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ceres-solver / ceres-solver / 81219fff785bc37abaab6d8642c0f2940798af8f
commit81219fff785bc37abaab6d8642c0f2940798af8f[log] [tgz]
authorSameer Agarwal <sameeragarwal@google.com>Sun Apr 05 14:21:12 2015 -0700
committerSameer Agarwal <sameeragarwal@google.com>Sun Apr 05 22:50:41 2015 -0700
tree6b8d4effae4bcd44cd708e6b234da79f625e992b
parent857c18ace09ab8becaf3406b917f9cd13921d2bf [diff]
Allow using Eigen's LDLT factorization instead of LLT factorization

It seems that Eigen's LLT factorization is broken on ARM.
This patch enables the use of LDLT factorization instead of LLT
factorization. The switch is controlled at compile time using a
preprocessor define - CERES_USE_EIGEN_LDLT.

By default we continue to use LLT factorization though.

To make the switching easier without introducing the Cholesky factorization
based inversion and linear system solve routines have been abstracted into
two new functions.

Android.mk has been updated to enable the LDLT factorization, but
the cmake file has not been updated as I will leave it to Alex's
capable hands to do proper detection of ARM as a target platform.

Change-Id: Iffe3abd2ce894de2a388b454df3da909b482d5e5
13 files changed
tree: 6b8d4effae4bcd44cd708e6b234da79f625e992b
  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