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ceres-solver / ceres-solver / 6a74af202d83cf31811ea17dc66c74d03b89d79e
commit6a74af202d83cf31811ea17dc66c74d03b89d79e[log] [tgz]
authorSameer Agarwal <sameeragarwal@google.com>Wed May 22 09:57:06 2024 -0700
committerSameer Agarwal <sameeragarwal@google.com>Thu May 30 15:53:02 2024 -0700
treef8a01c814a09ab8b2b8c64143b79f783d67ee16a
parentf8c2994dad23780621506e91e0ea7d675f7987c8 [diff]
Remove a level of indirection when using CellInfo

The CellInfo struct contains a mutex, which interacts poorly
with some standard library containers which may move things around.
As a result we were using std::unique_ptr<CellInfo> in these
containers, but this change gets rid of that level of indirection
as std::unordered_map can construct CellInfo in place and we can
replace the use of std::vector with an array we know will not be
resized.

This improves the performance of the schur eliminator a bit but
also the performance of the block diagonal preconditioners.

Change-Id: If3ccd1273a754d9c5112e6e611ce31066b6b27b5
4 files changed
tree: f8a01c814a09ab8b2b8c64143b79f783d67ee16a
  1. .github/
  2. bazel/
  3. cmake/
  4. config/
  5. data/
  6. docs/
  7. examples/
  8. include/
  9. internal/
  10. scripts/
  11. .clang-format
  12. .gitignore
  13. BUILD
  14. CITATION.cff
  15. CMakeLists.txt
  16. CONTRIBUTING.md
  17. LICENSE
  18. package.xml
  19. README.md
  20. WORKSPACE
README.md

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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.