8d3e64dd5e
Use modern-style Eigen3 CMake variables
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Change-Id: I4c14aa54552b3f718dff90eb397cb030aeb6ecd4
2021-11-16 19:51:06 +00:00
2fba61434b
support log1p and expm1 jet
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Currently, it is not possible to accurately evaluate the derivative of
d/dx log(1 + x) under all circumstances and significant deviations from
the actual derivative d/dx log1p(x) can occur. This changeset introduces
the necessary Jet overload and its inverse, expm1.
Change-Id: Ifcf88f6d684f61ba86bbe49f0d551b703f34ad0d
2021-11-16 00:14:39 +01:00
a668cabbcf
support norm jet
...
norm allows to compute the squared magnitude both of complex and real
numbers. While Jet does not support decaying of a std::complex to a
scalar performed by norm, the function is still useful when applied to
scalars alone for computing the square.
Change-Id: I27a3513f53f37fb3960411362e80d170d1ae6f74
2021-11-15 22:29:44 +00:00
a3a4b6d77f
support copysign jet
...
libc++ (default on macOS) uses the copysign function for std::complex
multiplication which causes compilation errors such as these if
std::complex is combined with jets:
/Applications/Xcode_12.4.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../include/c++/v1/complex:607:19: error: no matching function for call to 'copysign'
__a = copysign(__libcpp_isinf_or_builtin(__a) ? _Tp(1) : _Tp(0), __a);
^~~~~~~~
foo.hpp:218:39: note: in instantiation of function template specialization 'std::__1::operator*<ceres::Jet<double, 3> >' requested here
std::complex<Scalar> result = lhs * rhs;
copysign is also useful in other situations where the sign is required
allowing it to compute without branching.
Change-Id: I84b2d23374f1bf3bae32833016bb686d97d74054
2021-11-15 23:27:33 +01:00
b75dac1694
fix abs jet test comment
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The comment suggests a non-existing (incorrect) test. Update the comment
and extend the test.
Change-Id: I362f0b5a2e81d286b672476bdb4394ed20263eb1
2021-11-15 18:34:34 +00:00
034bf566f0
use copysign for abs jet
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abs() implementation does not correctly handle the sign of the
infinitesimal part when the value is a NaN. Define the function in terms
of copysign which is the only portable way of manipulating the sign of
a NaN value.
Change-Id: I2f13fb1db62d35ca8b09e6bff1c05a736cb91513
2021-11-14 17:07:14 +01:00
31008453fe
Add example for BiCubicInterpolator
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Add example of BiCubicInterpolator usage, for both analytic and
automatic differentiation
Change-Id: I2e52bec5e0721a21a789e714a126ea24b1c0ce8b
2021-10-06 20:26:18 +03:00
7ef4a12218
Add a section on implicit and inverse function theorems
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Change-Id: I0e6c7d2850a33d03aa629579f049ad44a7618621
2021-10-01 12:05:06 -07:00
686428f5cd
Move the further reading section to bibliography
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Change-Id: I673e74587486cdf5f91a146605dafa8fc2df6ee6
2021-09-24 05:44:45 -07:00
e47d87fdd6
Add a note about Trigg's correction
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Add a pointer about how the theory and practice of Trigg's correction
for loss function differs when the second derivative of the loss
function becomes positive.
https://github.com/ceres-solver/ceres-solver/issues/573
Change-Id: Ic22ce91cc230f7ed7fa7b70a1cc2050919039828
2021-09-24 05:02:40 -07:00
d2852518d6
Fix the docs for Problem::RemoveResidualBlock & Problem::RemoveParameterBlock
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The documentation was out of date about how memory management is
done in Problem.
https://github.com/ceres-solver/ceres-solver/issues/699
Change-Id: Ie55027796bc372cdcbaaca2bf2c93643c303a8e5
2021-09-23 09:32:11 -07:00
06e02a1735
Delete unused files split.h/cc
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Change-Id: I67a4542389a0c1162875975efd23cdfbe797c6bc
2021-09-18 06:10:26 -07:00
ac7268da52
Fix an 80cols issue in covariance_impl.cc
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Change-Id: I2422282919e7100ac852be2176cd754941a8b472
2021-09-15 06:22:29 -07:00
17dccef91b
Add NumericDiffFirstOrderFunction
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This has been a long requested feature so that users can minimize
functions using numeric differentiation.
As part of this, I have also redone rosenbrock.cc, which now has three
variants.
rosenbrock.cc now uses automatic differentiation.
rosenbrock_numeric_diff.cc uses numeric differentiation.
rosenbrock_analytic_diff.cc uses analytic derivatives.
This is analogus to how the helloworld example code is structured.
The tutorial for GradientProblemSolver has also been updated to reflect
this.
https://github.com/ceres-solver/ceres-solver/issues/691
Change-Id: Ib0fb9e35127fe4c8299d4793bea3558722c70dd7
2021-09-15 06:21:02 -07:00
03d64141ae
Fix a incorrect check in reorder_program.cc
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Thanks to William Gandler for pointing this out.
Change-Id: I7a4e0eebd2e557f7572df7455d7fa77527c087b6
2021-09-14 17:36:07 -07:00
8841119134
Two changes to TinySolver
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1. Add function_tolerance based termination, updating the
termination logic to be in line with Ceres.
2. Replace the use of "error" with "residuals" in the code.
Change-Id: I3fd543f3a8226fe7f07eeec358559cba934679b2
2021-09-14 16:33:34 -07:00
4dff3ea2c4
Fix a number of typos in rotation.h
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Thanks to @yiping for reporting these.
https://github.com/ceres-solver/ceres-solver/issues/672
Change-Id: I9c59d2b666430edf33f10aaba0d0ee4cd520e0a4
2021-09-13 17:19:49 -07:00
98719ced43
Fix a type in interfacing_with_autodiff.html
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Thanks to @tangobravo for reporting this.
https://github.com/ceres-solver/ceres-solver/issues/701
Change-Id: I2b063267c9b501c698ce6cd439a666363ba16fde
2021-09-13 17:15:02 -07:00
0299ce9442
Update conf.py to be compatible with Sphinx 4.1.2
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Change-Id: I905911121fca48ae85f046bef714135cbf641d0a
2021-09-13 17:12:02 -07:00
2a2b9bd6fa
Fix a bug in covariance_impl.cc
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A matrix reference was being incorrectly sized. It was using
the block_size number of rows, where as there are only block_local_size
number of rows that are present in the underlying matrix.
This did not affect the correctness of the resulting code, because
right after construction we then access a subblock with block_local_size
rows.
Thanks to William Gandler for reporting this.
Change-Id: I35e1f5a30b79e31b0b9fac79f7e361821d6073df
2021-08-15 16:52:08 -07:00
27fade7b8c
Fix a bug in system_test.cc
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Fix an error in the cost functor for Powell's function.
Reported by William Gandler.
Change-Id: I4ffbbca3b3731aa13c3608067baaebd06c1a044a
2021-08-15 16:44:15 -07:00
d4eb83ee58
Fix the Jacobian in trust_region_minimizer_test.cc
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The analytical Jacobians for Powell's singular function were
incorrect. Thanks to William Gandler for reporting this.
Change-Id: I780ffe449daa6935a79b904835e13edcf1cdffa2
2021-08-15 16:37:47 -07:00
5f6071a1cc
Fix a bug in local_parameterization_test.cc
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Fix an incorrect comparison between in QuaternionParameterizationTestHelper.
Reported by William Gandler.
Change-Id: If4d63a51f6a55013b4e6f0c299462c5af6e80c70
2021-08-15 16:10:12 -07:00
b2e732b1e2
Fix errors in comments from William Gandler.
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Change-Id: I1c1f1f7bdc4a1748994c3b43e72270b88f2a2b96
2021-08-15 16:01:40 -07:00
42f1d67176
Add accessors to GradientProblem
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Change-Id: Ic818eec240fe69b09815f1cc54f7f132cca0abb8
2021-08-14 12:28:19 -07:00
aefd37b182
Refactor small_blas_gemm_benchmark
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This allows benchmarking both dynamic and static problem sizes.
On my X86 2Ghz machine:
CPU Caches:
L1 Data 32 KiB (x48)
L1 Instruction 32 KiB (x48)
L2 Unified 1024 KiB (x48)
L3 Unified 39424 KiB (x2)
----------------------------------------------------------------------------------------------
Benchmark Time CPU Iterations
----------------------------------------------------------------------------------------------
BM_MatrixMatrixMultiplyEigen_Static_2x3x4 10.9 ns 10.9 ns 63960496
BM_MatrixMatrixMultiplyEigen_Static_3x3x3 11.9 ns 11.9 ns 58093785
BM_MatrixMatrixMultiplyEigen_Static_4x4x4 24.9 ns 24.9 ns 28540133
BM_MatrixMatrixMultiplyEigen_Static_8x8x8 258 ns 258 ns 2755921
BM_MatrixMatrixMultiplyEigen_Static_9x9x3 255 ns 255 ns 2778628
BM_MatrixMatrixMultiplyEigen_Static_9x3x3 37.7 ns 37.7 ns 18556359
BM_MatrixMatrixMultiplyEigen_Static_3x9x9 220 ns 220 ns 3195163
BM_MatrixMatrixMultiplyEigen_Dynamic_2x3x4 37.8 ns 37.7 ns 18491162
BM_MatrixMatrixMultiplyEigen_Dynamic_3x3x3 48.8 ns 48.8 ns 13724884
BM_MatrixMatrixMultiplyEigen_Dynamic_4x4x4 74.5 ns 74.5 ns 9313146
BM_MatrixMatrixMultiplyEigen_Dynamic_8x8x8 271 ns 271 ns 2595807
BM_MatrixMatrixMultiplyEigen_Dynamic_9x9x3 259 ns 259 ns 2688515
BM_MatrixMatrixMultiplyEigen_Dynamic_9x3x3 123 ns 123 ns 5792115
BM_MatrixMatrixMultiplyEigen_Dynamic_3x9x9 236 ns 236 ns 2963896
BM_MatrixMatrixMultiplyNaive_Static_2x3x4 12.2 ns 12.2 ns 56472772
BM_MatrixMatrixMultiplyNaive_Static_3x3x3 15.5 ns 15.5 ns 44346456
BM_MatrixMatrixMultiplyNaive_Static_4x4x4 41.5 ns 41.5 ns 17196984
BM_MatrixMatrixMultiplyNaive_Static_8x8x8 199 ns 199 ns 3561730
BM_MatrixMatrixMultiplyNaive_Static_9x9x3 148 ns 148 ns 4764814
BM_MatrixMatrixMultiplyNaive_Static_9x3x3 38.4 ns 38.4 ns 17259019
BM_MatrixMatrixMultiplyNaive_Static_3x9x9 115 ns 115 ns 6104752
BM_MatrixMatrixMultiplyNaive_Dynamic_2x3x4 9.66 ns 9.66 ns 74722971
BM_MatrixMatrixMultiplyNaive_Dynamic_3x3x3 13.0 ns 13.0 ns 53435308
BM_MatrixMatrixMultiplyNaive_Dynamic_4x4x4 47.8 ns 47.8 ns 14358184
BM_MatrixMatrixMultiplyNaive_Dynamic_8x8x8 200 ns 200 ns 3572809
BM_MatrixMatrixMultiplyNaive_Dynamic_9x9x3 104 ns 104 ns 6793797
BM_MatrixMatrixMultiplyNaive_Dynamic_9x3x3 34.0 ns 34.0 ns 20790695
BM_MatrixMatrixMultiplyNaive_Dynamic_3x9x9 130 ns 130 ns 5170402
BM_MatrixTransposeMatrixMultiplyEigen_Static_2x3x4 10.3 ns 10.3 ns 69105234
BM_MatrixTransposeMatrixMultiplyEigen_Static_3x3x3 28.9 ns 28.9 ns 24478934
BM_MatrixTransposeMatrixMultiplyEigen_Static_4x4x4 23.7 ns 23.7 ns 29351926
BM_MatrixTransposeMatrixMultiplyEigen_Static_8x8x8 233 ns 233 ns 2929398
BM_MatrixTransposeMatrixMultiplyEigen_Static_9x9x3 211 ns 211 ns 3287409
BM_MatrixTransposeMatrixMultiplyEigen_Static_9x3x3 26.5 ns 26.5 ns 26515136
BM_MatrixTransposeMatrixMultiplyEigen_Static_3x9x9 196 ns 196 ns 3594314
BM_MatrixTransposeMatrixMultiplyEigen_Dynamic_2x3x4 9.05 ns 9.05 ns 77621001
BM_MatrixTransposeMatrixMultiplyEigen_Dynamic_3x3x3 11.1 ns 11.1 ns 62227812
BM_MatrixTransposeMatrixMultiplyEigen_Dynamic_4x4x4 25.5 ns 25.5 ns 27356089
BM_MatrixTransposeMatrixMultiplyEigen_Dynamic_8x8x8 248 ns 248 ns 2834983
BM_MatrixTransposeMatrixMultiplyEigen_Dynamic_9x9x3 229 ns 229 ns 3082369
BM_MatrixTransposeMatrixMultiplyEigen_Dynamic_9x3x3 28.4 ns 28.4 ns 24318629
BM_MatrixTransposeMatrixMultiplyEigen_Dynamic_3x9x9 229 ns 229 ns 3091288
BM_MatrixTransposeMatrixMultiplyNaive_Static_2x3x4 11.0 ns 11.0 ns 63773538
BM_MatrixTransposeMatrixMultiplyNaive_Static_3x3x3 19.1 ns 19.1 ns 37003139
BM_MatrixTransposeMatrixMultiplyNaive_Static_4x4x4 49.1 ns 49.1 ns 14142301
BM_MatrixTransposeMatrixMultiplyNaive_Static_8x8x8 244 ns 244 ns 2874755
BM_MatrixTransposeMatrixMultiplyNaive_Static_9x9x3 140 ns 140 ns 4992156
BM_MatrixTransposeMatrixMultiplyNaive_Static_9x3x3 46.2 ns 46.2 ns 15068317
BM_MatrixTransposeMatrixMultiplyNaive_Static_3x9x9 112 ns 112 ns 6213574
BM_MatrixTransposeMatrixMultiplyNaive_Dynamic_2x3x4 9.74 ns 9.74 ns 72155001
BM_MatrixTransposeMatrixMultiplyNaive_Dynamic_3x3x3 11.5 ns 11.5 ns 60070577
BM_MatrixTransposeMatrixMultiplyNaive_Dynamic_4x4x4 52.5 ns 52.5 ns 13473642
BM_MatrixTransposeMatrixMultiplyNaive_Dynamic_8x8x8 224 ns 224 ns 3124264
BM_MatrixTransposeMatrixMultiplyNaive_Dynamic_9x9x3 98.0 ns 98.0 ns 7199292
BM_MatrixTransposeMatrixMultiplyNaive_Dynamic_9x3x3 34.7 ns 34.6 ns 20203685
BM_MatrixTransposeMatrixMultiplyNaive_Dynamic_3x9x9 105 ns 105 ns 6653151
Change-Id: Iee403b4d27801d1614ecc1f78a1f8c0011514bd7
2021-08-09 21:24:17 -07:00
dc20db3032
[docs] Fix IterationSummary section. Add missing IterationCallback
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Change-Id: I1d10201cd927003fd3d46728d13231d3fbc27f96
2021-08-09 16:29:29 -07:00
90ba7d1ef4
[docs] Fix typos
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Change-Id: I447bd63b58a7bfc7c1df36dbef5dcba454d28256
2021-08-09 16:29:23 -07:00
c3129c3d4a
Fix tests not executing
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- The operator() wasn't called and tests where not executed.
- Fill test matrices with non-constant data.
Change-Id: Iacc9e8cb47d8539aded05bb821d3ce2f08a740d6
2021-08-03 14:04:01 -07:00
7de561e8e8
Fix dependency check for building documentation
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Build with documentation fails if the required 'sphinx rtd theme' is
not available. Check if dependency is installed before building with
documentation.
Add Python3 as requirement for building documentation.
Change-Id: I5edc5d7374864990e625a5efb358f5a23b3c50fe
2021-07-31 12:21:16 +02:00
4fbe218f24
Refactor small_blas_test
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- Add testMatrix{Transpose}MatrixMultiply size
templated functions and test multiple problem
sizes.
