Since Ceres is moving to using GitHub for issues, and the Google
Code URL in the current copyright header will soon become invalid,
update all the headers.
Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
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
When using the SPARSE_QR algorithm, now a Q-less
factorization is used. This results in significantly
less memory usage.
The inversion of the semi-normal equations is now
threaded using openmp. Indeed if one has SuiteSparse
compiled with TBB, then both the factorization
and the inversion are completely threaded.
Change-Id: Ia07591e48e7958d427ef91ff9e67662f6e982c21
Uptil now only SuiteSparse when used with SPARSE_SCHUR would use
the block structure of the reduced camera matrix to find a fill-reducing
ordering.
This leads to substantial speedup for some bundle adjustment
problems.
Credit for this technique goes to the authors of g2o. I learned
about it from reading their source code.
Change-Id: I5403efefd4d9552c9c6fc6e02a65498bdf171584
Keir Mierle