saberbud/ceres-solver
1
0
Fork 0
mirror of https://github.com/ceres-solver/ceres-solver.git synced 2026-08-29 08:34:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

Expand reporting of timing information.

Browse Source 
1. Add an ExecutionSummary object to record execution
   information about Ceres objects.
2. Add an EventLogger object to log events in a function call.
3. Add a ScopedExecutionTimer object to log times in ExecutionSummary.
4. Instrument ProgramEvaluator and all the linear solvers
   to report their timing statistics.
5. Connect the timing statistics to Summary::FullReport.
6. Add high precision timer on unix systems using
   gettimeofday() call.
7. Various minor clean ups all around.

Change-Id: I5e09804b730b09535484124be7dbc1c58eccd1d4
This commit is contained in:
Sameer Agarwal
2013-02-01 12:22:53 -08:00
parent 08c891fcb6
commit 42a84b87fa
17 changed files with 323 additions and 67 deletions
Download Patch File Download Diff File Expand all files Collapse all files
internal/ceres/dense_qr_solver.cc
+8 -3
View File
@@ -34,10 +34,11 @@
#include "Eigen/Dense"
#include "ceres/dense_sparse_matrix.h"
#include "ceres/linear_solver.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/linear_solver.h"
#include "ceres/types.h"
#include "ceres/wall_time.h"
namespace ceres {
namespace internal {
@@ -50,10 +51,10 @@ LinearSolver::Summary DenseQRSolver::SolveImpl(
const double* b,
const LinearSolver::PerSolveOptions& per_solve_options,
double* x) {
EventLogger event_logger("DenseQRSolver::Solve");
const int num_rows = A->num_rows();
const int num_cols = A->num_cols();
VLOG(2) << "DenseQRSolver: "
<< num_rows << " x " << num_cols << " system.";
if (per_solve_options.D != NULL) {
// Temporarily append a diagonal block to the A matrix, but undo
@@ -68,9 +69,11 @@ LinearSolver::Summary DenseQRSolver::SolveImpl(
rhs_.setZero();
}
rhs_.head(num_rows) = ConstVectorRef(b, num_rows);
event_logger.AddEvent("Setup");
// Solve the system.
VectorRef(x, num_cols) = A->matrix().colPivHouseholderQr().solve(rhs_);
event_logger.AddEvent("Solve");
if (per_solve_options.D != NULL) {
// Undo the modifications to the matrix A.
@@ -83,6 +86,8 @@ LinearSolver::Summary DenseQRSolver::SolveImpl(
LinearSolver::Summary summary;
summary.num_iterations = 1;
summary.termination_type = TOLERANCE;
event_logger.AddEvent("TearDown");
return summary;
}