- Change formatting standard to Cpp11. Main difference is not having
the space between two closing >> for nested templates. We don't
choose c++14, because older versions of clang-format (version 9
and earlier) don't know this value yet, and it doesn't make a
difference in the formatting.
- Apply clang-format to all (non generated) internal source files.
- Manually fix some code sections (clang-format on/off) and c-strings
- Exclude some embedded external files with very different formatting
(gtest/gmock)
- Add script to format all source files
Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d
- Removes all workarounds for pre-C++14 versions
- Removes '11' qualifier from C++ threading option and associated
defines.
- Fix missing inclusion of 'Multithreading' in reported Ceres components
when C++ threading model is enabled.
- Update Sphinx documentation to specify C++14 as minimum requirement.
Change-Id: I706c8b367b3221e3c4d1a0aaf669a8f9c911e438
Previously, the thread ID was acquired and released on every iteration
of the for loop. The C++11 concurrent queue implementation is much
slower than TBB's version and consequently this was a huge bottleneck.
This introduces another ParallelFor API which takes the thread ID as a
parameter in the evaluation function. This allows us to acquire and
release the thread ID for each block of work which drastically improves
the performance.
This change brings us on par with OpenMP and TBB. See below for a
timing comparison. Note: in this example this CLs C++11 version is
faster to compute the residuals because TBB still must acquire the
thread ID on every iteration, which has some overhead.
Tested by building and running tests for no threading, OpenMP, TBB, and
C++11 threads. Also ran bazel tests.
./bin/bundle_adjuster --input=problem-744-543562-pre.txt --num_threads=8
C++11 @Head
Time (in seconds):
Residual only evaluation 7.819692 (5)
Jacobian & residual evaluation 11.606063 (6)
Linear solver 47.860195 (5)
Minimizer 70.877072
Total 90.806338
---------------------------------------------------
C++11 (This CL)
Time (in seconds):
Residual only evaluation 1.217500 (5)
Jacobian & residual evaluation 5.796112 (6)
Linear solver 44.080873 (5)
Minimizer 54.635524
Total 77.640072
---------------------------------------------------
OpenMP
Time (in seconds):
Residual only evaluation 0.797023 (5)
Jacobian & residual evaluation 5.633916 (6)
Linear solver 43.280020 (5)
Minimizer 53.199058
Total 76.250861
---------------------------------------------------
TBB
Time (in seconds):
Residual only evaluation 1.911095 (5)
Jacobian & residual evaluation 5.557807 (6)
Linear solver 44.074680 (5)
Minimizer 55.002688
Total 78.052687
---------------------------------------------------
No Threads
Time (in seconds):
Residual only evaluation 2.939212 (5)
Jacobian & residual evaluation 18.519874 (6)
Linear solver 74.017837 (5)
Minimizer 98.980080
Total 122.216391
Change-Id: I3af959b0771bbdfe8cad8c13896191d6ac903181
This is in preparation for adding support for a C++11 based parallel
for implementation. The code is behind CERES_USE_CXX11_THREADS which
is not exposed to the user yet.
Tested by building with and without CERES_USE_CXX11_THREADS defined
and the tests pass.
Change-Id: I60f5730fa055feeb0ee0fa6c980633aebd8d87b4
Nikolaus Demmel