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Improve the performance of DenseQRSolver

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1. Reduce amount of reallocations.

Change-Id: I91b17c781ae94ed12014d647f0162cfce4f6ed7b
This commit is contained in:
Sameer Agarwal
2012-10-05 10:06:27 -07:00
parent ba8d967f8c
commit 5bfa7e4e8f
7 changed files with 55 additions and 21 deletions
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internal/ceres/dense_qr_solver.cc
+9 -6
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@@ -62,17 +62,20 @@ LinearSolver::Summary DenseQRSolver::SolveImpl(
}
// rhs = [b;0] to account for the additional rows in the lhs.
Vector rhs(num_rows + ((per_solve_options.D != NULL) ? num_cols : 0));
rhs.setZero();
rhs.head(num_rows) = ConstVectorRef(b, num_rows);
const int augmented_num_rows = num_rows + ((per_solve_options.D != NULL) ? num_cols : 0);
if (rhs_.rows() != augmented_num_rows) {
rhs_.resize(augmented_num_rows);
rhs_.setZero();
}
rhs_.head(num_rows) = ConstVectorRef(b, num_rows);
// Solve the system.
VectorRef(x, num_cols) = A->matrix().colPivHouseholderQr().solve(rhs);
VectorRef(x, num_cols) = A->matrix().colPivHouseholderQr().solve(rhs_);
VLOG(3) << "A:\n" << A->matrix();
VLOG(3) << "x:\n" << VectorRef(x, num_cols);
VLOG(3) << "b:\n" << rhs;
VLOG(3) << "error: " << (A->matrix() * VectorRef(x, num_cols) - rhs).norm();
VLOG(3) << "b:\n" << rhs_;
VLOG(3) << "error: " << (A->matrix() * VectorRef(x, num_cols) - rhs_).norm();
if (per_solve_options.D != NULL) {