[Multiview] Enhance L2 Rotation Averaging with Spectra library #1636
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR integrate the Spectra library as a third party dependency into the build tree and take advantage of its features in the L2 RA solver. On some medium sized datasets, speed increase of L2RA is up to 10x. I haven't check for memory usage but it should be highly reduced because we use sparse matrices everywhere.
This hopefully definitely close #937
EDIT: this PR is a WIP for testing it lacks: