I have a very small optimization problem calculating the back-projection of a single point (for an implicit camera model). I have to solve nearly the same optimization problem many times for the calculation of lookup tables for image rectification.
Using levmar I need approx. 1s, using ceres 50s (solving 1 million times the optimization problem for each one point). Is there a way to speed up this kind of problem?
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It is a different problem from what I reported earlier, probably more
close to what the original post by Tobi was about. It is simpler (two
paramteres, two residuals) and has no constraints.
I cannot easily cut the code clear of my work stuff (which I cannot
share), but it is maybe a good idea to create the profiles again, hang on...
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Hi Keir,
On 02/19/2015 07:48 AM, Keir Mierle wrote:
> Hi Julius,
>
> Sorry for the delay; I just saw this thread now. I would love to see
> your adaption! I'm not sure we're ready to accept such a solver in
> mainline this minute, but if you would be willing we might run with your
> current code and see how it looks from an API and maintenance
> perspective. Don't worry about making a formal patch; just attach some
> code and I'll take a look.
please find some code with a demo program attached.
On my box, it compiles with
g++ demo.cpp -I/usr/include/eigen3 -lglog -lgflags -std=c++11 -o demo
The only "true" addition is at the beginning of the "Update" function.
However, I ripped the code a bit appart (mainly in retracing the many
type indirections in it). I renamed most of the member types, and I also
made the following simplifications: You can no longer provide a custom
linear solver as a template argument (it is always PartialPivLU), and
you can no longer provide a custom Jacobian functor (it is always auto
diff now).
These simplifications were not really necessary and could be easily
undone. I made them only to be able to see clearer through the code.
> It's fascinating that the tiny LM loop is so much faster. It is worth
> considering that the tiny LM loop is considerably stripped down, not
> just in allocations, but also in numeric stability. The core Ceres LM
> loop (and also line search) is battle hardened on a wide variety of
> ill-conditioned problems. This may not matter in your application, but
> does make a difference sometimes.
>
> I believe I can strip the tiny LM loop down even further to have zero
> allocations, where you make an LM object up front for certain dimensions.
In principle, it is like that, isn't it? The problem size is fed in via
template arguments. Some temporary Eigen data structures are created
though, and these could probably be moved out of the loop.
> In your problem, do you have a fixed size residuals? Can you go into
> more detail of exactly what the residuals are in your case?
Yes, I have fixed size residuals (2x2). But the solver will accept
functors with dynamic residual size (parameter size must be known at
compile time, though).
The problem I benchmarked ist that of inverting a custom lense
distortion model. I. e. I have an (analytic) function that "distorts" a
point in the image plane:
u_distorted, v_distorted = distort( u_undistorted, v_undistorted )
I now want to find out the undistorted position, given the distorted
position.
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