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79d93530362c3e1d4330eb35c842ffd44c9531ba
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7 Commits

Author SHA1 Message Date
Sameer Agarwal 79d9353036 Remove Protocol Buffers support. 
Change-Id: I451c543c82cdfb566736aab94d836abcfb5c689d
 2013-06-24 14:28:40 -07:00
Sameer Agarwal 487250eb27 Minor cleanups. 
1. Further BLAS and heap allocation cleanups in  schur_eliminator_impl.h
2. Modularize blas.h using macros.
3. Lint cleanups from William Rucklidge.
4. Small changes to jet.h
5. ResidualBlock now uses blas.h

Performance improvements:

For static and dynamic sized blocks, the peformance is not changed much.

-use_quaternions -ordering user -linear_solver sparse_schur

                                        master         change
problem: 16-22106
gcc                                        3.4            3.3
clang                                      2.8            2.7

problem: 49-7776
gcc                                        1.7            1.7
clang                                      1.4            1.4

problem: 245-198739
gcc                                       80.1           79.6
clang                                     80.6           76.2

problem: 257-65132
gcc                                       12.2           12.0
clang                                     10.4           10.2

problem: 356-226730
gcc                                       99.0           96.8
clang                                     88.9           88.3

problem: 744-543562
gcc                                      361.5          356.2
clang                                    352.7          343.5

problem: 1024-110968
gcc                                       45.9           45.6
clang                                     42.6           42.1

However, performance when using local parameterizations is
significantly improved due to residual_block.cc using blas.h

-use_quaternions -use_local_parameterization -ordering user -linear_solver sparse_schur

                                        master         change
problem: 16-22106
gcc                                        3.6            3.3
clang                                      3.5            2.8

problem: 49-7776
gcc                                        1.8            1.6
clang                                      1.7            1.4

problem: 245-198739
gcc                                       79.7           76.1
clang                                     79.7           73.0

problem: 257-65132
gcc                                       12.8           11.9
clang                                     12.3            9.8

problem: 356-226730
gcc                                      101.9           93.5
clang                                    105.0           86.8

problem: 744-543562
gcc                                      367.9          350.5
clang                                    355.3          323.1

problem: 1024-110968
gcc                                       43.0           40.3
clang                                     41.0           37.5

Change-Id: I6dcf7476ddaa77cb116558d112a9cf1e832f5fc9
 2013-04-14 09:33:11 -07:00
Sameer Agarwal 3d6eceb45c Replace more instances of Eigen GEMV with Ceres BLAS. 
With this ITERATIVE_SCHUR with JACOBI preconditioner went down from
280 seconds to 150 seconds on problem-744-543562-pre.txt.

Change-Id: I4f319c1108421e8d59f58654a4c0576ad65df609
 2013-04-03 16:07:26 -07:00
Sameer Agarwal dd2b17d7dd CERES_DONT_HAVE_PROTOCOL_BUFFERS -> CERES_NO_PROTOCOL_BUFFERS. 
Change-Id: I6c9f50e4c006faf4e75a8f417455db18357f3187
 2012-08-17 13:21:33 -07:00
Sameer Agarwal 0beab86dfa Fix glog includes and include sorting order. 
Change-Id: I0ec85218e82d1714279d41f7635104d480fb91c3
 2012-08-13 15:47:24 -07:00
Sameer Agarwal 82f4b88c34 Extend support writing linear least squares problems to disk. 
1. Make the mechanism for writing problems to disk, generic and
controllable using an enum DumpType visible in the API.

2. Instead of single file containing protocol buffers, now matrices can
be written in a matlab/octave friendly format. This is now the default.

3. The support for writing problems to disk is moved into
linear_least_squares_problem.cc/h

4. SparseMatrix now has a ToTextFile virtual method which is
implemented by each of its subclasses to write a (i,j,s) triplets.

5. Minor changes to simple_bundle_adjuster to enable logging at startup.
 2012-05-08 17:40:16 -07:00
Keir Mierle 8ebb073038 Initial commit of Ceres Solver. 2012-04-30 23:09:08 -07:00