Add a cubic interpolator based on the Catmull-Rom spline,
with support for automatic differentiation.

Change-Id: I02ae4c4ea37805ff1f717b05ea805989b474bd59

Change-Id: Ica8bf2b28bcbf6cde338f9ca3c64cd8a7d968a4c

Change-Id: Ia824f305b638c1263752efe35690fc0e5db9f75a

The previous commit broke levenberg_marquardt_strategy_test due
a change in the logging string being used.

Change-Id: I6ea69c0bba195c3e7d457d509b9a6605458d69b4

Change-Id: Idc7dce702e99637f47d7585399ef8da38f0b8111

When a user requests an operation on a parameter block which has
not been added to the problem, we now display a more helpful
error message with more context.

Change-Id: Ia7e54815111eb6375b31ed0d1cddca5917138ae1

- Results of find_program() are by default visible in the CMake GUI
  (cache), but the user has no reason to care in general about the
  location of the Homebrew executable detected.
- Note it is still available in the GUI, but only via toggling to the
  advanced display.

Change-Id: Ifb0e54c00d350cbfb3b2717d889570cab61cce54

- Reported by stonier@yujinrobot.com as Issue 153:
  https://code.google.com/p/ceres-solver/issues/detail?id=153

Change-Id: I3f0e67291adf129a6e7857ccc5f4e7e355feceb8

- As part of adding support for detection of non-standard Homebrew
  install on OSX, an Eigen specific search directory was added to the
  search path in the main CMakeLists.  This commit moves that search
  into FindEigen.cmake.

Change-Id: Ia6142211961a0d1fdddeea77b83438e4ef94434f

- Call through to Homebrew on OSX to determine it's install root
  in case it is not /usr/local and add the result to the CMake
  prefix path that is searched for all find_path/library calls.
- This should allow Ceres to compile even when Homebrew is installed
  in a non-standard location.

Change-Id: I230a5e12aef54617567bdfd20c4fd45c5a04a8bf

Thanks to Philipp Bender for reporting this.

Change-Id: I1f2947d378e0e98f6d225126a686d52738df3df0

Change-Id: Ida89b67c66b3bc7683d95e63646dfb2f9679d1b1

Change-Id: I7376f5e7eace22ec1fc05a61eaa858594f08682d

For historical reasons we had a "using namespace std;" in port.h. This
is generally a bad idea. So removing it and along the way doing a bunch
of cpplint cleanup.

Change-Id: Ia125601a55ae62695e247fb0250df4c6f86c46c6

- Also fix a typo in pointer to EIGENSPARSE documentation.

Change-Id: I1448fcf3680a65362c6f9b2d8a5ab0259da92364

- Previously we had no defined default value for
  sparse_linear_algebra_library_type in Solver::Options if Ceres
  was compiled with no sparse library available.  Thus in that case,
  the default value (dependent upon the compiler) would indicate that
  one was available.
- Now we have an explicit option that means no sparse library is
  available, which is now the default value in Solver::Options in this
  case.
- Add a warning in CMake when the user disables all sparse libraries.
- Fix typos in trust_region_preprocessor_test:
  (SUITE/CX)_SPARSE -> (SUITE/CX)SPARSE that induced failures when
  no sparse libraries were available.

Change-Id: I869c399a12d42bfc44220cbb25ce6d6dd80236bd

Thanks to Vasily Vylkov for suggesting the change.

Change-Id: I8e15f5ffdba2da5f55234d65ba4b9b0dadfb6085

This code never got expanded into a full preconditioner. No point
keeping dead code around.

Change-Id: I45badcd9e5f7eb39e8d288a96c65a02f325d76bd

Thanks to Markus Moll for maintaining the port and pointing me to
it.

Change-Id: Ia28fcbfb4946409de9e6b85d1dc332a25555195b

Update version history.

Change-Id: I1b73749ba10679396369e2af0a37699181b125fb

Change-Id: Iec2c6b5b0a2aa2e5e3b76200c5ac91000e41f267

Change-Id: If7bfaef9dea604b78290ab739e21ae2ec6195ed6

Change-Id: Ic55b8e48110bc651ae942d34fe5402a6e0422fe3

Update the version history.

