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ceres-solver / ceres-solver / 5742b7d0f14d2d170054623ccfee09ea214b8ed9
commit5742b7d0f14d2d170054623ccfee09ea214b8ed9[log] [tgz]
authorSameer Agarwal <sameeragarwal@google.com>Wed Aug 26 09:24:33 2015 -0700
committerSameer Agarwal <sameeragarwal@google.com>Sat Sep 05 14:31:52 2015 -0700
treefefc26c0d0a057494f331bb23e06f8c54eb665be
parentd0b6cf657d6ef0dd739e958af9a5768f2eecfd35 [diff]
Improve performance of SPARSE_NORMAL_CHOLESKY + dynamic_sparsity

The outer product computation logic in SparseNormalCholeskySolver
does not work well with dynamic sparsity. The overhead of computing
the sparsity pattern of the normal equations is only amortized if
the sparsity is constant. If the sparsity can change from call to call
SparseNormalCholeskySolver will actually be more expensive.

For Eigen and for CXSparse we now explicitly compute the normal
equations using their respective matrix-matrix product routines and solve.
Change-Id: Ifbd8ed78987cdf71640e66ed69500442526a23d4
3 files changed
tree: fefc26c0d0a057494f331bb23e06f8c54eb665be
  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 - A non-linear least squares minimizer

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