- Removes duplicated code for matrix{transpose}-
matrix{naive} test cases
Change-Id: I9a5d4b0362732ea7bef58572edcaada778fb4aa0
2021-07-30 13:18:18 -07:00
3fdde8ede0
Remove an errant double link.
...
Thanks to TimonKnigge@
Change-Id: If5d77d9fe456991169ed70f12839af028755fc4f
2021-07-16 06:26:09 -07:00
20ad431f77
Fixing a typo in the version history
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Change-Id: Ib0b344112373dd947cedd70808f02f573bf60bc8
2021-07-13 22:25:42 -04:00
0c85c40923
Revert "Reduce copies involved in Jet operations"
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This reverts commit c036c78196
2021-07-01 22:55:31 -07:00
3a02d5aaf4
Fix typo in LossFunctionWrapper sample code
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Change-Id: Ideb47fe8d36b023ea13cf2c23b92871bea54fe58
2021-06-24 19:04:20 +03:00
7b2c223be7
Add fmax/fmin overloads for scalars
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Comparison operators are defined for Jet-scalar and scalar-Jet.
Add corresponding overloads for fmax and fmix so users
don't have to convert to Jet only to access these functions,
plus it can potentially save an unnecessary conversion.
Change-Id: I20cc2d5874935e019d4ecb2d6a8c2ae631c8a4d3
2021-06-23 13:40:58 -07:00
c036c78196
Reduce copies involved in Jet operations
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- Avoid copies in compound assignment operators (+=, -=, *=, /=)
- Add r-value overloads to +,-,*./ operators
Addition<3>/1000 +0.0382 +0.0382 2798 2905 2798 2905
Addition<10>/1000 -0.0009 -0.0009 4831 4827 4831 4827
Addition<15>/1000 -0.0011 -0.0010 8005 7996 8005 7996
Addition<25>/1000 +0.0014 +0.0014 13951 13970 13951 13970
Addition<32>/1000 +0.0010 +0.0009 13638 13651 13638 13651
Addition<200>/160 -0.1732 -0.1732 40301 33321 40300 33320
AdditionScalar<3>/1000 +0.0016 +0.0016 2493 2497 2493 2497
AdditionScalar<10>/1000 +0.0060 +0.0060 2701 2718 2701 2717
AdditionScalar<15>/1000 -0.0024 -0.0024 2598 2592 2598 2592
AdditionScalar<25>/1000 -0.0038 -0.0038 3730 3716 3730 3716
AdditionScalar<32>/1000 +0.0062 +0.0062 4137 4162 4137 4162
AdditionScalar<200>/160 -0.5626 -0.5626 19355 8466 19355 8466
Subtraction<3>/1000 -0.0011 -0.0012 3162 3158 3162 3158
Subtraction<10>/1000 -0.0027 -0.0026 4982 4969 4982 4969
Subtraction<15>/1000 -0.0112 -0.0112 7820 7733 7820 7733
Subtraction<25>/1000 +0.0181 +0.0181 13088 13325 13088 13325
Subtraction<32>/1000 -0.0007 -0.0007 14514 14505 14514 14504
Subtraction<200>/160 -0.1668 -0.1668 44586 37148 44586 37147
SubtractionScalar<3>/1000 -0.0028 -0.0028 2540 2533 2540 2533
SubtractionScalar<10>/1000 -0.0024 -0.0024 2682 2676 2682 2676
SubtractionScalar<15>/1000 -0.0023 -0.0023 2603 2597 2603 2597
SubtractionScalar<25>/1000 -0.0018 -0.0018 3570 3563 3570 3563
SubtractionScalar<32>/1000 -0.0012 -0.0012 4223 4218 4223 4218
SubtractionScalar<200>/160 -0.5070 -0.5070 20375 10044 20375 10044
