tue, 2024-09-24 at 10:05 -0700, Sameer Agarwal wrote: > Gradient checking is based on numerical

Sep 24

Shengkai Guo, Sameer Agarwal2

Sep 13

How to Access Variable Values After Each Iteration in Ceres?

http://ceres-solver.org/nnls_solving.html#_CPPv4N5ceres6Solver7Options28update_state_every_iterationE

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How to Access Variable Values After Each Iteration in Ceres?

http://ceres-solver.org/nnls_solving.html#_CPPv4N5ceres6Solver7Options28update_state_every_iterationE

Sep 13

Sameer Agarwal, … enrique.fern...@gmail.com8

Sep 13

Mixed Precision Support for SuiteSparse

Thanks, I'd look into that. It'd take me some time to report my findings. On Friday,

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Mixed Precision Support for SuiteSparse

Thanks, I'd look into that. It'd take me some time to report my findings. On Friday,

Sep 13

Igor, … Sameer Agarwal5

Sep 4

Classic BA: How good is good enough? (Initial camera positions)

Igor, I am pointing out a much simpler problem with your code. Let us assume that your dataset has

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Classic BA: How good is good enough? (Initial camera positions)

Igor, I am pointing out a much simpler problem with your code. Let us assume that your dataset has

Sep 4

Suneel Kumar, Sameer Agarwal5

Sep 4

How to add perturbations when the loss function is stuck at gradient zero

Sorry this dropped off my radar. Your residual is the cross product of two vectors, while it is the

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How to add perturbations when the loss function is stuck at gradient zero

Sorry this dropped off my radar. Your residual is the cross product of two vectors, while it is the

Sep 4

Roger Labbe, Sameer Agarwal3

Jul 28

Dealing with jet numbers, cost functions with EvaluationCallback

oops I meant to paste https://github.com/ceres-solver/ceres-solver/blob/master/include/ceres/

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Dealing with jet numbers, cost functions with EvaluationCallback

oops I meant to paste https://github.com/ceres-solver/ceres-solver/blob/master/include/ceres/

Jul 28

raf...@dotproduct3d.com, … Sameer Agarwal4

Jul 27

Reusing LossFunction instances for AddResidualBlock()

Yes. On Sat, Jul 27, 2024, 2:47 AM raf...@dotproduct3d.com <raf...@dotproduct3d.com> wrote:

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Reusing LossFunction instances for AddResidualBlock()

Yes. On Sat, Jul 27, 2024, 2:47 AM raf...@dotproduct3d.com <raf...@dotproduct3d.com> wrote:

Jul 27

Rasmus, Sameer Agarwal8

Jul 23

Why does setting parameter bounds destroy this optimization?

Thank you. On Tue, Jul 23, 2024, 8:02 AM Rasmus <rasmusdie...@gmail.com> wrote: After

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Why does setting parameter bounds destroy this optimization?

Thank you. On Tue, Jul 23, 2024, 8:02 AM Rasmus <rasmusdie...@gmail.com> wrote: After

Jul 23

raf...@dotproduct3d.com, Sameer Agarwal16

Jul 22

Error in CostFunction Documentation?

For future readers: I was made aware of this thread on github, which nails it: https://github.com/

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Error in CostFunction Documentation?

For future readers: I was made aware of this thread on github, which nails it: https://github.com/

Jul 22

raf...@dotproduct3d.com, Sameer Agarwal3

Jul 21

Flagging outlier observations

Got it, thanks! On Sunday, July 21, 2024 at 7:04:03 PM UTC+2 sameer...@google.com wrote: There is no

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Flagging outlier observations

Got it, thanks! On Sunday, July 21, 2024 at 7:04:03 PM UTC+2 sameer...@google.com wrote: There is no

Jul 21

raf...@dotproduct3d.com2

Jul 21

SE(3) Pose Manifolds Jacobians

Actually, this thread answered my question perfectly: https://groups.google.com/g/ceres-solver/c/

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SE(3) Pose Manifolds Jacobians

Actually, this thread answered my question perfectly: https://groups.google.com/g/ceres-solver/c/

Jul 21

Jul 10

Sparse Solver support on Nvidia GPUs

Hi Folks, Mark Shachkov (with some help from our friends at nvidia) has just committed support for

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Sparse Solver support on Nvidia GPUs

Hi Folks, Mark Shachkov (with some help from our friends at nvidia) has just committed support for

Jul 10

Young Ho Shin, Sameer Agarwal4

Jun 9

EvaluationCallback with AutoDiffCostFunction?

