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ceres-solver / ceres-solver / 2d703b17b5d2c0815f2cd686e4001b561332c265
commit2d703b17b5d2c0815f2cd686e4001b561332c265[log] [tgz]
authorChris Sweeney <sweeney.chris.m@gmail.com>Tue Aug 08 14:55:44 2017 -0700
committerChris Sweeney <sweeney.chris.m@gmail.com>Tue Aug 08 14:55:44 2017 -0700
treefb423b7bdd635d42b17bd1e2e952583a15db9579
parentafe93546b67cee0ad205fe8044325646ed5deea9 [diff]
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
6 files changed
tree: fb423b7bdd635d42b17bd1e2e952583a15db9579
  1. cmake/
  2. config/
  3. data/
  4. docs/
  5. examples/
  6. include/
  7. internal/
  8. jni/
  9. scripts/
  10. .gitignore
  11. CMakeLists.txt
  12. LICENSE
  13. package.xml
  14. README.md
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