Skip to content

Add CUDA-based dense BA solver #2732

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Merged
ahojnnes merged 3 commits into from
Aug 23, 2024
Merged

Add CUDA-based dense BA solver #2732

ahojnnes merged 3 commits into from
Aug 23, 2024

Conversation

@ahojnnes
Copy link
Contributor

@ahojnnes ahojnnes commented Aug 23, 2024 •
edited
Loading

  • Adds support for using Ceres' CUDA based dense solver for BA.
  • Adds some initial heuristic thresholds to switch between CPU and GPU based solvers.
  • GPU-based solvers are still disabled by default and require explicit enabling through e.g. --Mapper.ba_use_gpu or --BundleAdjustment.use_gpu.
  • The heuristic thresholds would benefit from a more sophisticated tuning based on CPU/GPU capability. Not sure if feasible.

@ahojnnes ahojnnes requested review from B1ueber2y and sarlinpe August 23, 2024 12:42
B1ueber2y
B1ueber2y approved these changes Aug 23, 2024
View reviewed changes
@ahojnnes ahojnnes enabled auto-merge (squash) August 23, 2024 13:50
@ahojnnes ahojnnes merged commit 7a1201b into main Aug 23, 2024
@ahojnnes ahojnnes deleted the user/joschonb/ba-dense-cuda branch August 23, 2024 14:29
@BrewTestBot BrewTestBot mentioned this pull request Nov 28, 2024
Merged
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@B1ueber2y B1ueber2y B1ueber2y approved these changes

@sarlinpe sarlinpe Awaiting requested review from sarlinpe

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

3 participants

@ahojnnes @B1ueber2y