diff options
Diffstat (limited to 'internal/ceres/dense_normal_cholesky_solver.cc')
-rw-r--r-- | internal/ceres/dense_normal_cholesky_solver.cc | 15 |
1 files changed, 10 insertions, 5 deletions
diff --git a/internal/ceres/dense_normal_cholesky_solver.cc b/internal/ceres/dense_normal_cholesky_solver.cc index f6bb99a..96f5511 100644 --- a/internal/ceres/dense_normal_cholesky_solver.cc +++ b/internal/ceres/dense_normal_cholesky_solver.cc @@ -34,10 +34,11 @@ #include "Eigen/Dense" #include "ceres/dense_sparse_matrix.h" -#include "ceres/linear_solver.h" #include "ceres/internal/eigen.h" #include "ceres/internal/scoped_ptr.h" +#include "ceres/linear_solver.h" #include "ceres/types.h" +#include "ceres/wall_time.h" namespace ceres { namespace internal { @@ -51,13 +52,16 @@ LinearSolver::Summary DenseNormalCholeskySolver::SolveImpl( const double* b, const LinearSolver::PerSolveOptions& per_solve_options, double* x) { + EventLogger event_logger("DenseNormalCholeskySolver::Solve"); + const int num_rows = A->num_rows(); const int num_cols = A->num_cols(); - ConstAlignedMatrixRef Aref = A->matrix(); + ConstColMajorMatrixRef Aref = A->matrix(); Matrix lhs(num_cols, num_cols); lhs.setZero(); + event_logger.AddEvent("Setup"); // lhs += A'A // // Using rankUpdate instead of GEMM, exposes the fact that its the @@ -73,12 +77,13 @@ LinearSolver::Summary DenseNormalCholeskySolver::SolveImpl( lhs += D.array().square().matrix().asDiagonal(); } - VectorRef(x, num_cols) = - lhs.selfadjointView<Eigen::Upper>().ldlt().solve(rhs); - LinearSolver::Summary summary; summary.num_iterations = 1; summary.termination_type = TOLERANCE; + VectorRef(x, num_cols) = + lhs.selfadjointView<Eigen::Upper>().ldlt().solve(rhs); + event_logger.AddEvent("Solve"); + return summary; } |