Multiplication<3>/1000 -0.0543 -0.0544 6171 5836 6172 5836
Multiplication<10>/1000 -0.0617 -0.0617 11860 11128 11860 11128
Multiplication<15>/1000 -0.0106 -0.0106 17456 17271 17456 17271
Multiplication<25>/1000 -0.0114 -0.0114 27204 26893 27204 26893
Multiplication<32>/1000 -0.0125 -0.0125 32704 32293 32703 32293
Multiplication<200>/160 -0.3849 -0.3849 60557 37246 60557 37246
MultiplicationLeftScalar<3>/1000 +0.0005 +0.0005 3086 3088 3086 3088
MultiplicationLeftScalar<10>/1000 -0.0008 -0.0008 4486 4483 4486 4483
MultiplicationLeftScalar<15>/1000 -0.0010 -0.0010 5840 5834 5840 5834
MultiplicationLeftScalar<25>/1000 -0.0047 -0.0047 11350 11297 11350 11298
MultiplicationLeftScalar<32>/1000 -0.0014 -0.0014 13892 13873 13892 13873
MultiplicationLeftScalar<200>/160 -0.2646 -0.2646 28124 20682 28124 20682
MultiplicationRightScalar<3>/1000 +0.0024 +0.0025 3090 3098 3090 3098
MultiplicationRightScalar<10>/1000 +0.0008 +0.0009 4596 4600 4596 4600
MultiplicationRightScalar<15>/1000 -0.0033 -0.0033 5832 5812 5832 5812
MultiplicationRightScalar<25>/1000 -0.0005 -0.0005 11353 11347 11353 11347
MultiplicationRightScalar<32>/1000 +0.0043 +0.0043 14041 14102 14041 14102
MultiplicationRightScalar<200>/160 -0.2600 -0.2600 28104 20796 28104 20796
Division<3>/1000 -0.0006 -0.0006 8977 8972 8977 8972
Division<10>/1000 -0.0095 -0.0095 14613 14474 14613 14473
Division<15>/1000 -0.0081 -0.0081 23109 22922 23108 22922
Division<25>/1000 -0.0081 -0.0081 37292 36992 37292 36992
Division<32>/1000 -0.0234 -0.0234 41693 40718 41692 40717
Division<200>/160 -0.1306 -0.1306 44486 38677 44486 38677
DivisionLeftScalar<3>/1000 -0.0080 -0.0080 6683 6630 6683 6630
DivisionLeftScalar<10>/1000 -0.0018 -0.0018 9255 9239 9255 9238
DivisionLeftScalar<15>/1000 -0.0011 -0.0011 12180 12166 12180 12166
DivisionLeftScalar<25>/1000 +0.0060 +0.0060 22381 22515 22381 22516
DivisionLeftScalar<32>/1000 -0.0016 -0.0016 20159 20126 20159 20126
DivisionLeftScalar<200>/160 -0.2528 -0.2528 28773 21499 28772 21499
DivisionRightScalar<3>/1000 -0.0006 -0.0006 3784 3782 3784 3782
DivisionRightScalar<10>/1000 -0.0014 -0.0014 5699 5691 5699 5691
DivisionRightScalar<15>/1000 -0.0009 -0.0009 7490 7484 7490 7484
DivisionRightScalar<25>/1000 +0.0031 +0.0031 13751 13793 13751 13793
DivisionRightScalar<32>/1000 -0.0006 -0.0006 16712 16702 16712 16702
DivisionRightScalar<200>/160 -0.2532 -0.2532 28412 21217 28411 21217
MultiplyAndAdd<3>/1000 -0.0191 -0.0191 4382 4299 4382 4299
MultiplyAndAdd<10>/1000 -0.0060 -0.0060 10238 10176 10238 10176
MultiplyAndAdd<15>/1000 -0.0053 -0.0053 11696 11634 11696 11634
MultiplyAndAdd<25>/1000 -0.0171 -0.0171 19185 18858 19185 18858
MultiplyAndAdd<32>/1000 +0.0070 +0.0070 23783 23951 23783 23951
MultiplyAndAdd<200>/160 -0.1252 -0.1252 61470 53776 61469 53776
Change-Id: Ib366d5753ed4f398667766384e05389d45e0d444
2021-06-18 15:04:17 -07:00
51945e0619
Introduce benchmark for Jet operations
...