Change-Id: I5de006c7c75b26d8c421bf1eeb525964121d2029

The line search used by the trust region minimizer when enforcing
the bounds constraints starts by using the trust region step
as the line search direction and if that fails, uses the gradient
as the fallback.

The problem with this logic is that the calling code only sees
whether one of the line searches succeeds or not. It does not see
that the fallback happened. So if the fallback line search suceeeds
it still thinks that the line search direction was the trust region
step. This is clearly wrong.

This change, removes the broken fallback logic. This has no effect
on current solution quality as it stands.

Change-Id: Ibc8edd98f77c782ec4708d1e66eaa76d6867b990

- If compiling without glog (but with gflags) on OSX, unistd.h is
  required for close() et al, when using glog this was pulled in
  indirectly.

Change-Id: I8f0807d98479e386921fb48da30683d027d4bc61

Also try solving the unconstrained problems from
three different starting points.

Change-Id: I8343a4dd979a3e8733981819915d25d6e9fcf993

- At version 2.1, gflags changed from using the google namespace, to
  using gflags by default.  However, it can be configured at build time
  to be something else (which would be google for legacy compatibility
  unless you were evil).
- Ceres previously assumed that gflags was in the google namespace.
- Now, FindGFlags.cmake extracts the namespace when gflags.h is found
  and saves it in GFLAGS_NAMESPACE.
- When building the tests and examples that require gflags,
  CERES_GFLAGS_NAMESPACE is defined to be the detected namespace, and
  all tests/examples now use CERES_GFLAGS_NAMESPACE:: instead of
  google:: when calling gflags functions.

Change-Id: Ia333df7a7e2f08ba9f26bbd339c3a785b88f04c4

- We now compute & report the cumulative time spent performing the
  following tasks as part of a line search:
  - Evaluation of the univariate cost function value & gradient.
  - Minimization of the interpolating polynomial.
  - Total time spent performing line searches.
- This information is now reported for all minimizers, although only in
  the case of a constrained problem for the TR minimizer.
- Remove LineSearch::Function abstraction in place of using
  LineSearchFunction implementation directly, and remove virtual
  functions from LineSearchFunction.
-- LineSearch::Function added an unnecessary level of abstraction since
   the user always had to create a LineSearchFunction anyway to use a
   Ceres Evaluator, and it added an unncessary virtual function call.

Change-Id: Ia4e1921d78f351ae119875aa97a3ea5e8b5d9877

Change-Id: Ifac9cdf0429c9dadd1ea49338ddcc3b83ac9ec11

Logging was happening unconditionally and that is rather jarring
in certain circumstances, e.g., when ceres is being called
inside a RANSAC loop.

Thanks to Bryan Klingner for reporting this.

Change-Id: I97a0b6c48df51f5f7362eb9d46654712ef044a00

Change-Id: I939bb5cf951f572832b0d665831ab2f6015f75f7

Fix the breakage!

Change-Id: Ic263852cd7c8a9615d8d3dab43c6cf7d81fc8d40

Since the trust region minimizer can use the line search
minimizer when it is solving a box constrained problem,
ensure that the line search options are valid.

Also some minor spacing fixes in the line search code.

Change-Id: Ife04204855cfac389cf980f0a79155d4accc8662

1. Remove an unused private member in TukeyLoss.
2. The test for RotationMatrixToAngle had an indexing error.

Change-Id: I7decc9448ae0abef53aa435005f739e9e0931e80

Change-Id: I74f586ac357df055e944f359463562197db79f1d

Change-Id: I05f40983f267dd1534e3eee8c0fc038e4429abed

Use this function to implement RotationMatrixToAngleAxis.
This simplifies the implementation of RotationMatrixToAngleAxis,
just like Eigen does. It is also autodiff compatible, unlike the
Eigen based version.

Also significantly improve the test coverage of
RotationMatrixToAngleAxis.

Change-Id: Ic192a12fb5de952197ee24b0deedc45f195477f1

Change-Id: I7c76f13e01863440fc207e99b3fc7ad3fb6f7d1a

Use Eigen's much more complicated conversion routine
when we encounter cases where the angle of rotation is
close to Pi.

Along the way also fix the way angle_axis vectors are
compared by making the matcher more robust.

Thanks to Tobias Strauss for reporting this.

Change-Id: Ia7e65dafad92c48d29d5f3cd22c4d6534789c183