ceres-solver

saberbud/ceres-solver

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Commit Graph

Author	SHA1	Message	Date
Sameer Agarwal	d61b68aaac	Lint cleanups from William Rucklidge Change-Id: Ia4756ef97e65837d55838ee0b30806a234565bfd	2013-08-16 17:02:56 -07:00
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	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

Author

SHA1

Message

Date

Sameer Agarwal

d61b68aaac

Lint cleanups from William Rucklidge

Change-Id: Ia4756ef97e65837d55838ee0b30806a234565bfd

2013-08-16 17:02:56 -07:00

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

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

3 Commits