CHAPTER 2. VERSION HISTORY 5
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 multithread-
ing, 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)
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