4 Commits

Author	SHA1	Message	Date
Sameer Agarwal	bcc865f81c	Remove using namespace std; ... 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	2015-01-07 14:26:53 -08:00
Sameer Agarwal	b22d063075	Reduce memory usage in covariance estimation. ... 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	2013-08-16 10:48:54 -07:00
Sameer Agarwal	ac62696293	Lint cleanup ... Version history update. Update spec file for release. Change-Id: Ic51dc33f0c6cc2584e812b3b71d85fe90d048c11	2013-05-06 07:25:15 -07:00
Sameer Agarwal	344c09f5bc	Block ordering for SPARSE_SCHUR + CX_SPARSE. ... 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	2013-04-26 19:47:45 -07:00