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Tracking: Enable Schur specializations

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This would give some performance boost when solving huge scenes,
amount of boost depends on particular scene.

For now enable all of the specializations, in the future we might
add some local patches and restrict only unneeded ones.
This commit is contained in:
Sergey Sharybin
2014-09-24 16:57:31 +06:00
parent 51d99ebf01
commit 181e7f98b2
3 changed files with 43 additions and 47 deletions
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81
extern/libmv/third_party/ceres/CMakeLists.txt vendored
View File

@@ -245,46 +245,46 @@ set(SRC
internal/ceres/wall_time.h
)
#if(FALSE)
# list(APPEND SRC
# internal/ceres/generated/partitioned_matrix_view_2_2_2.cc
# internal/ceres/generated/partitioned_matrix_view_2_2_3.cc
# internal/ceres/generated/partitioned_matrix_view_2_2_4.cc
# internal/ceres/generated/partitioned_matrix_view_2_2_d.cc
# internal/ceres/generated/partitioned_matrix_view_2_3_3.cc
# internal/ceres/generated/partitioned_matrix_view_2_3_4.cc
# internal/ceres/generated/partitioned_matrix_view_2_3_9.cc
# internal/ceres/generated/partitioned_matrix_view_2_3_d.cc
# internal/ceres/generated/partitioned_matrix_view_2_4_3.cc
# internal/ceres/generated/partitioned_matrix_view_2_4_4.cc
# internal/ceres/generated/partitioned_matrix_view_2_4_8.cc
# internal/ceres/generated/partitioned_matrix_view_2_4_9.cc
# internal/ceres/generated/partitioned_matrix_view_2_4_d.cc
# internal/ceres/generated/partitioned_matrix_view_2_d_d.cc
# internal/ceres/generated/partitioned_matrix_view_4_4_2.cc
# internal/ceres/generated/partitioned_matrix_view_4_4_3.cc
# internal/ceres/generated/partitioned_matrix_view_4_4_4.cc
# internal/ceres/generated/partitioned_matrix_view_4_4_d.cc
# internal/ceres/generated/schur_eliminator_2_2_2.cc
# internal/ceres/generated/schur_eliminator_2_2_3.cc
# internal/ceres/generated/schur_eliminator_2_2_4.cc
# internal/ceres/generated/schur_eliminator_2_2_d.cc
# internal/ceres/generated/schur_eliminator_2_3_3.cc
# internal/ceres/generated/schur_eliminator_2_3_4.cc
# internal/ceres/generated/schur_eliminator_2_3_9.cc
# internal/ceres/generated/schur_eliminator_2_3_d.cc
# internal/ceres/generated/schur_eliminator_2_4_3.cc
# internal/ceres/generated/schur_eliminator_2_4_4.cc
# internal/ceres/generated/schur_eliminator_2_4_8.cc
# internal/ceres/generated/schur_eliminator_2_4_9.cc
# internal/ceres/generated/schur_eliminator_2_4_d.cc
# internal/ceres/generated/schur_eliminator_2_d_d.cc
# internal/ceres/generated/schur_eliminator_4_4_2.cc
# internal/ceres/generated/schur_eliminator_4_4_3.cc
# internal/ceres/generated/schur_eliminator_4_4_4.cc
# internal/ceres/generated/schur_eliminator_4_4_d.cc
# )
#endif()
if(TRUE)
list(APPEND SRC
internal/ceres/generated/partitioned_matrix_view_2_2_2.cc
internal/ceres/generated/partitioned_matrix_view_2_2_3.cc
internal/ceres/generated/partitioned_matrix_view_2_2_4.cc
internal/ceres/generated/partitioned_matrix_view_2_2_d.cc
internal/ceres/generated/partitioned_matrix_view_2_3_3.cc
internal/ceres/generated/partitioned_matrix_view_2_3_4.cc
internal/ceres/generated/partitioned_matrix_view_2_3_9.cc
internal/ceres/generated/partitioned_matrix_view_2_3_d.cc
internal/ceres/generated/partitioned_matrix_view_2_4_3.cc
internal/ceres/generated/partitioned_matrix_view_2_4_4.cc
internal/ceres/generated/partitioned_matrix_view_2_4_8.cc
internal/ceres/generated/partitioned_matrix_view_2_4_9.cc
internal/ceres/generated/partitioned_matrix_view_2_4_d.cc
internal/ceres/generated/partitioned_matrix_view_2_d_d.cc
internal/ceres/generated/partitioned_matrix_view_4_4_2.cc
internal/ceres/generated/partitioned_matrix_view_4_4_3.cc
internal/ceres/generated/partitioned_matrix_view_4_4_4.cc
internal/ceres/generated/partitioned_matrix_view_4_4_d.cc
internal/ceres/generated/schur_eliminator_2_2_2.cc
internal/ceres/generated/schur_eliminator_2_2_3.cc
internal/ceres/generated/schur_eliminator_2_2_4.cc
internal/ceres/generated/schur_eliminator_2_2_d.cc
internal/ceres/generated/schur_eliminator_2_3_3.cc
internal/ceres/generated/schur_eliminator_2_3_4.cc
internal/ceres/generated/schur_eliminator_2_3_9.cc
internal/ceres/generated/schur_eliminator_2_3_d.cc
internal/ceres/generated/schur_eliminator_2_4_3.cc
internal/ceres/generated/schur_eliminator_2_4_4.cc
internal/ceres/generated/schur_eliminator_2_4_8.cc
internal/ceres/generated/schur_eliminator_2_4_9.cc
internal/ceres/generated/schur_eliminator_2_4_d.cc
internal/ceres/generated/schur_eliminator_2_d_d.cc
internal/ceres/generated/schur_eliminator_4_4_2.cc
internal/ceres/generated/schur_eliminator_4_4_3.cc
internal/ceres/generated/schur_eliminator_4_4_4.cc
internal/ceres/generated/schur_eliminator_4_4_d.cc
)
endif()
if(WIN32)
list(APPEND INC
@@ -307,7 +307,6 @@ add_definitions(
-DCERES_NO_SUITESPARSE
-DCERES_NO_CXSPARSE
-DCERES_NO_LAPACK
-DCERES_RESTRICT_SCHUR_SPECIALIZATION
-DCERES_HAVE_RWLOCK
)

3
extern/libmv/third_party/ceres/SConscript vendored
View File

@@ -15,13 +15,12 @@ defs = []
src += env.Glob('internal/ceres/*.cc')
src += env.Glob('internal/ceres/generated/schur_eliminator_d_d_d.cc')
src += env.Glob('internal/ceres/generated/partitioned_matrix_view_d_d_d.cc')
#src += env.Glob('internal/ceres/generated/*.cc')
src += env.Glob('internal/ceres/generated/*.cc')
defs.append('CERES_HAVE_PTHREAD')
defs.append('CERES_NO_SUITESPARSE')
defs.append('CERES_NO_CXSPARSE')
defs.append('CERES_NO_LAPACK')
defs.append('CERES_RESTRICT_SCHUR_SPECIALIZATION')
defs.append('CERES_HAVE_RWLOCK')
if env['WITH_BF_OPENMP']:

6
extern/libmv/third_party/ceres/bundle.sh vendored
View File

@@ -138,7 +138,7 @@ ${sources}
${headers}
)
#if(FALSE)
#if(TRUE)
# list(APPEND SRC
${generated_sources}
# )
@@ -165,7 +165,6 @@ add_definitions(
-DCERES_NO_SUITESPARSE
-DCERES_NO_CXSPARSE
-DCERES_NO_LAPACK
-DCERES_RESTRICT_SCHUR_SPECIALIZATION
-DCERES_HAVE_RWLOCK
)
@@ -217,13 +216,12 @@ defs = []
$src
src += env.Glob('internal/ceres/generated/schur_eliminator_d_d_d.cc')
src += env.Glob('internal/ceres/generated/partitioned_matrix_view_d_d_d.cc')
#src += env.Glob('internal/ceres/generated/*.cc')
src += env.Glob('internal/ceres/generated/*.cc')
defs.append('CERES_HAVE_PTHREAD')
defs.append('CERES_NO_SUITESPARSE')
defs.append('CERES_NO_CXSPARSE')
defs.append('CERES_NO_LAPACK')
defs.append('CERES_RESTRICT_SCHUR_SPECIALIZATION')
defs.append('CERES_HAVE_RWLOCK')
if env['WITH_BF_OPENMP']: