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.

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Sameer Agarwal, … Roger Labbe8

Sep 25

Ceres Solver Version 2.2.0 Release Candidate 1

Thanks for the details Roger. Let me see what we can do. Sameer On Fri, Sep 22, 2023 at 4:42 PM Roger

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Ceres Solver Version 2.2.0 Release Candidate 1

Thanks for the details Roger. Let me see what we can do. Sameer On Fri, Sep 22, 2023 at 4:42 PM Roger

Sep 25

Osama Ahmadieh, Sameer Agarwal2

Sep 18

Checking termination type

Usually the termination string will tell you which criterion was met. On Mon, Sep 18, 2023 at 8:08 AM

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Checking termination type

Usually the termination string will tell you which criterion was met. On Mon, Sep 18, 2023 at 8:08 AM

Sep 18

Luca Porzio, … Dmitriy Korchemkin10

Sep 6

Bad fit on a two-dimensional Gaussian function

Thanks Sameer and Dmitriy. The problem was obviously the loop. Regarding the initialization by

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Bad fit on a two-dimensional Gaussian function

Thanks Sameer and Dmitriy. The problem was obviously the loop. Regarding the initialization by

Sep 6

Oliver Woodford, Sameer Agarwal8

Aug 30

Is bundle adjustment really 3x faster in Julia than using ceres-solver?

Fair enough. But any speed-ups to cost evaluation tend to also apply to the Jacobian evaluation,

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Is bundle adjustment really 3x faster in Julia than using ceres-solver?

Fair enough. But any speed-ups to cost evaluation tend to also apply to the Jacobian evaluation,

Aug 30

Cameron Conroy, … Sameer Agarwal10

Aug 24

Ceres 2.1.0 CUDA Dense Linear Algebra Library causes preprocessor to take a VERY LONG TIME

Cameron, There is no single answer to this question because the threshold where tinysolver gets

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Ceres 2.1.0 CUDA Dense Linear Algebra Library causes preprocessor to take a VERY LONG TIME

Cameron, There is no single answer to this question because the threshold where tinysolver gets

Aug 24

Lu Ezra, Sameer Agarwal2

Aug 24

Utilizing Approximated Hessian in Embedded Optimization for Bayesian Problem

Lu, If I am understanding correctly you are asking if you can inject/carry a hessian approximation

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Utilizing Approximated Hessian in Embedded Optimization for Bayesian Problem

Lu, If I am understanding correctly you are asking if you can inject/carry a hessian approximation

Aug 24

Frank Neuhaus, … Sameer Agarwal5

Aug 11

Detecting/handling 32 bit overflows

Thanks Frank, I will clean it up and check it in. Sameer On Fri, Aug 11, 2023, 1:33 AM Frank Neuhaus

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Detecting/handling 32 bit overflows

Thanks Frank, I will clean it up and check it in. Sameer On Fri, Aug 11, 2023, 1:33 AM Frank Neuhaus

Aug 11

Jonathan Sade, Sameer Agarwal3

Aug 6

memory footprint

Thank you very much Sameer! On Sun, Aug 6, 2023, 19:03 'Sameer Agarwal' via Ceres Solver <

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memory footprint

Thank you very much Sameer! On Sun, Aug 6, 2023, 19:03 'Sameer Agarwal' via Ceres Solver <

Aug 6

Максим Смольский, Sameer Agarwal2

Aug 4

Documentation update

sure I will push an update shortly. Sameer On Fri, Aug 4, 2023 at 6:03 PM Максим Смольский <

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Documentation update

sure I will push an update shortly. Sameer On Fri, Aug 4, 2023 at 6:03 PM Максим Смольский <

Aug 4

dr.a.k...@gmail.com, … Sameer Agarwal6

Jul 21

Optimise image via Grid2d?

I see the problem. I was wrong in my recommendation. I thought you were trying to optimize a warp but

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Optimise image via Grid2d?

I see the problem. I was wrong in my recommendation. I thought you were trying to optimize a warp but

Jul 21

ellat, Sameer Agarwal2

Jul 21

How to modify an Eigen::Matrix row passed to a ceres cost function?

Ellat, It is hard to tell what you are doing without seeing a fragment of example code. Sameer On Fri

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How to modify an Eigen::Matrix row passed to a ceres cost function?

Ellat, It is hard to tell what you are doing without seeing a fragment of example code. Sameer On Fri

Jul 21

xstamat...@gmail.com, Sameer Agarwal2

Jun 30

A posteriori variance factor in Covariance matrix

I believe numpy/scipy does something like this. You are welcome to apply such a scaling yourself to

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A posteriori variance factor in Covariance matrix

I believe numpy/scipy does something like this. You are welcome to apply such a scaling yourself to

Jun 30

max, Sameer Agarwal5

Jun 28

Seeking help with my can locator problem

Max, You can certainly do what you are suggesting. Given that your data is only accurate to a couple

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Seeking help with my can locator problem

Max, You can certainly do what you are suggesting. Given that your data is only accurate to a couple

Jun 28

Arthur Bawin, Sameer Agarwal6

Jun 22

Using Ceres with an available hessian

the objective function should be the distance the squared distances and nots its derivative. you are

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Using Ceres with an available hessian

the objective function should be the distance the squared distances and nots its derivative. you are

Jun 22

mengk...@gmail.com, Dmitriy Korchemkin2

Jun 16

Use Gradient Descent in Ceres

Hi, Mengkun You might want to take a look at http://ceres-solver.org/gradient_solver.html . It

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Use Gradient Descent in Ceres

Hi, Mengkun You might want to take a look at http://ceres-solver.org/gradient_solver.html . It

Jun 16

Peter Friess, … Sergiu Deitsch7

May 27

Problems with Examples

Unless you are compiling Ceres sources outside of its CMake workspace, setting the macro should not

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Problems with Examples

Unless you are compiling Ceres sources outside of its CMake workspace, setting the macro should not

May 27

AD, Dmitriy Korchemkin4

May 27

Reporjection error.

