I tried using your method in VINS-Fusion but can‘t get any speed-up，need help

[wxpiggy]

Can you help me figure out what is the most important part in your code to get this x2 speed up？

[panxkun]

The VI-BA implementation in this repository follows a very straightforward approach without employing any special optimization techniques. I believe the main reason it is faster than a general-purpose solver such as ceres-solver is that tinysolver does not need to perform extensive checks, conversions, or handling for different input formats and corner cases. As a result, each computational step can be implemented with relatively standard and streamlined operations, without incurring the additional overhead required by a general-purpose library.

I have not profiled the runtime of individual modules in ceres-solver, so I cannot say precisely which specific step in tinysolver is faster. However, it may be worth taking a closer look at the matrix-solving component, as it accounts for a substantial portion of the overall runtime. If you have any further questions, I would be happy to discuss them.