| Re: [eigen] New Levenberg Marquardt stuff |
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On 07.12.2012 20:57, Keir Mierle wrote:
At the risk of starting a war:
At the risk of accepting the new war (and a bit off-topic) ...
I never quite understood, what made you publish yet another general
least-squares solver, after g2o, iSAM and SLoM/MTK (all available on
openslam.org).
I can't deny that ceres offers things neither of the other do, but for
large parts its a re-invention of the wheel (e.g., what you call "local
parametrization" is part of SLoM since 2008.)
Have you considered punting on the LM library entirely?
Ceres is almost uniformly better than what's there now, is heavily battle
tested in production both large (Street View) and small (Android, in every
Nexus 4), is BSD licensed, uses Eigen internally, has extensive sparse
support.
Well, it might use Eigen internally, but ceres' interface dealing a lot
with double-pointers is far away from the clearity of Eigen ...
It's not clear that Eigen dev's time is best spent working on LM when Ceres
exists.
As mentioned already by others, Eigen's LM module existed way longer
than Ceres, and there existed a bunch of LM implementations before that.
Furthermore, I agree with opinions raised by others that including a
generic non-linear LS solver into Eigen might/should not be the goal of
Eigen, which IMHO should basically be a *linear* algebra package.
As long as no further dependencies are introduced (neither for compiling
nor for licensing), I don't mind if some small extensions are added,
though (clearly not the case for ceres having 2--5 more dependencies).
Christoph
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Dipl.-Inf. Christoph Hertzberg
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