de96ed58f5
Eliminate benchmark deprecation warnings
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Resolve the following warnings issue by the latest version of the
benchmark library:
/Users/runner/work/ceres-solver/ceres-solver/internal/ceres/small_blas_gemv_benchmark.cc:71:54: warning: 'Benchmark' is deprecated: Use ::benchmark::Benchmark instead [-Wdeprecated-declarations]
71 | static void MatrixSizeArguments(benchmark::internal::Benchmark* benchmark) {
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/Users/runner/work/ceres-solver/ceres-solver/internal/ceres/dense_linear_solver_benchmark.cc:67:46: warning: 'Benchmark' is deprecated: Use ::benchmark::Benchmark instead [-Wdeprecated-declarations]
67 | static void MatrixSizes(benchmark::internal::Benchmark* b) {
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/Users/runner/work/ceres-solver/ceres-solver/internal/ceres/invert_psd_matrix_benchmark.cc:80:37: warning: 'Benchmark' is deprecated: Use ::benchmark::Benchmark instead [-Wdeprecated-declarations]
80 | ->Apply([](benchmark::internal::Benchmark* benchmark) {
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Change-Id: Ice6fe57dc5635698809e368fda23a018f4d7df5a
2026-02-01 08:24:16 -08:00
5a30cae583
Preparing for 2.2.0rc1
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1. Add a version history
2. Update copyright years across the code base
3. Run format_all.sh
4. Update version strings from 2.1.0 to 2.2.0 in the docs and
elsewhere.
Change-Id: I46d8d479d54bd6002d532785e67342106e73c9ac
2023-09-21 11:23:38 -07:00
9cddce73a5
Explicit conversions from long to int in benchmarks (for num_threads)
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Change-Id: I175328a890efe79c97180be03997324532d4c7a7
2023-01-29 01:56:23 +00:00
f1414cb5bd
Correct spelling in comments and docs.
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Change-Id: Iad9a0599d644d3b3cd54244edaf64d408cb1308e
2022-04-24 21:40:13 -07:00
caf614a6c1
Modernize code using c++17 constructs
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Mostly done using
find . \( -name '*.cc' -o -name '*.h' \) -a -type f -exec clang-tidy -p \
cmake-build -checks='-*,google-*,modernize-*,-modernize-use-nodiscard,-modernize-use-trailing-return-type' {} -fix \;
Change-Id: Ifccbcabe7a1d9a32a09d28ac4f3f8466696c1a50
2022-04-22 06:11:18 -07:00
8cb441c49a
Fix missing declaration warnings in GCC
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- Follow up to commit https://github.com/ceres-solver/ceres-solver/commit/54ba6c27b504f43b59b0d91da0165995c66d9a3d
which enabled -Wmissing-declarations and fixed all previous
infractions.
Change-Id: Ia10b49b4c9bc12c0f7bec2b8c0706f38be18f1dc
2021-12-15 18:20:14 +00:00
084042c252
Lint changes from William Rucklidge
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Update documentation for
Solver::Options::max_num_line_search_step_size_iterations
Change-Id: I03edc74e67940bed0be7e5ccaffed9e97114a5a5
2019-05-31 09:00:40 -07:00
a0cd0854aa
Speed up InvertPSDMatrix
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For matrices of size <= 4, Eigen implements an optimized matrix
inverse, which is orders of magnitude faster than computing the
Cholesky factorization and inverting it. This can have a significant
impact on the performance of the SchurEliminator.
This change implements this optimization, adds tests and benchmarks.
Before this change on my MacBook Pro
-----------------------------------------------------------------------------------
Benchmark Time CPU Iterations
-----------------------------------------------------------------------------------
BenchmarkFixedSizedInvertPSDMatrix<1> 0 ns 0 ns 1000000000
BenchmarkFixedSizedInvertPSDMatrix<2> 102 ns 101 ns 6504851
BenchmarkFixedSizedInvertPSDMatrix<3> 164 ns 164 ns 4297669
BenchmarkFixedSizedInvertPSDMatrix<4> 200 ns 200 ns 3933623
BenchmarkFixedSizedInvertPSDMatrix<5> 353 ns 353 ns 1930454
BenchmarkFixedSizedInvertPSDMatrix<6> 428 ns 427 ns 1629074
BenchmarkFixedSizedInvertPSDMatrix<7> 559 ns 558 ns 1211639
BenchmarkFixedSizedInvertPSDMatrix<8> 527 ns 527 ns 1000000
BenchmarkFixedSizedInvertPSDMatrix<9> 873 ns 873 ns 902713
BenchmarkFixedSizedInvertPSDMatrix<10> 892 ns 892 ns 787410
BenchmarkFixedSizedInvertPSDMatrix<11> 1201 ns 1201 ns 564334
BenchmarkFixedSizedInvertPSDMatrix<12> 1081 ns 1080 ns 588359
BenchmarkDynamicallyInvertPSDMatrix/1 322 ns 322 ns 2244892
BenchmarkDynamicallyInvertPSDMatrix/2 362 ns 362 ns 1869693
BenchmarkDynamicallyInvertPSDMatrix/3 455 ns 455 ns 1604092
BenchmarkDynamicallyInvertPSDMatrix/4 443 ns 443 ns 1578062
BenchmarkDynamicallyInvertPSDMatrix/5 648 ns 647 ns 963232
BenchmarkDynamicallyInvertPSDMatrix/6 756 ns 755 ns 899766
BenchmarkDynamicallyInvertPSDMatrix/7 906 ns 905 ns 740506
BenchmarkDynamicallyInvertPSDMatrix/8 885 ns 885 ns 790657
BenchmarkDynamicallyInvertPSDMatrix/9 1219 ns 1219 ns 600503
BenchmarkDynamicallyInvertPSDMatrix/10 1267 ns 1266 ns 534555
BenchmarkDynamicallyInvertPSDMatrix/11 1580 ns 1579 ns 469591
BenchmarkDynamicallyInvertPSDMatrix/12 1366 ns 1365 ns 514513
after this change:
-----------------------------------------------------------------------------------
Benchmark Time CPU Iterations
-----------------------------------------------------------------------------------
BenchmarkFixedSizedInvertPSDMatrix<1> 0 ns 0 ns 1000000000
BenchmarkFixedSizedInvertPSDMatrix<2> 1 ns 1 ns 1000000000
BenchmarkFixedSizedInvertPSDMatrix<3> 1 ns 1 ns 514399512
BenchmarkFixedSizedInvertPSDMatrix<4> 2 ns 2 ns 320587683
BenchmarkFixedSizedInvertPSDMatrix<5> 372 ns 372 ns 1856986
BenchmarkFixedSizedInvertPSDMatrix<6> 446 ns 446 ns 1552502
BenchmarkFixedSizedInvertPSDMatrix<7> 571 ns 570 ns 1208021
BenchmarkFixedSizedInvertPSDMatrix<8> 586 ns 584 ns 1090988
BenchmarkFixedSizedInvertPSDMatrix<9> 1003 ns 1001 ns 753279
BenchmarkFixedSizedInvertPSDMatrix<10> 1074 ns 1070 ns 689974
BenchmarkFixedSizedInvertPSDMatrix<11> 1361 ns 1351 ns 545388
BenchmarkFixedSizedInvertPSDMatrix<12> 1160 ns 1158 ns 615742
BenchmarkDynamicallyInvertPSDMatrix/1 326 ns 326 ns 2206552
BenchmarkDynamicallyInvertPSDMatrix/2 362 ns 361 ns 1820982
BenchmarkDynamicallyInvertPSDMatrix/3 432 ns 431 ns 1696361
BenchmarkDynamicallyInvertPSDMatrix/4 473 ns 472 ns 1294115
BenchmarkDynamicallyInvertPSDMatrix/5 657 ns 656 ns 917888
BenchmarkDynamicallyInvertPSDMatrix/6 804 ns 802 ns 884050
BenchmarkDynamicallyInvertPSDMatrix/7 936 ns 935 ns 679565
BenchmarkDynamicallyInvertPSDMatrix/8 915 ns 915 ns 695548
BenchmarkDynamicallyInvertPSDMatrix/9 1299 ns 1293 ns 583256
BenchmarkDynamicallyInvertPSDMatrix/10 1300 ns 1296 ns 562959
BenchmarkDynamicallyInvertPSDMatrix/11 1617 ns 1610 ns 480393
BenchmarkDynamicallyInvertPSDMatrix/12 1380 ns 1379 ns 503934
Change-Id: Id0d3bbe6d610ee7a3004bb8e2b657b90307b9805
2019-05-30 18:15:01 -07:00
Sergiu Deitsch