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KEU-ComputerVision
Slam
Merge requests
!95
[feat] Simplify auto diff ceres
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[feat] Simplify auto diff ceres
SimplifyAutoDiffCeres
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master
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24
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Merged
Julia Sanchez
requested to merge
SimplifyAutoDiffCeres
into
master
3 years ago
Overview
24
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3
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6
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3
Expand
Ceres internally squares the cost function residual.
By now, the square of the residual is computed, then the sqrt and Ceres computes the square again afterwards.
This MR changes the dimension of the residual (1D->3D) to avoid this behaviour.
Some comments/names are updated to better fit the code behaviour.
The gain is about 10% on LM optim step (5% on localization step for 3 iterations)
@nicolas.cadart
@nick.laurenson
PTAL
Edited
3 years ago
by
Julia Sanchez
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