Google Git
Sign in
ceres-solver / ceres-solver / 21f519d009b2123ad328e5f5e0f6523939519d6a
commit21f519d009b2123ad328e5f5e0f6523939519d6a[log] [tgz]
authorWilliam Rucklidge <wjr@google.com>Fri Mar 02 12:37:54 2018 -0800
committerWilliam Rucklidge <wjr@google.com>Fri Mar 02 13:33:19 2018 -0800
tree6b3f48c5794e3b2cddb5e42471ededa02d1cc63a
parent0a30117489d9283e19fce95521785a833f91a7c4 [diff]
Improve threading in covariance.

Covariance computation wants to do a triangular iteration but as a
single loop. Right now it iterates over a square and does nothing half
the time, which is inefficient and has bad worst-case threading
performance. This adds a utility that allows waste-free linear iteration
over a triangle.

Change-Id: I881d5683c65882f87dc2b5f8449a855d22ace755
7 files changed
tree: 6b3f48c5794e3b2cddb5e42471ededa02d1cc63a
  1. bazel/
  2. cmake/
  3. config/
  4. data/
  5. docs/
  6. examples/
  7. include/
  8. internal/
  9. jni/
  10. scripts/
  11. .gitignore
  12. BUILD
  13. CMakeLists.txt
  14. LICENSE
  15. package.xml
  16. README.md
  17. WORKSPACE
README.md

Ceres Solver

Ceres Solver is an open source C++ library for modeling and solving large, complicated optimization problems. It is a feature rich, mature and performant library which has been used in production at Google since 2010. Ceres Solver can solve two kinds of problems.

  1. Non-linear Least Squares problems with bounds constraints.
  2. General unconstrained optimization problems.

Please see ceres-solver.org for more information.

WARNING - Do not make GitHub pull requests!

Ceres development happens on Gerrit, including both repository hosting and code reviews. The GitHub Repository is a continuously updated mirror which is primarily meant for issue tracking. Please see our Contributing to Ceres Guide for more details.

The upstream Gerrit repository is

https://ceres-solver.googlesource.com/ceres-solver