Run on (20 X 4300 MHz CPU s)
CPU Caches:
L1 Data 32 KiB (x10)
L1 Instruction 32 KiB (x10)
L2 Unified 1024 KiB (x10)
L3 Unified 14080 KiB (x1)
Load Average: 2.37, 3.00, 3.08
-----------------------------------------------------------------------------
Benchmark Time CPU Iterations
-----------------------------------------------------------------------------
Addition<3>/1000 2872 ns 2872 ns 240449
Addition<10>/1000 5304 ns 5304 ns 100000
Addition<15>/1000 8211 ns 8210 ns 78742
Addition<25>/1000 14214 ns 14213 ns 46762
Addition<32>/1000 13746 ns 13746 ns 50892
Addition<200>/160 41228 ns 41228 ns 17183
AdditionScalar<3>/1000 2514 ns 2514 ns 273996
AdditionScalar<10>/1000 2733 ns 2733 ns 255508
AdditionScalar<15>/1000 2622 ns 2622 ns 264291
AdditionScalar<25>/1000 3753 ns 3753 ns 183508
AdditionScalar<32>/1000 4254 ns 4254 ns 167016
AdditionScalar<200>/160 18314 ns 18314 ns 38116
Subtraction<3>/1000 3241 ns 3241 ns 206370
Subtraction<10>/1000 5023 ns 5023 ns 139271
Subtraction<15>/1000 8387 ns 8386 ns 89927
Subtraction<25>/1000 14951 ns 14950 ns 48756
Subtraction<32>/1000 14587 ns 14587 ns 47056
Subtraction<200>/160 47175 ns 47175 ns 15574
SubtractionScalar<3>/1000 2572 ns 2572 ns 264468
SubtractionScalar<10>/1000 2713 ns 2713 ns 257920
SubtractionScalar<15>/1000 2621 ns 2621 ns 265289
SubtractionScalar<25>/1000 3593 ns 3593 ns 192266
SubtractionScalar<32>/1000 4255 ns 4255 ns 163738
SubtractionScalar<200>/160 19906 ns 19906 ns 35295
Multiplication<3>/1000 6058 ns 6058 ns 114067
Multiplication<10>/1000 11999 ns 11999 ns 58492
Multiplication<15>/1000 17906 ns 17905 ns 39565
Multiplication<25>/1000 27361 ns 27360 ns 25335
Multiplication<32>/1000 33074 ns 33074 ns 20875
Multiplication<200>/160 61364 ns 61362 ns 11542
MultiplicationLeftScalar<3>/1000 3104 ns 3104 ns 223720
MultiplicationLeftScalar<10>/1000 4549 ns 4549 ns 154366
MultiplicationLeftScalar<15>/1000 5921 ns 5921 ns 119294
MultiplicationLeftScalar<25>/1000 11429 ns 11428 ns 61685
MultiplicationLeftScalar<32>/1000 14094 ns 14094 ns 49941
MultiplicationLeftScalar<200>/160 28186 ns 28185 ns 24484
MultiplicationRightScalar<3>/1000 3110 ns 3110 ns 223333
MultiplicationRightScalar<10>/1000 4655 ns 4655 ns 150534
MultiplicationRightScalar<15>/1000 5890 ns 5890 ns 119746
MultiplicationRightScalar<25>/1000 11464 ns 11464 ns 61483
MultiplicationRightScalar<32>/1000 14243 ns 14242 ns 49492
MultiplicationRightScalar<200>/160 28282 ns 28281 ns 24604
Division<3>/1000 9128 ns 9128 ns 77846
Division<10>/1000 14811 ns 14811 ns 47682
Division<15>/1000 23293 ns 23292 ns 30091
Division<25>/1000 37313 ns 37313 ns 18608
Division<32>/1000 41229 ns 41229 ns 16982
Division<200>/160 44802 ns 44802 ns 15573
DivisionLeftScalar<3>/1000 6720 ns 6720 ns 104747
DivisionLeftScalar<10>/1000 9403 ns 9402 ns 75216
DivisionLeftScalar<15>/1000 12313 ns 12313 ns 57366
DivisionLeftScalar<25>/1000 22739 ns 22739 ns 30421
DivisionLeftScalar<32>/1000 20321 ns 20321 ns 34191
DivisionLeftScalar<200>/160 29018 ns 29017 ns 23908
DivisionRightScalar<3>/1000 3815 ns 3815 ns 182333
DivisionRightScalar<10>/1000 5750 ns 5750 ns 121691
DivisionRightScalar<15>/1000 7574 ns 7574 ns 92994
DivisionRightScalar<25>/1000 13953 ns 13953 ns 49250
DivisionRightScalar<32>/1000 16892 ns 16892 ns 41668
DivisionRightScalar<200>/160 28663 ns 28662 ns 24226
MultiplyAndAdd<3>/1000 4399 ns 4399 ns 158635
MultiplyAndAdd<10>/1000 10453 ns 10453 ns 68112
MultiplyAndAdd<15>/1000 11830 ns 11830 ns 59598
MultiplyAndAdd<25>/1000 19624 ns 19624 ns 36240
MultiplyAndAdd<32>/1000 25539 ns 25538 ns 29066
MultiplyAndAdd<200>/160 65362 ns 65358 ns 11086
Change-Id: Ie62492b3fd19ff9d3394f90bd00f0aa01522fc2a
2021-06-16 16:17:52 -07:00
ec4f2995bb
Do not check MaxNumThreadsAvailable if the thread number is set to 1.
