├── .clang-format ├── .github └── workflows │ ├── android.yml │ ├── linux.yml │ ├── macos.yml │ └── windows.yml ├── .gitignore ├── BUILD ├── CITATION.cff ├── CMakeLists.txt ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── WORKSPACE ├── bazel └── ceres.bzl ├── cmake ├── AddCompileFlagsIfSupported.cmake ├── AddGerritCommitHook.cmake ├── CeresCompileOptionsToComponents.cmake ├── CeresConfig.cmake.in ├── CheckIfUnderscorePrefixedBesselFunctionsExist.cmake ├── CreateCeresConfig.cmake ├── DetectBrokenStackCheckMacOSXcodePairing.cmake ├── EnableSanitizer.cmake ├── FindAccelerateSparse.cmake ├── FindGlog.cmake ├── FindMETIS.cmake ├── FindSphinx.cmake ├── FindSuiteSparse.cmake ├── FindTBB.cmake ├── PrettyPrintCMakeList.cmake ├── ReadCeresVersionFromSource.cmake ├── UpdateCacheVariable.cmake ├── config.h.in ├── iOS.cmake └── uninstall.cmake.in ├── config └── ceres │ └── internal │ ├── config.h │ └── export.h ├── data ├── 2x2.foe ├── 3x3.foe ├── 5x5.foe ├── README.foe ├── ceres_noisy.pgm ├── libmv-ba-problems │ ├── Readme.txt │ ├── problem_01.bin │ ├── problem_02.bin │ └── problem_03.bin ├── nist │ ├── Bennett5.dat │ ├── BoxBOD.dat │ ├── Chwirut1.dat │ ├── Chwirut2.dat │ ├── DanWood.dat │ ├── ENSO.dat │ ├── Eckerle4.dat │ ├── Gauss1.dat │ ├── Gauss2.dat │ ├── Gauss3.dat │ ├── Hahn1.dat │ ├── Kirby2.dat │ ├── Lanczos1.dat │ ├── Lanczos2.dat │ ├── Lanczos3.dat │ ├── MGH09.dat │ ├── MGH10.dat │ ├── MGH17.dat │ ├── Misra1a.dat │ ├── Misra1b.dat │ ├── Misra1c.dat │ ├── Misra1d.dat │ ├── Nelson.dat │ ├── Rat42.dat │ ├── Rat43.dat │ ├── Roszman1.dat │ └── Thurber.dat └── problem-16-22106-pre.txt ├── docs ├── CMakeLists.txt └── source │ ├── CMakeLists.txt │ ├── _templates │ └── layout.html │ ├── analytical_derivatives.rst │ ├── automatic_derivatives.rst │ ├── bibliography.rst │ ├── conf.py │ ├── contributing.rst │ ├── derivatives.rst │ ├── faqs.rst │ ├── features.rst │ ├── forward_central_error.png │ ├── forward_central_ridders_error.png │ ├── gradient_solver.rst │ ├── gradient_tutorial.rst │ ├── index.rst │ ├── installation.rst │ ├── interfacing_with_autodiff.rst │ ├── inverse_and_implicit_function_theorems.rst │ ├── least_squares_fit.png │ ├── license.rst │ ├── loss.png │ ├── manhattan_olson_3500_result.png │ ├── modeling_faqs.rst │ ├── nnls_covariance.rst │ ├── nnls_modeling.rst │ ├── nnls_solving.rst │ ├── nnls_tutorial.rst │ ├── non_robust_least_squares_fit.png │ ├── numerical_derivatives.rst │ ├── pose_graph_3d_ex.png │ ├── robust_least_squares_fit.png │ ├── slam2d.png │ ├── solving_faqs.rst │ ├── spivak_notation.rst │ ├── tutorial.rst │ ├── users.rst │ └── version_history.rst ├── examples ├── BUILD ├── CMakeLists.txt ├── Makefile.example ├── bal_problem.cc ├── bal_problem.h ├── bicubic_interpolation.cc ├── bicubic_interpolation_analytic.cc ├── bundle_adjuster.cc ├── circle_fit.cc ├── curve_fitting.c ├── curve_fitting.cc ├── denoising.cc ├── ellipse_approximation.cc ├── fields_of_experts.cc ├── fields_of_experts.h ├── helloworld.cc ├── helloworld_analytic_diff.cc ├── helloworld_numeric_diff.cc ├── libmv_bundle_adjuster.cc ├── libmv_homography.cc ├── more_garbow_hillstrom.cc ├── nist.cc ├── pgm_image.h ├── powell.cc ├── random.h ├── robot_pose_mle.cc ├── robust_curve_fitting.cc ├── rosenbrock.cc ├── rosenbrock_analytic_diff.cc ├── rosenbrock_numeric_diff.cc ├── sampled_function │ ├── CMakeLists.txt │ ├── README.md │ └── sampled_function.cc ├── simple_bundle_adjuster.cc ├── slam │ ├── CMakeLists.txt │ ├── common │ │ └── read_g2o.h │ ├── pose_graph_2d │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── angle_manifold.h │ │ ├── normalize_angle.h │ │ ├── plot_results.py │ │ ├── pose_graph_2d.cc │ │ ├── pose_graph_2d_error_term.h │ │ └── types.h │ └── pose_graph_3d │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── plot_results.py │ │ ├── pose_graph_3d.cc │ │ ├── pose_graph_3d_error_term.h │ │ └── types.h └── snavely_reprojection_error.h ├── include └── ceres │ ├── autodiff_cost_function.h │ ├── autodiff_first_order_function.h │ ├── autodiff_manifold.h │ ├── c_api.h │ ├── ceres.h │ ├── conditioned_cost_function.h │ ├── constants.h │ ├── context.h │ ├── cost_function.h │ ├── cost_function_to_functor.h │ ├── covariance.h │ ├── crs_matrix.h │ ├── cubic_interpolation.h │ ├── dynamic_autodiff_cost_function.h │ ├── dynamic_cost_function.h │ ├── dynamic_cost_function_to_functor.h │ ├── dynamic_numeric_diff_cost_function.h │ ├── evaluation_callback.h │ ├── first_order_function.h │ ├── gradient_checker.h │ ├── gradient_problem.h │ ├── gradient_problem_solver.h │ ├── internal │ ├── array_selector.h │ ├── autodiff.h │ ├── disable_warnings.h │ ├── eigen.h │ ├── euler_angles.h │ ├── fixed_array.h │ ├── householder_vector.h │ ├── integer_sequence_algorithm.h │ ├── jet_traits.h │ ├── line_parameterization.h │ ├── memory.h │ ├── numeric_diff.h │ ├── parameter_dims.h │ ├── port.h │ ├── reenable_warnings.h │ ├── sphere_manifold_functions.h │ └── variadic_evaluate.h │ ├── iteration_callback.h │ ├── jet.h │ ├── jet_fwd.h │ ├── line_manifold.h │ ├── loss_function.h │ ├── manifold.h │ ├── manifold_test_utils.h │ ├── marginalizable_manifold.h │ ├── marginalization.h │ ├── normal_prior.h │ ├── numeric_diff_cost_function.h │ ├── numeric_diff_first_order_function.h │ ├── numeric_diff_options.h │ ├── ordered_groups.h │ ├── pose2manifold.h │ ├── problem.h │ ├── product_manifold.h │ ├── rebased_cost_function.h │ ├── rotation.h │ ├── sized_cost_function.h │ ├── solver.h │ ├── sphere_manifold.h │ ├── tiny_solver.h │ ├── tiny_solver_autodiff_function.h │ ├── tiny_solver_cost_function_adapter.h │ ├── types.h │ └── version.h ├── internal └── ceres │ ├── CMakeLists.txt │ ├── accelerate_sparse.cc │ ├── accelerate_sparse.h │ ├── array_selector_test.cc │ ├── array_utils.cc │ ├── array_utils.h │ ├── array_utils_test.cc │ ├── autodiff_benchmarks │ ├── CMakeLists.txt │ ├── autodiff_benchmarks.cc │ ├── brdf_cost_function.h │ ├── constant_cost_function.h │ ├── linear_cost_functions.h │ ├── photometric_error.h │ ├── relative_pose_error.h │ └── snavely_reprojection_error.h │ ├── autodiff_cost_function_test.cc │ ├── autodiff_first_order_function_test.cc │ ├── autodiff_manifold_test.cc │ ├── autodiff_test.cc │ ├── benchmarks │ ├── macbook-pro-2014-small_blas_gemm_benchmark.json │ └── macbook-pro-2014-small_blas_gemv_benchmark.json │ ├── block_evaluate_preparer.cc │ ├── block_evaluate_preparer.h │ ├── block_jacobi_preconditioner.cc │ ├── block_jacobi_preconditioner.h │ ├── block_jacobi_preconditioner_benchmark.cc │ ├── block_jacobi_preconditioner_test.cc │ ├── block_jacobian_writer.cc │ ├── block_jacobian_writer.h │ ├── block_random_access_dense_matrix.cc │ ├── block_random_access_dense_matrix.h │ ├── block_random_access_dense_matrix_test.cc │ ├── block_random_access_diagonal_matrix.cc │ ├── block_random_access_diagonal_matrix.h │ ├── block_random_access_diagonal_matrix_test.cc │ ├── block_random_access_matrix.cc │ ├── block_random_access_matrix.h │ ├── block_random_access_sparse_matrix.cc │ ├── block_random_access_sparse_matrix.h │ ├── block_random_access_sparse_matrix_test.cc │ ├── block_sparse_matrix.cc │ ├── block_sparse_matrix.h │ ├── block_sparse_matrix_test.cc │ ├── block_structure.cc │ ├── block_structure.h │ ├── bundle_adjustment_test_util.h │ ├── c_api.cc │ ├── c_api_test.cc │ ├── callbacks.cc │ ├── callbacks.h │ ├── canonical_views_clustering.cc │ ├── canonical_views_clustering.h │ ├── canonical_views_clustering_test.cc │ ├── casts.h │ ├── cgnr_solver.cc │ ├── cgnr_solver.h │ ├── compressed_col_sparse_matrix_utils.cc │ ├── compressed_col_sparse_matrix_utils.h │ ├── compressed_col_sparse_matrix_utils_test.cc │ ├── compressed_row_jacobian_writer.cc │ ├── compressed_row_jacobian_writer.h │ ├── compressed_row_sparse_matrix.cc │ ├── compressed_row_sparse_matrix.h │ ├── compressed_row_sparse_matrix_test.cc │ ├── concurrent_queue.h │ ├── concurrent_queue_test.cc │ ├── conditioned_cost_function.cc │ ├── conditioned_cost_function_test.cc │ ├── conjugate_gradients_solver.h │ ├── conjugate_gradients_solver_test.cc │ ├── context.cc │ ├── context_impl.cc │ ├── context_impl.h │ ├── coordinate_descent_minimizer.cc │ ├── coordinate_descent_minimizer.h │ ├── corrector.cc │ ├── corrector.h │ ├── corrector_test.cc │ ├── cost_function.cc │ ├── cost_function_to_functor_test.cc │ ├── covariance.cc │ ├── covariance_impl.cc │ ├── covariance_impl.h │ ├── covariance_test.cc │ ├── cubic_interpolation_test.cc │ ├── cuda_buffer.h │ ├── cuda_dense_cholesky_test.cc │ ├── cuda_dense_qr_test.cc │ ├── cuda_kernels.cu.cc │ ├── cuda_kernels.h │ ├── cuda_kernels_test.cc │ ├── cuda_sparse_matrix.cc │ ├── cuda_sparse_matrix.h │ ├── cuda_sparse_matrix_test.cc │ ├── cuda_vector.cc │ ├── cuda_vector.h │ ├── cuda_vector_test.cc │ ├── dense_cholesky.cc │ ├── dense_cholesky.h │ ├── dense_cholesky_test.cc │ ├── dense_jacobian_writer.h │ ├── dense_linear_solver_benchmark.cc │ ├── dense_linear_solver_test.cc │ ├── dense_normal_cholesky_solver.cc │ ├── dense_normal_cholesky_solver.h │ ├── dense_qr.cc │ ├── dense_qr.h │ ├── dense_qr_solver.cc │ ├── dense_qr_solver.h │ ├── dense_qr_test.cc │ ├── dense_sparse_matrix.cc │ ├── dense_sparse_matrix.h │ ├── dense_sparse_matrix_test.cc │ ├── detect_structure.cc │ ├── detect_structure.h │ ├── detect_structure_test.cc │ ├── dogleg_strategy.cc │ ├── dogleg_strategy.h │ ├── dogleg_strategy_test.cc │ ├── dynamic_autodiff_cost_function_test.cc │ ├── dynamic_compressed_row_finalizer.h │ ├── dynamic_compressed_row_jacobian_writer.cc │ ├── dynamic_compressed_row_jacobian_writer.h │ ├── dynamic_compressed_row_sparse_matrix.cc │ ├── dynamic_compressed_row_sparse_matrix.h │ ├── dynamic_compressed_row_sparse_matrix_test.cc │ ├── dynamic_numeric_diff_cost_function_test.cc │ ├── dynamic_sparse_normal_cholesky_solver.cc │ ├── dynamic_sparse_normal_cholesky_solver.h │ ├── dynamic_sparse_normal_cholesky_solver_test.cc │ ├── dynamic_sparsity_test.cc │ ├── eigen_vector_ops.h │ ├── eigensparse.cc │ ├── eigensparse.h │ ├── evaluation_benchmark.cc │ ├── evaluation_callback.cc │ ├── evaluation_callback_test.cc │ ├── evaluator.cc │ ├── evaluator.h │ ├── evaluator_test.cc │ ├── evaluator_test_utils.cc │ ├── evaluator_test_utils.h │ ├── execution_summary.h │ ├── fake_bundle_adjustment_jacobian.cc │ ├── fake_bundle_adjustment_jacobian.h │ ├── file.cc │ ├── file.h │ ├── first_order_function.cc │ ├── fixed_array_test.cc │ ├── float_suitesparse.cc │ ├── float_suitesparse.h │ ├── function_sample.cc │ ├── function_sample.h │ ├── generate_bundle_adjustment_tests.py │ ├── generate_template_specializations.py │ ├── generated │ ├── .clang-format │ ├── partitioned_matrix_view_2_2_2.cc │ ├── partitioned_matrix_view_2_2_3.cc │ ├── partitioned_matrix_view_2_2_4.cc │ ├── partitioned_matrix_view_2_2_d.cc │ ├── partitioned_matrix_view_2_3_3.cc │ ├── partitioned_matrix_view_2_3_4.cc │ ├── partitioned_matrix_view_2_3_6.cc │ ├── partitioned_matrix_view_2_3_9.cc │ ├── partitioned_matrix_view_2_3_d.cc │ ├── partitioned_matrix_view_2_4_3.cc │ ├── partitioned_matrix_view_2_4_4.cc │ ├── partitioned_matrix_view_2_4_6.cc │ ├── partitioned_matrix_view_2_4_8.cc │ ├── partitioned_matrix_view_2_4_9.cc │ ├── partitioned_matrix_view_2_4_d.cc │ ├── partitioned_matrix_view_2_d_d.cc │ ├── partitioned_matrix_view_3_3_3.cc │ ├── partitioned_matrix_view_4_4_2.cc │ ├── partitioned_matrix_view_4_4_3.cc │ ├── partitioned_matrix_view_4_4_4.cc │ ├── partitioned_matrix_view_4_4_d.cc │ ├── partitioned_matrix_view_d_d_d.cc │ ├── schur_eliminator_2_2_2.cc │ ├── schur_eliminator_2_2_3.cc │ ├── schur_eliminator_2_2_4.cc │ ├── schur_eliminator_2_2_d.cc │ ├── schur_eliminator_2_3_3.cc │ ├── schur_eliminator_2_3_4.cc │ ├── schur_eliminator_2_3_6.cc │ ├── schur_eliminator_2_3_9.cc │ ├── schur_eliminator_2_3_d.cc │ ├── schur_eliminator_2_4_3.cc │ ├── schur_eliminator_2_4_4.cc │ ├── schur_eliminator_2_4_6.cc │ ├── schur_eliminator_2_4_8.cc │ ├── schur_eliminator_2_4_9.cc │ ├── schur_eliminator_2_4_d.cc │ ├── schur_eliminator_2_d_d.cc │ ├── schur_eliminator_3_3_3.cc │ ├── schur_eliminator_4_4_2.cc │ ├── schur_eliminator_4_4_3.cc │ ├── schur_eliminator_4_4_4.cc │ ├── schur_eliminator_4_4_d.cc │ └── schur_eliminator_d_d_d.cc │ ├── generated_bundle_adjustment_tests │ ├── .clang-format │ ├── CMakeLists.txt │ ├── ba_denseschur_cuda_auto_test.cc │ ├── ba_denseschur_cuda_auto_threads_test.cc │ ├── ba_denseschur_cuda_user_test.cc │ ├── ba_denseschur_cuda_user_threads_test.cc │ ├── ba_denseschur_eigen_auto_test.cc │ ├── ba_denseschur_eigen_auto_threads_test.cc │ ├── ba_denseschur_eigen_user_test.cc │ ├── ba_denseschur_eigen_user_threads_test.cc │ ├── ba_denseschur_lapack_auto_test.cc │ ├── ba_denseschur_lapack_auto_threads_test.cc │ ├── ba_denseschur_lapack_user_test.cc │ ├── ba_denseschur_lapack_user_threads_test.cc │ ├── ba_iterschur_acceleratesparse_clustjacobi_auto_test.cc │ ├── ba_iterschur_acceleratesparse_clustjacobi_auto_threads_test.cc │ ├── ba_iterschur_acceleratesparse_clustjacobi_user_test.cc │ ├── ba_iterschur_acceleratesparse_clustjacobi_user_threads_test.cc │ ├── ba_iterschur_acceleratesparse_clusttri_auto_test.cc │ ├── ba_iterschur_acceleratesparse_clusttri_auto_threads_test.cc │ ├── ba_iterschur_acceleratesparse_clusttri_user_test.cc │ ├── ba_iterschur_acceleratesparse_clusttri_user_threads_test.cc │ ├── ba_iterschur_eigensparse_clustjacobi_auto_test.cc │ ├── ba_iterschur_eigensparse_clustjacobi_auto_threads_test.cc │ ├── ba_iterschur_eigensparse_clustjacobi_user_test.cc │ ├── ba_iterschur_eigensparse_clustjacobi_user_threads_test.cc │ ├── ba_iterschur_eigensparse_clusttri_auto_test.cc │ ├── ba_iterschur_eigensparse_clusttri_auto_threads_test.cc │ ├── ba_iterschur_eigensparse_clusttri_user_test.cc │ ├── ba_iterschur_eigensparse_clusttri_user_threads_test.cc │ ├── ba_iterschur_jacobi_auto_test.cc │ ├── ba_iterschur_jacobi_auto_threads_test.cc │ ├── ba_iterschur_jacobi_user_test.cc │ ├── ba_iterschur_jacobi_user_threads_test.cc │ ├── ba_iterschur_schurjacobi_auto_test.cc │ ├── ba_iterschur_schurjacobi_auto_threads_test.cc │ ├── ba_iterschur_schurjacobi_user_test.cc │ ├── ba_iterschur_schurjacobi_user_threads_test.cc │ ├── ba_iterschur_suitesparse_clustjacobi_auto_test.cc │ ├── ba_iterschur_suitesparse_clustjacobi_auto_threads_test.cc │ ├── ba_iterschur_suitesparse_clustjacobi_user_test.cc │ ├── ba_iterschur_suitesparse_clustjacobi_user_threads_test.cc │ ├── ba_iterschur_suitesparse_clusttri_auto_test.cc │ ├── ba_iterschur_suitesparse_clusttri_auto_threads_test.cc │ ├── ba_iterschur_suitesparse_clusttri_user_test.cc │ ├── ba_iterschur_suitesparse_clusttri_user_threads_test.cc │ ├── ba_sparsecholesky_acceleratesparse_auto_test.cc │ ├── ba_sparsecholesky_acceleratesparse_auto_threads_test.cc │ ├── ba_sparsecholesky_acceleratesparse_user_test.cc │ ├── ba_sparsecholesky_acceleratesparse_user_threads_test.cc │ ├── ba_sparsecholesky_eigensparse_auto_test.cc │ ├── ba_sparsecholesky_eigensparse_auto_threads_test.cc │ ├── ba_sparsecholesky_eigensparse_user_test.cc │ ├── ba_sparsecholesky_eigensparse_user_threads_test.cc │ ├── ba_sparsecholesky_suitesparse_auto_test.cc │ ├── ba_sparsecholesky_suitesparse_auto_threads_test.cc │ ├── ba_sparsecholesky_suitesparse_user_test.cc │ ├── ba_sparsecholesky_suitesparse_user_threads_test.cc │ ├── ba_sparseschur_acceleratesparse_auto_test.cc │ ├── ba_sparseschur_acceleratesparse_auto_threads_test.cc │ ├── ba_sparseschur_acceleratesparse_user_test.cc │ ├── ba_sparseschur_acceleratesparse_user_threads_test.cc │ ├── ba_sparseschur_eigensparse_auto_test.cc │ ├── ba_sparseschur_eigensparse_auto_threads_test.cc │ ├── ba_sparseschur_eigensparse_user_test.cc │ ├── ba_sparseschur_eigensparse_user_threads_test.cc │ ├── ba_sparseschur_suitesparse_auto_test.cc │ ├── ba_sparseschur_suitesparse_auto_threads_test.cc │ ├── ba_sparseschur_suitesparse_user_test.cc │ └── ba_sparseschur_suitesparse_user_threads_test.cc │ ├── gmock │ ├── .clang-format │ ├── gmock.h │ └── mock-log.h │ ├── gmock_gtest_all.cc │ ├── gmock_main.cc │ ├── gradient_checker.cc │ ├── gradient_checker_test.cc │ ├── gradient_checking_cost_function.cc │ ├── gradient_checking_cost_function.h │ ├── gradient_checking_cost_function_test.cc │ ├── gradient_problem.cc │ ├── gradient_problem_evaluator.h │ ├── gradient_problem_solver.cc │ ├── gradient_problem_solver_test.cc │ ├── gradient_problem_test.cc │ ├── graph.h │ ├── graph_algorithms.h │ ├── graph_algorithms_test.cc │ ├── graph_test.cc │ ├── gtest │ ├── .clang-format │ └── gtest.h │ ├── householder_vector_test.cc │ ├── implicit_schur_complement.cc │ ├── implicit_schur_complement.h │ ├── implicit_schur_complement_test.cc │ ├── inner_product_computer.cc │ ├── inner_product_computer.h │ ├── inner_product_computer_test.cc │ ├── integer_sequence_algorithm_test.cc │ ├── invert_psd_matrix.h │ ├── invert_psd_matrix_benchmark.cc │ ├── invert_psd_matrix_test.cc │ ├── is_close.cc │ ├── is_close.h │ ├── is_close_test.cc │ ├── iteration_callback.cc │ ├── iterative_refiner.cc │ ├── iterative_refiner.h │ ├── iterative_refiner_test.cc │ ├── iterative_schur_complement_solver.cc │ ├── iterative_schur_complement_solver.h │ ├── iterative_schur_complement_solver_test.cc │ ├── jet_operator_benchmark.cc │ ├── jet_test.cc │ ├── jet_traits_test.cc │ ├── levenberg_marquardt_strategy.cc │ ├── levenberg_marquardt_strategy.h │ ├── levenberg_marquardt_strategy_test.cc │ ├── line_search.cc │ ├── line_search.h │ ├── line_search_direction.cc │ ├── line_search_direction.h │ ├── line_search_minimizer.cc │ ├── line_search_minimizer.h │ ├── line_search_minimizer_test.cc │ ├── line_search_preprocessor.cc │ ├── line_search_preprocessor.h │ ├── line_search_preprocessor_test.cc │ ├── linear_least_squares_problems.cc │ ├── linear_least_squares_problems.h │ ├── linear_operator.cc │ ├── linear_operator.h │ ├── linear_solver.cc │ ├── linear_solver.h │ ├── loss_function.cc │ ├── loss_function_test.cc │ ├── low_rank_inverse_hessian.cc │ ├── low_rank_inverse_hessian.h │ ├── manifold.cc │ ├── manifold_test.cc │ ├── map_util.h │ ├── marginalizable_manifold.cc │ ├── marginalizable_manifold_test.cc │ ├── marginalization.cc │ ├── marginalization_numerics.h │ ├── marginalization_prior_cost_function.h │ ├── marginalization_prior_cost_function_test.cc │ ├── marginalization_test.cc │ ├── miniglog │ └── glog │ │ ├── logging.cc │ │ └── logging.h │ ├── minimizer.cc │ ├── minimizer.h │ ├── minimizer_test.cc │ ├── normal_prior.cc │ ├── normal_prior_test.cc │ ├── numeric_diff_cost_function_test.cc │ ├── numeric_diff_first_order_function_test.cc │ ├── numeric_diff_test_utils.cc │ ├── numeric_diff_test_utils.h │ ├── ordered_groups_test.cc │ ├── pair_hash.h │ ├── parallel_for.h │ ├── parallel_for_cxx.cc │ ├── parallel_for_cxx.h │ ├── parallel_for_test.cc │ ├── parallel_utils.cc │ ├── parallel_utils.h │ ├── parallel_utils_test.cc │ ├── parallel_vector_operations_benchmark.cc │ ├── parameter_block.h │ ├── parameter_block_ordering.cc │ ├── parameter_block_ordering.h │ ├── parameter_block_ordering_test.cc │ ├── parameter_block_test.cc │ ├── parameter_dims_test.cc │ ├── partitioned_matrix_view.cc │ ├── partitioned_matrix_view.h │ ├── partitioned_matrix_view_impl.h │ ├── partitioned_matrix_view_template.py │ ├── partitioned_matrix_view_test.cc │ ├── polynomial.cc │ ├── polynomial.h │ ├── polynomial_test.cc │ ├── power_series_expansion_preconditioner.cc │ ├── power_series_expansion_preconditioner.h │ ├── power_series_expansion_preconditioner_test.cc │ ├── preconditioner.cc │ ├── preconditioner.h │ ├── preprocessor.cc │ ├── preprocessor.h │ ├── problem.cc │ ├── problem_impl.cc │ ├── problem_impl.h │ ├── problem_test.cc │ ├── program.cc │ ├── program.h │ ├── program_evaluator.h │ ├── program_test.cc │ ├── rebase.cc │ ├── rebase.h │ ├── rebase_test.cc │ ├── reorder_program.cc │ ├── reorder_program.h │ ├── reorder_program_test.cc │ ├── residual_block.cc │ ├── residual_block.h │ ├── residual_block_test.cc │ ├── residual_block_utils.cc │ ├── residual_block_utils.h │ ├── residual_block_utils_test.cc │ ├── rotation_test.cc │ ├── schur_complement_solver.cc │ ├── schur_complement_solver.h │ ├── schur_complement_solver_test.cc │ ├── schur_eliminator.cc │ ├── schur_eliminator.h │ ├── schur_eliminator_benchmark.cc │ ├── schur_eliminator_impl.h │ ├── schur_eliminator_template.py │ ├── schur_eliminator_test.cc │ ├── schur_jacobi_preconditioner.cc │ ├── schur_jacobi_preconditioner.h │ ├── schur_templates.cc │ ├── schur_templates.h │ ├── scoped_thread_token.h │ ├── scratch_evaluate_preparer.cc │ ├── scratch_evaluate_preparer.h │ ├── single_linkage_clustering.cc │ ├── single_linkage_clustering.h │ ├── single_linkage_clustering_test.cc │ ├── small_blas.h │ ├── small_blas_gemm_benchmark.cc │ ├── small_blas_gemv_benchmark.cc │ ├── small_blas_generic.h │ ├── small_blas_test.cc │ ├── solver.cc │ ├── solver_test.cc │ ├── solver_utils.cc │ ├── solver_utils.h │ ├── sparse_cholesky.cc │ ├── sparse_cholesky.h │ ├── sparse_cholesky_test.cc │ ├── sparse_matrix.cc │ ├── sparse_matrix.h │ ├── sparse_normal_cholesky_solver.cc │ ├── sparse_normal_cholesky_solver.h │ ├── sparse_normal_cholesky_solver_test.cc │ ├── spmv_benchmark.cc │ ├── stl_util.h │ ├── stringprintf.cc │ ├── stringprintf.h │ ├── subset_preconditioner.cc │ ├── subset_preconditioner.h │ ├── subset_preconditioner_test.cc │ ├── suitesparse.cc │ ├── suitesparse.h │ ├── system_test.cc │ ├── test_util.cc │ ├── test_util.h │ ├── thread_pool.cc │ ├── thread_pool.h │ ├── thread_pool_test.cc │ ├── thread_token_provider.cc │ ├── thread_token_provider.h │ ├── tiny_solver_autodiff_function_test.cc │ ├── tiny_solver_cost_function_adapter_test.cc │ ├── tiny_solver_test.cc │ ├── tiny_solver_test_util.h │ ├── triplet_sparse_matrix.cc │ ├── triplet_sparse_matrix.h │ ├── triplet_sparse_matrix_test.cc │ ├── trust_region_minimizer.cc │ ├── trust_region_minimizer.h │ ├── trust_region_minimizer_test.cc │ ├── trust_region_preprocessor.cc │ ├── trust_region_preprocessor.h │ ├── trust_region_preprocessor_test.cc │ ├── 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