Yes, if you pass the same data pointer into two different AddResidualBlock calls - those residual

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Reporjection error.

Yes, if you pass the same data pointer into two different AddResidualBlock calls - those residual

May 27

Arne Jacobs, … Rasmus15

May 19

Conditional evaluation in auto-diff cost function (e.g., if-statement) possible?

Yeah actually I'm adapting a calibration solution utilizing spheres to work with boxes, because

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Conditional evaluation in auto-diff cost function (e.g., if-statement) possible?

Yeah actually I'm adapting a calibration solution utilizing spheres to work with boxes, because

May 19

Robin Rofallski, … Sameer Agarwal5

May 17

nvcc error in 2.2.0 build - Visual Studio/MSVC

Ty, Alex or Sergiu know cmake well. They will review. On Wed, May 17, 2023, 1:29 AM Jason <jamak3@

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nvcc error in 2.2.0 build - Visual Studio/MSVC

Ty, Alex or Sergiu know cmake well. They will review. On Wed, May 17, 2023, 1:29 AM Jason <jamak3@

May 17

Arrigo Benedetti, Dmitriy Korchemkin3

May 8

Using ceres for penalized spline regression

Good idea, thanks! On Saturday, May 6, 2023 at 12:26:19 PM UTC-7 Dmitriy Korchemkin wrote: I think

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Using ceres for penalized spline regression

Good idea, thanks! On Saturday, May 6, 2023 at 12:26:19 PM UTC-7 Dmitriy Korchemkin wrote: I think

May 8

Dkhold, … Sameer Agarwal9

Apr 17

Scaling of non-linear LS shift vector for parameter weighting

Small correction to my above code: I mentioned a small but non-zero multiplier (1/1000) for

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Scaling of non-linear LS shift vector for parameter weighting

Small correction to my above code: I mentioned a small but non-zero multiplier (1/1000) for

Apr 17

Estelle Jiao, Sameer Agarwal2

Apr 6

Error in evaluating the ResidualBlock -> some values are Uninitialized

The problem is that the jacobian for your cost function is 3x7 but you are only filling 18 out of

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Error in evaluating the ResidualBlock -> some values are Uninitialized

The problem is that the jacobian for your cost function is 3x7 but you are only filling 18 out of

Apr 6

Dong Ren, Sergiu Deitsch2

Apr 3

Link Error with using CostFunctionToFunctor

You don't seem to be linking against Ceres which is the usual cause for such errors. There could

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Link Error with using CostFunctionToFunctor

You don't seem to be linking against Ceres which is the usual cause for such errors. There could

Apr 3

Salih Marangoz, Sameer Agarwal2

Mar 27

How to interface with AutoDiffCostFunction, Nand Manifold

Salih, What you are proposing is not possible with existing tools but you can easily compose a

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How to interface with AutoDiffCostFunction, Nand Manifold

Salih, What you are proposing is not possible with existing tools but you can easily compose a

Mar 27

Ghasem Abdi, … Dmitriy Korchemkin6

Mar 24

Adding Inner Constraints

Thanks Dmitriy, it makes a lot of sense. The one that you offered is the minimum constraints bundle

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Adding Inner Constraints

Thanks Dmitriy, it makes a lot of sense. The one that you offered is the minimum constraints bundle

Mar 24

Joseph DeCunha, Sameer Agarwal3

Mar 23

Implementing inequality constraints by returning false from cost function

Thanks for your fast reply! I will try implementing some penalty terms in the cost function rather

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Implementing inequality constraints by returning false from cost function

Thanks for your fast reply! I will try implementing some penalty terms in the cost function rather

Mar 23

James Bruce, … Sameer Agarwal7

Mar 21

Abseil logging library

Jim, I think it would make sense to wait till we move to abseil so that we are not churning on the

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Abseil logging library

Jim, I think it would make sense to wait till we move to abseil so that we are not churning on the

Mar 21

Mitja P, Sameer Agarwal2

Mar 20

How to prevent scaling of entire problem to zero

Mitja, On Mon, Mar 20, 2023 at 11:34 AM Mitja P <mit...@gmail.com> wrote: I am trying to

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How to prevent scaling of entire problem to zero

Mitja, On Mon, Mar 20, 2023 at 11:34 AM Mitja P <mit...@gmail.com> wrote: I am trying to

Mar 20

Johannes Brünger, Sameer Agarwal2

Mar 16

How to weight different residuals properly in ceres-solver?

yes this is reasonable. Sameer On Thu, Mar 16, 2023 at 6:57 AM Johannes Brünger <johannes.bruenger

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How to weight different residuals properly in ceres-solver?

yes this is reasonable. Sameer On Thu, Mar 16, 2023 at 6:57 AM Johannes Brünger <johannes.bruenger

Mar 16

mengk...@gmail.com, Sameer Agarwal3

Mar 15

enforce different parameters to be the same result

Hi Sameer, thank you very much for your reply! Sure! That's good to know for me now, I will use a

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enforce different parameters to be the same result

Hi Sameer, thank you very much for your reply! Sure! That's good to know for me now, I will use a

Mar 15

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