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Sameer Agarwal
07f208fd6d
Remove the Eigen temporary by revealing the columnwise nature of the computation. This also allows us to get rid of the special case for nrow = 1. On problem-356-226730-pre.txt with -robustify evaluation times change from: Before: Residual Evaluations 1.015 Jacobian Evaluations 18.313 After: Residual Evaluations 1.005 Jacobian Evaluations 8.382 To give a sense of the overhead reduction, compare these numbers when loss functions are disabled. Residual Evaluations 0.955 Jacobian Evaluations 7.772 So, this is a 17.5x speedup! The one dimensional specialization was motivated by denoising.cc. The evaluation times there are essentially unchanged. Before: Residual Evaluations 2.774 Jacobian Evaluations 20.178 After: Residual Evaluations 2.588 Jacobian Evaluations 19.781 Change-Id: Ic0efbaed75fe4489635039f17189ae24b97802c8
Ceres Solver - A non-linear least squares minimizer ================================================== Please see docs/html/index.html for a tutorial and reference.