Sorry for the late reply. Your computation is of the form f1 + g, f2 + g, f3 + g, where g is the

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EvaluationCallback with AutoDiffCostFunction?

Sorry for the late reply. Your computation is of the form f1 + g, f2 + g, f3 + g, where g is the

Jun 9

Praharsh Suryadevara, Sameer Agarwal2

Jun 7

Unconstrained optimization with trust newton

I am sorry but that is not possible. On Fri, Jun 7, 2024, 11:42 AM Praharsh Suryadevara <

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Unconstrained optimization with trust newton

I am sorry but that is not possible. On Fri, Jun 7, 2024, 11:42 AM Praharsh Suryadevara <

Jun 7

Goksan Isil (Alumni), … Dmitriy Korchemkin4

Jun 4

Handeye calibration

I've been using the matrix inverse explicitly. On Friday, May 31, 2024 at 6:49:36 AM UTC+2

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Handeye calibration

I've been using the matrix inverse explicitly. On Friday, May 31, 2024 at 6:49:36 AM UTC+2

Jun 4

Giorgio, Sameer Agarwal5

May 27

Multiple EvaluationCallbacks?

The simplest thing would be to wrap your computation inside a costfunction and check it. On Mon, May

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Multiple EvaluationCallbacks?

The simplest thing would be to wrap your computation inside a costfunction and check it. On Mon, May

May 27

Ankor, Sameer Agarwal2

May 6

Premade factor library?

Gtsam perhaps? On Sun, May 5, 2024, 11:53 PM Ankor <lowel...@gmail.com> wrote: Hello, Is

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Premade factor library?

Gtsam perhaps? On Sun, May 5, 2024, 11:53 PM Ankor <lowel...@gmail.com> wrote: Hello, Is

May 6

Ankor, Andreu Corominas Murtra2

Apr 30

Time offset estimation?

Hi , some hint , hope it helps: This is the standard case in GPS, where receiver has to estimate x,y,

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Time offset estimation?

Hi , some hint , hope it helps: This is the standard case in GPS, where receiver has to estimate x,y,

Apr 30

Robin Rofallski, … Sergiu Deitsch4

Apr 19

Templating for polymorphism

You want a template template parameter here: template <template <class> class IO> struct

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Templating for polymorphism

You want a template template parameter here: template <template <class> class IO> struct

Apr 19

lsim, … Patrik Huber3

Mar 17

vcppkg - version 2.2

Hi, There's an issue (https://github.com/microsoft/vcpkg/issues/34483) and a PR (https://github.

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vcppkg - version 2.2

Hi, There's an issue (https://github.com/microsoft/vcpkg/issues/34483) and a PR (https://github.

Mar 17

Xiaochen Fan, Sergiu Deitsch3

Mar 10

What is the right way to use QuaternionManifold for a simple ICP-like optimization?

Thanks a lot for your help! I realised the mistake. It works now. On Saturday, March 9, 2024 at 4:51:

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What is the right way to use QuaternionManifold for a simple ICP-like optimization?

Thanks a lot for your help! I realised the mistake. It works now. On Saturday, March 9, 2024 at 4:51:

Mar 10

Ky Waegel, Sergiu Deitsch2

Mar 8

Detecting libraries emits non-fatal errors

This is expected. An incompatible package version in CMake does not produce a fatal error unless the

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Detecting libraries emits non-fatal errors

This is expected. An incompatible package version in CMake does not produce a fatal error unless the

Mar 8

Rasmus, … Andreu Corominas Murtra6

Mar 3

How can I write a manifold for single euler angles?

I came up with this implementation now, which at least does not seem to destroy the optimization ```

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How can I write a manifold for single euler angles?

I came up with this implementation now, which at least does not seem to destroy the optimization ```

Mar 3

Christoph Vogel

Feb 13

Power bundle adjustment (as linear solver) -- experience / "user study"

Hello, I saw the power bundle adjustment being implemented in Ceres. I am amazed how quickly new

unread,

Power bundle adjustment (as linear solver) -- experience / "user study"

Hello, I saw the power bundle adjustment being implemented in Ceres. I am amazed how quickly new

Feb 13

Zheng Dong, Sameer Agarwal2

Feb 12

Is evaluate function costly? Is it the best way to retrieve the residuals after optimization?

No there is no way to get the residuals from the optimization, you have to call Evaluate. Sameer On

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Is evaluate function costly? Is it the best way to retrieve the residuals after optimization?

No there is no way to get the residuals from the optimization, you have to call Evaluate. Sameer On

Feb 12

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