Joydeep Biswas
Joydeep Biswas
Now that we have support for custom Cuda kernels in Ceres, it will be easy to add rank checking to Cuda DENSE_QR. @sandwichmaker please assign to me.
Ceres currently uses the legacy version of the CuSolver API for dense Cholesky and QR factorization instead of the newer 64-bit interface for three reasons: - The newer 64-bit interfaces...
The CUDA memory check tests currently use cuda-memcheck, which NVIDIA has labelled as deprecated, and to be removed in a future release. Unfortunately the replacement, compute-sanitizer is not available on...
They currently take a stream, but instead they should take the stream from the associated CudaBuffer objects. This might need some investigation into how to get nvcc to play nice...
The Jacobi preconditioner could be computed on the GPU using batched Cholesky decomposition [cusolverDnDpotrfBatched](https://docs.nvidia.com/cuda/cusolver/index.html#cuSolverDN-lt-t-gt-batchpotrf). This functionality would also help with other features, e.g. Schur computation, on the GPU.
The V4L drivers are sorely in need of a cleanup. Dead code needs to be removed, additional cmaera settings need to be added, and the associated VarTree structure needs to...