| commit | 344c09f5bc72d08ac5226611954445887a2a6392 | [log] [tgz] |
|---|---|---|
| author | Sameer Agarwal <sameeragarwal@google.com> | Sat Apr 20 16:07:56 2013 -0700 |
| committer | Sameer Agarwal <sameeragarwal@google.com> | Fri Apr 26 19:47:45 2013 -0700 |
| tree | f7ed94ea5c638f141a1c759a4bb285f2476887ae | |
| parent | c3c3dd872bd98c3df258d46dd76f93be8f81b73c [diff] |
Block ordering for SPARSE_SCHUR + CX_SPARSE. Uptil now only SuiteSparse when used with SPARSE_SCHUR would use the block structure of the reduced camera matrix to find a fill-reducing ordering. This leads to substantial speedup for some bundle adjustment problems. Credit for this technique goes to the authors of g2o. I learned about it from reading their source code. Change-Id: I5403efefd4d9552c9c6fc6e02a65498bdf171584