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- this saves the sysfs cost in MaxNumThreadsAvailable.
Change-Id: I6b33ceae363da19346341be95abbd89d7b7b0f2f
2021-03-24 22:16:45 +00:00
98f639f542
Add a macro CERES_GET_FLAG.
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This is needed to add a layer of indirection which will allow
us to use gflags in the public version and absl inside Google.
Change-Id: I32f3da23200a01c9b658bbf8aaa66cb8fddc2cc3
2021-03-18 11:07:57 -07:00
766f2cab55
Reduce log spam in covariance_impl.cc.
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Make the rank deficiency warning in the covariance module a VLOG(1) instead of
LOG(ERROR) since this is a commonly occuring case.
Change-Id: Id46eba6dcf9afbaf0554c2d6f230b2af7a1fbdea
2021-03-17 13:55:00 +00:00
941ea13475
Fix FindTBB version detection with TBB >= 2021.1.1
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- Raised as issue #669
Change-Id: Ic2fcaf31aef5e303d19a9caef7d6c679325f554a
2021-03-15 14:17:59 +00:00
323c350a66
fix Eigen3_VERSION
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Change-Id: Ida3796ec9d5732b284973dbbf0a395f9c5b19a7b
2021-03-03 19:30:08 +01:00
2b32b32124
Revert "Group specializations into groups of four"
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This reverts commit 4ba244cdbc
2021-02-17 18:38:43 +00:00
313caf1aec
Allow Unity build.
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Two parts:
- missing include guard in solver_utils.h
- exclude schur_specializations from unity build. This
can only be done with cmake >= 3.16, so only allow
unity build for these versions.
Cuts build time by 5 minutes with default settings.
libceres.a shrinks from 7549968 bytes to 7009696 bytes.
Change-Id: I833ac8266623da0e725cc2f07a6415b4fa72bc18
2021-02-16 08:30:36 +09:00
4ba244cdbc
Group specializations into groups of four
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Genrerate the specialization files by grouping the specializations into
five groups, cutting build time by three minutes (roughly 20%) in my
tests.
Change-Id: Ifd6a4523a47346c5e84c1cda15b7abba60d8e953
2021-02-12 19:56:53 +09:00
d77a8100a3
Make miniglog's InitGoogleLogging argument const.
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This is in line with glog. Also, the argument is unused. Third try.
Change-Id: I23331ae26089956454d66ab9e93fc04d4b24ed2e
2021-02-08 00:56:02 +00:00
8637249945
Use portable expression for constant 2/sqrt(pi)
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M_2_SQRTPI is not part of standard C++, replace it with an
equivalent expression. gcc immediately folds this and thus
generates the same code even at -O0.
Change-Id: I5d38e67a4508c1d43a1a8e5f1639f2243cdb143e
2021-01-30 23:19:07 +09:00
97873ea658
Add some missing includes for glog/logging.h
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Change-Id: Ia10c2809eb360bd30efddc0cd941b0de06ac09d6
2021-01-21 13:49:38 -08:00
d15b1bcd3e
Increase tolerance in small_blas_test.cc
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Change-Id: I7b8460bec65e56029d01c293e83743e99a57d10c
2021-01-12 09:15:05 -08:00
Alex Stewart