commit | 7928ca003f738b9d8bbca683477e56359b690744 | [log] [tgz] |
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author | Keir Mierle <mierle@gmail.com> | Tue Oct 10 02:15:25 2017 -0700 |
committer | Keir Mierle <mierle@gmail.com> | Tue Oct 10 14:32:19 2017 -0700 |
tree | c8a926c055fc09cd274f40cc1a88cbeaf4011da3 | |
parent | d727974f302c0964dc5c8bfe0de405399278854e [diff] |
Initial commit of tiny solver Tiny solver is targeted towards small dense least square solves, where the overhead of calling normal Ceres is too high. For example, when solving for inverse camera distortion for every pixel location in a many-megapixel image. Anecdotally, at one point in the past, tiny solver was ~20x faster than Ceres for the problems it's intended for. This is due to two key aspects: 1. Memory is allocated up front: repeated solves incur no allocation overhead beyond a few scalars on the stack. 2. The cost function is fully inlined into the solver loop, removing even the cost function call overhead. Tiny solver originated many years ago as part of libmv/Blender, where it is still used for distortion solving today, but the time has come for it to migrate into Ceres. This commit is just the initial import into Ceres. Follow up patches will add further cleanups, and add CostFunction and Jet adapters to make it easier to call tiny solver (though by using adapters, some performance advantages will be lost). Change-Id: I8079535cd41382b1e0ac0ca2fca141711c72b7f8
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.
Please see ceres-solver.org for more information.
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