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1314 Commits
| Author | SHA1 | Message | Date | |
|---|---|---|---|---|
 Sameer Agarwal
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c2f5cd10e7 |
Update docs and code in preparation for 1.14.0
Change-Id: I81b430fbff62fb5e3f4c75945f6d40361d546918 |
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Keir Mierle
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7bdceb46cf |
Evaluation callback API
This adds a callback mechanism to for users to get notified just before jacobian and residual evaluations. This will enable aggressive caching and sharing of compute between cost functions. Change-Id: I67993726920218edf71ab9ae70c34c204756c71a |
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Sameer Agarwal
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83098e12e8 |
Two changes to how we manage user's state.
1. When Solver::Options::update_state_every_iteration = true, the StateUpdatingCallback only updates the state on a successful iteration. This works fine but will not work if the user provides an EvaluationCallback, because every call to Evaluator::Evaluate will change the state visible to the user. This means that on unsuccessful iterations when the user's IterationCallback is called the state visible to the user would be the last evaluation which did not lead to an improved cost. This CL forces the StateUpdatingCallback to unconditionally update the user visible state. 2. When the minimizer terminates, we update the user visible state only if the solution is usable, otherwise the user's state will remain the same. To maintain this invariant we will now cache the user's state and make sure we use it to reset it upon return if the solver is not successful. Change-Id: Ic1f8fa6cb10d2753130ea752c70ff3d6b2f1462f |
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Alex Stewart
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df2d882540 |
Remove armv7 from target architectures when building for iOS >= 11.
- iOS 11+ requires a 64-bit architecture, so only arm64 is supported. Change-Id: Ieb2ead13ba8722c6c0777b78f59f667331ad670c |
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Sameer Agarwal
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2f2e7222fa |
Fix c++98 mode compilation for parallel_utils_test.cc
Change-Id: I009032978bca910704c52f4de693d04fa13c6e07 |
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William Rucklidge
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21f519d009 |
Improve threading in covariance.
Covariance computation wants to do a triangular iteration but as a single loop. Right now it iterates over a square and does nothing half the time, which is inefficient and has bad worst-case threading performance. This adds a utility that allows waste-free linear iteration over a triangle. Change-Id: I881d5683c65882f87dc2b5f8449a855d22ace755 |
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Keir Mierle
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0a30117489 |
Add parallel bundle tests to CMake build
This converts the bundle_adjustment_test to the parallel version with multiple binaries, as is already in place for the Bazel build. Additionally, since there is no longer a need for it, this deletes bundle_adjustment_test.cc. The test suite now runs on my 6 year old desktop in ~60 seconds! Change-Id: Ib4a59f8749e823f697e6da5d303977d284303ae3 |
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Sameer Agarwal
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660960294c |
Remove an errant binary character
Change-Id: I22b6ef8975c3c8a34e7f96ca89e4ec90461f453c |
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Mike Vitus
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f0c3b23684 |
Increases the performance of the C++11 threading.
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 |
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Mike Vitus
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4e391c36c1 |
Corrects the documentation of Problem::AddResidualBlock.
This change is provided on behalf of Steve Hsu. Tested by compiling and inspecting the documentation. Change-Id: Ib892bcc3ad76cba1bad133a1fd1d26468d0e6437 |
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Sameer Agarwal
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8c81149e4d |
Revert changes to MatrixTransposeMatrixMultiply.
