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Replace VNL with Eigen in CorrespondenceFunction::ComputeUpdates #2388

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akenmorris opened this issue Jun 3, 2025 · 0 comments
Open

Replace VNL with Eigen in CorrespondenceFunction::ComputeUpdates #2388

akenmorris opened this issue Jun 3, 2025 · 0 comments
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In a large dataset, the initial iterations are dominated by VNL matrix multiplication.

e.g.

gramMat = points_minus_mean.transpose() * points_minus_mean;

vnl_matrix_type Q = points_minus_mean * pinvMat;

Eigen is significantly faster and should be used instead.
@akenmorris akenmorris self-assigned this Jun 3, 2025
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