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ceres-solver / ceres-solver / 4b6ad5d88e45ce8638c882d3e8f08161089b6dba
commit4b6ad5d88e45ce8638c882d3e8f08161089b6dba[log] [tgz]
authorSameer Agarwal <sameeragarwal@google.com>Sat Aug 27 23:21:55 2016 -0700
committerSameer Agarwal <sameeragarwal@google.com>Wed Aug 31 05:46:44 2016 -0700
tree329f8345a53e26a8407d4896b50441e4f6fe3f53
parentbfc916cf1cf753b85c1e2ac037e2019ee891f6f9 [diff]
Use ProductParameterization in bundle_adjuster.cc

Previously, when using a quaternion to parameterize the camera
orientation, the camera parameter block was split into two
parameter blocks. One for the rotation and another for the
translation and intrinsics. This was to enable the use of the
Quaternion parameterization.

Now that we have a ProductParameterization which allows us
to compose multiple parameterizations, this is no longer needed
and we use a size 10 parameter block instead.

This leads to a more than 2x improvements in the linear solver time.

Change-Id: I78b8f06696f81fee54cfe1a4ae193ee8a5f8e920
2 files changed
tree: 329f8345a53e26a8407d4896b50441e4f6fe3f53
  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. 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