This change while algebraically equivalent was causing non-trivial changes in the numbers being reported by ceres and in some cases they got worse. Also fix a small header include in parallel_for_test.cc which was discovered as part of testing this patch. Change-Id: I8c8d61538819f0b25af6059fa75ad068fc22f5e4 |
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Sameer Agarwal
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3d933750a7 |
Deprecate Solver::Options::num_linear_solver_threads
1. Solver::Options::num_threads now controls parallelism in Ceres Solver. The user specified value of Solver::Options::num_linear_solver_threads is ignored. 2. If the user specifies Solver::Options::num_linear_solver_threads and it is different from Solver::Options::num_threads, a warning is printed. 3. Solver::Summary:num_linear_solver_threads_given and Solver::Summary::num_linear_solver_threads_used are also deprecated and are always set to Solver::Summary::num_threads_given and Solver::Summary::num_threads_used. Change-Id: I20b9336d9336e400e6f0a15b63857c0c43eb271c |
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Sameer Agarwal
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d9d8de556a |
Convert a nested loop into a linear loop in covariance_impl.h
This improves the readability and simplifies the logic for interfacing with ParallelFor. More importantly, it paves the way for ParallelFor refactoring to improve its performance. Change-Id: I13b05596228900ee00d71f2ccce1db338844b9ab |
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Mike Vitus
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5fcd3155f4 |
Fixes the configuration check in port.h.
Fixes a bug introduced in 12280 that incorrectly used xor for multiple values. Tested it manually by verifying it would fail for 2, 3, or 4 of them defined. Change-Id: I90c2662f4744aceaf0119dbbe072beced3f67c9a |
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Sameer Agarwal
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c48937e8cf |
Renable accidentally disabled tests in inner_product_computer_test
Change-Id: I25a73a2436c320ac5a3f84f9867258393fb2ffe9 |
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Sameer Agarwal
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973d30dffa |
Revert "Improve the performance of MatrixTransposeVector Multiply."
This reverts commit
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Sameer Agarwal
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0e0d5b44b5 |
Make SubsetPreconditionerTest compatible with old Eigen.
The enum Eigen::UpLoType did not have a name in older versions of Eigen, so a templated function using that enum type fails to compile with earlier versions of Eigen. This change replaces the enum in the template declaration with an int. Change-Id: Id128fd96b76818be347ee6ed5945c231936d9af8 |
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Mike Vitus
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7b2717582a |
Adds C++11 parallel for implementation.
Implements ParallelFor using the C++11 based ThreadPool. The C++11 parallel for is 50-70% faster than single threaded, and 20-30% slower than TBB. Tested by compiling with OpenMP, TBB, and C++11 Threading support and ran the unit tests. Ran bazel as well. Change-Id: I7fd6c9037ff9f200ce6999b5f39918995bb6b8ea |
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Mike Vitus
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f408f89e8b |
Adds a Ceres Context structure.
A Ceres Context holds common global state that can be re-used within Ceres. The Context current contains a thread pool if compiling with C++11 threading support. Threads are expensive to create and destroy so it is good to maintain across multiple Ceres solves. Tested by compiling with and without TBB support and ran unit tests. Ran bazel as well. Change-Id: I82f598dfae642aa0e81a6039dc174608a5e8dbfb |
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Sameer Agarwal
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f217ccfb69 |
Use MatrixTransposeMatrix multiply from small_blas.h
Prior to this Cheng Wang had to work the MatrixTransposeMatrixMultiply function in inner_product_computer because of its lagging performance. Now that the implementation of MatrixTransposeMatrixMultiply has been updated to match the implementation in inner_product_computer this CL removes the redundancy. This CL also includes a fix to MatrixTransposeMatrixMultiply which was missed in the earlier refactoring, because the test coverage for small_blas is broken. The tests for InnerProductComputer caught the problem. Change-Id: Ia8890010da058c2d9fe738dc77f0be34af5618ab |
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Sameer Agarwal
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656f9efbd3 |
Improve the performance of MatrixTransposeMatrix multiply.
