Gauss newton optimization help

Hello everyone, I implemented the weighted Gauss-Newton optimizer to minimize reprojection error by updating the camera pose and focal length, but the Hessian accumulation part consumes the most of time. Since I must use one CPU thread, it runs very slowly. The hessian accumulation part contains some matrix multiplication and addition operations between matrices and it makes the algorithm slow. I need to make it faster. I'm sharing my codes with you. By the way, my initial guess is very …

computervision cpu error hello matrix matrix multiplication operations optimization part