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      1 %%% Build instructions
      2 %%% pdflatex -shell-escape ceres && bibtex ceres && pdflatex -shell-escape ceres && pdflatex -shell-escape ceres
      3 
      4 \documentclass[11pt,letterpaper,oneside]{memoir}
      5 \usepackage{fouriernc}
      6 \usepackage[T1]{fontenc}
      7 \usepackage{minted,amsmath,amssymb,amsthm,url,booktabs}
      8 \usepackage[pdftex]{graphicx}
      9 \usepackage[sort&compress]{natbib}
     10 \usepackage[breaklinks=true,letterpaper=true,colorlinks,bookmarks=false]{hyperref}
     11 \usepackage{algorithm}
     12 \usepackage{algorithmic}
     13 
     14 % page dimensions
     15 \addtolength{\textwidth}{1.5in}
     16 \addtolength{\oddsidemargin}{-0.75in}
     17 \addtolength{\evensidemargin}{-0.75in}
     18 \addtolength{\spinemargin}{-0.75in}
     19 \addtolength{\foremargin}{-0.75in}
     20 \setlength{\parindent}{0.0in}
     21 \setlength{\parskip}{0.12in}
     22 
     23 % Our pagestyle
     24 \copypagestyle{ceres}{headings}
     25 \makeevenhead{ceres}{\thepage}{}{\scshape\rightmark}
     26 \makeoddhead{ceres}{\scshape\rightmark}{}{\thepage}
     27 
     28 %% ceres chapter style
     29 \makechapterstyle{ceres}{%
     30 \renewcommand{\chapterheadstart}{}%
     31 \renewcommand{\printchaptername}{}%
     32 \renewcommand{\chapternamenum}{}%
     33 \renewcommand{\printchapternum}{}%
     34 \renewcommand{\afterchapternum}{}%
     35 \renewcommand{\printchaptertitle}[1]{%
     36 \raggedright\Large\scshape\MakeLowercase{##1}}%
     37 \renewcommand{\afterchaptertitle}{%
     38 \vskip\onelineskip \hrule\vskip\onelineskip}%
     39 }%
     40 \renewcommand{\cftchapterfont}{\normalfont}%
     41 \renewcommand{\cftchapterpagefont}{\normalfont}%
     42 \renewcommand{\cftchapterpresnum}{\bfseries}%
     43 \renewcommand{\cftchapterleader}{}%
     44 \renewcommand{\cftchapterafterpnum}{\cftparfillskip}%
     45 
     46 
     47 %% Section title style
     48 \setsecheadstyle{\raggedright\scshape\MakeLowercase}%
     49 \setbeforesecskip{-\onelineskip}%
     50 \setaftersecskip{\onelineskip}%
     51 
     52 %% Subsection title style
     53 
     54 \setsubsecheadstyle{\sethangfrom{\noindent ##1}\raggedright\itshape}%
     55 \setbeforesubsecskip{-\onelineskip}%
     56 \setaftersubsecskip{\onelineskip}%
     57 
     58 \captiontitlefont{\small\sffamily}%
     59 \let\caption\legend
     60 
     61 
     62 \title{\Huge\scshape
     63 \MakeLowercase{Ceres Solver:  Tutorial \& Reference}
     64 }
     65 \author{
     66 \scshape\MakeLowercase{Sameer Agarwal} \\ \texttt{sameeragarwal (a] google.com} 
     67 \and 
     68 \scshape\MakeLowercase{Keir Mierle} \\  \texttt{ keir (a] google.com}
     69 }
     70 \checkandfixthelayout
     71 
     72 \pagestyle{ceres}
     73 
     74 \newcommand{\ceres}{{Ceres }}
     75 \newcommand{\reals}{\mathbb{R} }
     76 \def\eg{\emph{e.g. }}
     77 \def\ie{\emph{i.e. }}
     78 \newcommand{\glog}{\texttt{google-glog}}
     79 \newcommand{\gflags}{\texttt{gflags}}
     80 \newcommand{\eigen}{\texttt{Eigen3}}
     81 \newcommand{\suitesparse}{\texttt{SuiteSparse}}
     82 \newcommand{\cholmod}{\texttt{CHOLMOD}}
     83 \newcommand{\amd}{\texttt{AMD}}
     84 \newcommand{\colamd}{\texttt{COLAMD}}
     85 \newcommand{\lapack}{\texttt{LAPACK}}
     86 \newcommand{\blas}{\texttt{BLAS}}
     87 \newcommand{\denseschur}{\texttt{DENSE\_SCHUR}}
     88 \newcommand{\sparseschur}{\texttt{SPARSE\_SCHUR}}
     89 \newcommand{\iterativeschur}{\texttt{ITERATIVE\_SCHUR}}
     90 \newcommand{\cmake}{\texttt{cmake}}
     91 \newcommand{\protobuf}{\texttt{protobuf}}
     92 \settocdepth{chapter}
     93 
     94 \begin{document}
     95 \chapterstyle{ceres}
     96 \maketitle
     97 \thispagestyle{empty}
     98 \newpage
     99 \pagestyle{ceres}
    100 \tableofcontents
    101 \newpage
    102 
    103 \chapter{A Note to the Reader}
    104 Building this pdf from source requires a relatively recent installation of \texttt{LaTeX}~\footnote{\url{http://www.tug.org/texlive/}}, \texttt{minted.sty}\footnote{\url{http://code.google.com/p/minted/}} and \texttt{pygments}\footnote{\url{http://pygments.org/}}.
    105 
    106 Despite our best efforts, this manual remains a work in progress and the source code for Ceres Solver remains the ultimate reference.
    107 
    108 \input{changes}
    109 \input{introduction}
    110 \input{build}
    111 
    112 %% Tutorial
    113 \part{Tutorial}
    114 \label{part:tutorial}
    115 \input{nnlsq}
    116 \input{helloworld}
    117 \input{powell}
    118 \input{curvefitting}
    119 \input{bundleadjustment}
    120 
    121 %% Reference
    122 \part{Reference}
    123 \label{part:reference}
    124 \input{reference-overview}
    125 \input{modeling}
    126 \input{solving}
    127 
    128 \input{faq}
    129 \input{further}
    130 \bibliographystyle{plain}
    131 \bibliography{ceres-solver}
    132 \end{document}
    133