Compute A'B as rank-1 sums of outer products of the rows of A and B. This is more cache coherent. Benchmark Time CPU Time Old Time New CPU Old CPU New -------------------------------------------------------------------------------------------------------------------------------------- BM_MatrixMatrixMultiplyDynamic/2/2/2 +0.0031 +0.0033 27 27 27 27 BM_MatrixMatrixMultiplyDynamic/2/2/4 +0.0383 +0.0380 41 42 41 42 BM_MatrixMatrixMultiplyDynamic/2/2/6 +0.0001 +0.0019 58 58 57 58 BM_MatrixMatrixMultiplyDynamic/2/2/8 +0.0169 +0.0169 70 71 70 71 BM_MatrixMatrixMultiplyDynamic/2/2/10 +0.0162 +0.0161 83 85 83 85 BM_MatrixMatrixMultiplyDynamic/2/2/12 -0.0049 -0.0048 93 93 93 93 BM_MatrixMatrixMultiplyDynamic/2/2/15 +0.0131 +0.0129 114 115 114 115 BM_MatrixMatrixMultiplyDynamic/2/4/2 +0.0494 +0.0489 32 34 32 34 BM_MatrixMatrixMultiplyDynamic/2/4/4 +0.0121 +0.0121 51 52 51 52 BM_MatrixMatrixMultiplyDynamic/2/4/6 +0.0134 +0.0138 70 71 70 71 BM_MatrixMatrixMultiplyDynamic/2/4/8 +0.0006 +0.0005 90 90 90 90 BM_MatrixMatrixMultiplyDynamic/2/4/10 +0.0248 +0.0248 107 110 107 110 BM_MatrixMatrixMultiplyDynamic/2/4/12 -0.0239 -0.0234 125 122 125 122 BM_MatrixMatrixMultiplyDynamic/2/4/15 +0.0611 +0.0605 155 164 155 164 BM_MatrixMatrixMultiplyDynamic/2/6/2 -0.0017 -0.0017 39 39 39 39 BM_MatrixMatrixMultiplyDynamic/2/6/4 +0.0139 +0.0147 59 60 59 60 BM_MatrixMatrixMultiplyDynamic/2/6/6 -0.1062 -0.1003 89 80 89 80 BM_MatrixMatrixMultiplyDynamic/2/6/8 -0.0339 -0.0344 116 112 115 111 BM_MatrixMatrixMultiplyDynamic/2/6/10 +0.0568 +0.0455 142 150 141 148 BM_MatrixMatrixMultiplyDynamic/2/6/12 -0.0073 -0.0062 155 154 155 154 BM_MatrixMatrixMultiplyDynamic/2/6/15 +0.0219 +0.0215 187 191 187 191 BM_MatrixMatrixMultiplyDynamic/2/8/2 -0.0165 -0.0160 43 42 43 42 BM_MatrixMatrixMultiplyDynamic/2/8/4 -0.0247 -0.0245 71 69 70 69 BM_MatrixMatrixMultiplyDynamic/2/8/6 -0.0642 -0.0614 104 98 104 98 BM_MatrixMatrixMultiplyDynamic/2/8/8 -0.0607 -0.0599 133 125 133 125 BM_MatrixMatrixMultiplyDynamic/2/8/10 -0.0523 -0.0510 166 157 166 157 BM_MatrixMatrixMultiplyDynamic/2/8/12 -0.0381 -0.0376 189 182 189 182 BM_MatrixMatrixMultiplyDynamic/2/8/15 -0.0725 -0.0716 243 226 243 225 BM_MatrixMatrixMultiplyDynamic/2/10/2 -0.0421 -0.0416 50 48 50 48 BM_MatrixMatrixMultiplyDynamic/2/10/4 -0.0558 -0.0549 83 78 83 78 BM_MatrixMatrixMultiplyDynamic/2/10/6 -0.0527 -0.0518 115 109 115 109 BM_MatrixMatrixMultiplyDynamic/2/10/8 -0.0421 -0.0413 150 144 150 144 BM_MatrixMatrixMultiplyDynamic/2/10/10 -0.0606 -0.0601 202 190 202 190 BM_MatrixMatrixMultiplyDynamic/2/10/12 -0.0409 -0.0406 224 215 224 215 BM_MatrixMatrixMultiplyDynamic/2/10/15 -0.0308 -0.0302 277 268 277 268 BM_MatrixMatrixMultiplyDynamic/2/12/2 -0.0059 -0.0058 53 52 53 52 BM_MatrixMatrixMultiplyDynamic/2/12/4 +0.0019 +0.0023 87 87 87 87 BM_MatrixMatrixMultiplyDynamic/2/12/6 -0.0032 -0.0025 126 125 126 125 BM_MatrixMatrixMultiplyDynamic/2/12/8 -0.0039 -0.0038 159 158 159 158 BM_MatrixMatrixMultiplyDynamic/2/12/10 -0.0175 -0.0171 205 201 205 201 BM_MatrixMatrixMultiplyDynamic/2/12/12 -0.0643 -0.0633 295 276 294 276 BM_MatrixMatrixMultiplyDynamic/2/12/15 -0.0215 -0.0201 328 321 328 321 BM_MatrixMatrixMultiplyDynamic/2/15/2 +0.0092 +0.0103 58 58 58 58 BM_MatrixMatrixMultiplyDynamic/2/15/4 +0.0762 +0.0765 98 105 98 105 BM_MatrixMatrixMultiplyDynamic/2/15/6 -0.0155 -0.0172 138 136 138 136 BM_MatrixMatrixMultiplyDynamic/2/15/8 +0.0674 +0.0658 180 192 180 191 BM_MatrixMatrixMultiplyDynamic/2/15/10 +0.0254 +0.0255 236 242 236 242 BM_MatrixMatrixMultiplyDynamic/2/15/12 -0.0383 -0.0378 289 278 289 278 BM_MatrixMatrixMultiplyDynamic/2/15/15 -0.0313 -0.0308 407 394 406 394 BM_MatrixMatrixMultiplyDynamic/4/2/2 +0.0286 +0.0286 42 43 42 43 BM_MatrixMatrixMultiplyDynamic/4/2/4 -0.0455 -0.0439 71 68 71 68 BM_MatrixMatrixMultiplyDynamic/4/2/6 +0.0221 +0.0229 93 95 93 95 BM_MatrixMatrixMultiplyDynamic/4/2/8 -0.0226 -0.0225 120 118 120 118 BM_MatrixMatrixMultiplyDynamic/4/2/10 -0.1153 -0.1130 158 140 158 140 BM_MatrixMatrixMultiplyDynamic/4/2/12 -0.0145 -0.0143 164 162 164 162 BM_MatrixMatrixMultiplyDynamic/4/2/15 -0.0396 -0.0393 205 197 205 197 BM_MatrixMatrixMultiplyDynamic/4/4/2 -0.0696 -0.0682 57 53 57 53 BM_MatrixMatrixMultiplyDynamic/4/4/4 -0.0233 -0.0231 91 89 91 89 BM_MatrixMatrixMultiplyDynamic/4/4/6 -0.0711 -0.0702 130 121 130 121 BM_MatrixMatrixMultiplyDynamic/4/4/8 -0.1180 -0.1113 178 157 176 157 BM_MatrixMatrixMultiplyDynamic/4/4/10 -0.0301 -0.0282 194 188 194 188 BM_MatrixMatrixMultiplyDynamic/4/4/12 -0.1156 -0.1137 251 222 251 222 BM_MatrixMatrixMultiplyDynamic/4/4/15 -0.0182 -0.0179 307 302 307 301 BM_MatrixMatrixMultiplyDynamic/4/6/2 -0.0228 -0.0220 64 63 64 63 