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4 Commits

Author SHA1 Message Date
Chris Sweeney 2d703b17b5 Add new Schur specialization for 2, 4, 6. 
The row, E, F block pattern 2, 4, 6 is a common one for
bundle adjustment with reprojection error (2 residuals),
homogeneous 3d points (4 params in the E-block), and camera
poses (3 rotation + 3 position = 6 params for the
F-block). This provides a major speedup for BA in the
TheiaSfM library and likely in other applications.

Change-Id: If5df8bfadc7f154856b74c3b38479c14856db47d
 2017-08-08 14:55:44 -07:00
Sameer Agarwal 784260d0b8 Fix missing ddd Schur specialization generation code 
Change-Id: Ic808565844b0564b5fa5f94cbda69e9a18ac49ee
 2017-02-27 11:53:22 -08:00
Sameer Agarwal 5f87f35cec Changes from William Rucklidge 
Change-Id: Ia5d724edef947870fe13050a71aa1cba878352a8
 2017-02-27 11:09:08 -08:00
Sameer Agarwal 1cfec3c666 Improvements to Schur template specializations 
1. Refactor the python code that generates the template specializations
   to remove code duplication.
2. Improved the logic for template specialization selection where
   Eigen::Dynamic now serves as a wildcard.
3. Added schur_templates.h/cc which allows querying the set of available
   template specializations without instantiating a linear solver.
4. Added Solver::Summary::schur_structre_given and
   Solver::Summary::schur_structure_used and expose them in
   Solver::Summary::FullReport for better performance debugging.
5. Updated the templates with newer dates and some minor comments cleanup
   which lead to the the template specializations to be re-generated.

Change-Id: Iaf3c6f714353597899916c300465da01f151c3de
 2017-02-23 14:52:59 -08:00