Google Git
Sign in
ceres-solver / ceres-solver / 39b7cbaa5df8547bf2ef31c1976fec64a27bbd61
commit39b7cbaa5df8547bf2ef31c1976fec64a27bbd61[log] [tgz]
authorSameer Agarwal <sameeragarwal@google.com>Sun Sep 15 15:59:46 2024 -0700
committerSameer Agarwal <sameeragarwal@google.com>Mon Sep 16 21:51:54 2024 +0000
treeae750541f8da2aad99c696cea62c2d2235f8511f
parent00b33b6523346fc06fac96a94e61bf50ccfdcde8 [diff]
Use absl hash containers for graph algorithms

This reduces pre-processor time when finding an
ordering automatically substantially.

Before:

ComputeStableSchurOrdering
                                        Delta   Cumulative
              CreateHessianGraph :    0.50324      0.50324
                     Preordering :    0.00692      0.51017
            StableIndependentSet :    0.26341      0.77358
         ConstantParameterBlocks :    0.00095      0.77453
                           Total :    0.23978      1.01431

After:

ComputeStableSchurOrdering
                                        Delta   Cumulative
              CreateHessianGraph :    0.17183      0.17183
                     Preordering :    0.00226      0.17409
            StableIndependentSet :    0.12510      0.29919
         ConstantParameterBlocks :    0.00073      0.29991
                           Total :    0.01638      0.31629

Change-Id: I50bbac69f8b3f19240a61a218913cebf34da0db5
21 files changed
tree: ae750541f8da2aad99c696cea62c2d2235f8511f
  1. .github/
  2. bazel/
  3. cmake/
  4. config/
  5. data/
  6. docs/
  7. examples/
  8. include/
  9. internal/
  10. scripts/
  11. third_party/
  12. .clang-format
  13. .gitignore
  14. .gitmodules
  15. BUILD
  16. CITATION.cff
  17. CMakeLists.txt
  18. CONTRIBUTING.md
  19. LICENSE
  20. MODULE.bazel
  21. package.xml
  22. README.md
  23. WORKSPACE
README.md

Android Linux macOS Windows

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.