BM_MatrixMatrixMultiplyDynamic/4/6/4 +0.0048 +0.0045 106 107 106 107 BM_MatrixMatrixMultiplyDynamic/4/6/6 -0.0131 -0.0126 155 153 155 153 BM_MatrixMatrixMultiplyDynamic/4/6/8 -0.0526 -0.0502 211 200 210 200 BM_MatrixMatrixMultiplyDynamic/4/6/10 -0.0995 -0.0975 274 247 274 247 BM_MatrixMatrixMultiplyDynamic/4/6/12 -0.0436 -0.0430 297 284 297 284 BM_MatrixMatrixMultiplyDynamic/4/6/15 +0.0042 +0.0050 344 345 343 345 BM_MatrixMatrixMultiplyDynamic/4/8/2 -0.0283 -0.0279 74 72 74 72 BM_MatrixMatrixMultiplyDynamic/4/8/4 -0.0282 -0.0277 125 122 125 122 BM_MatrixMatrixMultiplyDynamic/4/8/6 -0.0756 -0.0693 185 171 184 171 BM_MatrixMatrixMultiplyDynamic/4/8/8 -0.0510 -0.0444 267 253 265 253 BM_MatrixMatrixMultiplyDynamic/4/8/10 -0.0512 -0.0460 301 285 299 285 BM_MatrixMatrixMultiplyDynamic/4/8/12 -0.0046 -0.0006 351 349 349 349 BM_MatrixMatrixMultiplyDynamic/4/8/15 -0.0795 -0.0785 452 416 451 416 BM_MatrixMatrixMultiplyDynamic/4/10/2 -0.0415 -0.0406 85 81 85 81 BM_MatrixMatrixMultiplyDynamic/4/10/4 -0.0118 -0.0118 143 141 143 141 BM_MatrixMatrixMultiplyDynamic/4/10/6 -0.0484 -0.0478 217 206 216 206 BM_MatrixMatrixMultiplyDynamic/4/10/8 -0.0373 -0.0372 280 269 280 269 BM_MatrixMatrixMultiplyDynamic/4/10/10 +0.0083 +0.0083 350 353 350 353 BM_MatrixMatrixMultiplyDynamic/4/10/12 -0.0364 -0.0365 436 420 436 420 BM_MatrixMatrixMultiplyDynamic/4/10/15 -0.0221 -0.0210 513 502 512 502 BM_MatrixMatrixMultiplyDynamic/4/12/2 -0.0569 -0.0565 94 89 94 89 BM_MatrixMatrixMultiplyDynamic/4/12/4 -0.0343 -0.0338 162 157 162 157 BM_MatrixMatrixMultiplyDynamic/4/12/6 +0.0197 +0.0198 227 232 227 231 BM_MatrixMatrixMultiplyDynamic/4/12/8 -0.0390 -0.0388 310 298 310 298 BM_MatrixMatrixMultiplyDynamic/4/12/10 -0.0088 -0.0085 389 386 389 386 BM_MatrixMatrixMultiplyDynamic/4/12/12 +0.0524 +0.0505 545 574 545 572 BM_MatrixMatrixMultiplyDynamic/4/12/15 +0.0801 +0.0764 597 645 597 642 BM_MatrixMatrixMultiplyDynamic/4/15/2 -0.0024 -0.0026 99 99 99 99 BM_MatrixMatrixMultiplyDynamic/4/15/4 -0.0289 -0.0270 187 181 186 181 BM_MatrixMatrixMultiplyDynamic/4/15/6 -0.0264 -0.0261 263 256 263 256 BM_MatrixMatrixMultiplyDynamic/4/15/8 -0.0344 -0.0334 349 337 348 337 BM_MatrixMatrixMultiplyDynamic/4/15/10 -0.0189 -0.0191 454 446 454 445 BM_MatrixMatrixMultiplyDynamic/4/15/12 -0.0483 -0.0470 524 499 523 498 BM_MatrixMatrixMultiplyDynamic/4/15/15 -0.1084 -0.1070 840 749 838 748 BM_MatrixMatrixMultiplyDynamic/6/2/2 -0.0574 -0.0561 59 56 59 56 BM_MatrixMatrixMultiplyDynamic/6/2/4 -0.0727 -0.0721 98 91 98 91 BM_MatrixMatrixMultiplyDynamic/6/2/6 -0.0292 -0.0283 133 129 133 129 BM_MatrixMatrixMultiplyDynamic/6/2/8 -0.0283 -0.0278 167 162 167 162 BM_MatrixMatrixMultiplyDynamic/6/2/10 -0.0482 -0.0476 216 206 216 206 BM_MatrixMatrixMultiplyDynamic/6/2/12 -0.0117 -0.0115 243 240 243 240 BM_MatrixMatrixMultiplyDynamic/6/2/15 -0.0234 -0.0225 299 292 299 292 BM_MatrixMatrixMultiplyDynamic/6/4/2 -0.0950 -0.0898 79 72 79 72 BM_MatrixMatrixMultiplyDynamic/6/4/4 -0.0300 -0.0298 130 127 130 127 BM_MatrixMatrixMultiplyDynamic/6/4/6 -0.0379 -0.0376 175 169 175 169 BM_MatrixMatrixMultiplyDynamic/6/4/8 -0.0340 -0.0319 236 228 236 228 BM_MatrixMatrixMultiplyDynamic/6/4/10 -0.0498 -0.0490 289 275 289 275 BM_MatrixMatrixMultiplyDynamic/6/4/12 +0.0134 +0.0134 325 330 325 330 BM_MatrixMatrixMultiplyDynamic/6/4/15 -0.0836 -0.0794 469 429 466 429 BM_MatrixMatrixMultiplyDynamic/6/6/2 -0.0614 -0.0563 91 86 91 86 BM_MatrixMatrixMultiplyDynamic/6/6/4 -0.0249 -0.0239 153 149 152 149 BM_MatrixMatrixMultiplyDynamic/6/6/6 -0.0442 -0.0438 235 224 234 224 BM_MatrixMatrixMultiplyDynamic/6/6/8 -0.0127 -0.0083 296 292 295 292 BM_MatrixMatrixMultiplyDynamic/6/6/10 +0.0305 +0.0302 360 371 360 371 BM_MatrixMatrixMultiplyDynamic/6/6/12 -0.0479 -0.0463 434 413 433 413 BM_MatrixMatrixMultiplyDynamic/6/6/15 -0.0774 -0.0742 542 500 540 500 BM_MatrixMatrixMultiplyDynamic/6/8/2 -0.0617 -0.0611 106 99 106 99 BM_MatrixMatrixMultiplyDynamic/6/8/4 -0.1153 -0.1147 202 179 202 179 BM_MatrixMatrixMultiplyDynamic/6/8/6 -0.0591 -0.0589 270 254 270 254 BM_MatrixMatrixMultiplyDynamic/6/8/8 -0.0677 -0.0671 381 355 381 355 BM_MatrixMatrixMultiplyDynamic/6/8/10 -0.0771 -0.0757 451 416 450 416 BM_MatrixMatrixMultiplyDynamic/6/8/12 -0.0520 -0.0519 522 495 522 495 BM_MatrixMatrixMultiplyDynamic/6/8/15 -0.0386 -0.0386 639 614 638 614 BM_MatrixMatrixMultiplyDynamic/6/10/2 -0.0764 -0.0756 121 111 120 111 BM_MatrixMatrixMultiplyDynamic/6/10/4 -0.0847 -0.0777 224 205 222 205 BM_MatrixMatrixMultiplyDynamic/6/10/6 -0.0762 -0.0748 320 295 319 295 BM_MatrixMatrixMultiplyDynamic/6/10/8 -0.0160 -0.0164 413 407 413 406 BM_MatrixMatrixMultiplyDynamic/6/10/10 +0.0438 +0.0429 526 549 525 548 BM_MatrixMatrixMultiplyDynamic/6/10/12 +0.0641 +0.0615 606 645 605 643 BM_MatrixMatrixMultiplyDynamic/6/10/15 +0.0983 +0.0965 741 814 740 812 BM_MatrixMatrixMultiplyDynamic/6/12/2 +0.0697 +0.0663 135 144 135 144 BM_MatrixMatrixMultiplyDynamic/6/12/4 -0.0230 -0.0240 251 245 250 244 BM_MatrixMatrixMultiplyDynamic/6/12/6 -0.0728 -0.0703 365 338 364 338 BM_MatrixMatrixMultiplyDynamic/6/12/8 -0.1444 -0.1402 514 440 511 440 BM_MatrixMatrixMultiplyDynamic/6/12/10 -0.1268 -0.1216 628 548 624 548 BM_MatrixMatrixMultiplyDynamic/6/12/12 -0.1323 -0.1250 883 766 875 766 BM_MatrixMatrixMultiplyDynamic/6/12/15 -0.1337 -0.1304 995 862 991 862 BM_MatrixMatrixMultiplyDynamic/6/15/2 -0.1163 -0.1140 158 140 158 140 BM_MatrixMatrixMultiplyDynamic/6/15/4 -0.0721 -0.0689 285 265 284 265 BM_MatrixMatrixMultiplyDynamic/6/15/6 -0.0597 -0.0582 414 389 413 389 BM_MatrixMatrixMultiplyDynamic/6/15/8 -0.1189 -0.1173 563 496 562 496 BM_MatrixMatrixMultiplyDynamic/6/15/10 -0.0754 -0.0737 749 693 747 692 BM_MatrixMatrixMultiplyDynamic/6/15/12 +0.0141 +0.0153 871 883 866 879 BM_MatrixMatrixMultiplyDynamic/6/15/15 -0.1184 -0.1152 1398 1233 1387 1228 BM_MatrixMatrixMultiplyDynamic/8/2/2 -0.0232 -0.0242 77 75 77 75 BM_MatrixMatrixMultiplyDynamic/8/2/4 +0.1114 +0.1085 120 133 119 132 BM_MatrixMatrixMultiplyDynamic/8/2/6 +0.0794 +0.0760 169 183 169 182 BM_MatrixMatrixMultiplyDynamic/8/2/8 +0.0833 +0.0780 221 239 221 238 BM_MatrixMatrixMultiplyDynamic/8/2/10 +0.0037 +0.0037 264 265 264 265 BM_MatrixMatrixMultiplyDynamic/8/2/12 +0.0114 +0.0115 301 304 301 304 BM_MatrixMatrixMultiplyDynamic/8/2/15 +0.0034 +0.0030 378 380 378 380 BM_MatrixMatrixMultiplyDynamic/8/4/2 +0.0197 +0.0198 90 91 90 91 BM_MatrixMatrixMultiplyDynamic/8/4/4 +0.0231 +0.0230 156 160 156 160 BM_MatrixMatrixMultiplyDynamic/8/4/6 +0.0233 +0.0235 225 230 225 230 BM_MatrixMatrixMultiplyDynamic/8/4/8 +0.0352 +0.0349 286 296 286 296 BM_MatrixMatrixMultiplyDynamic/8/4/10 +0.0569 +0.0551 362 382 362 382 BM_MatrixMatrixMultiplyDynamic/8/4/12 -0.0180 -0.0181 424 416 424 416 BM_MatrixMatrixMultiplyDynamic/8/4/15 -0.0807 -0.0763 627 576 623 576 BM_MatrixMatrixMultiplyDynamic/8/6/2 -0.0030 -0.0029 111 111 111 111 BM_MatrixMatrixMultiplyDynamic/8/6/4 +0.0053 +0.0051 198 199 198 199 BM_MatrixMatrixMultiplyDynamic/8/6/6 -0.1261 -0.1233 330 288 329 288 BM_MatrixMatrixMultiplyDynamic/8/6/8 -0.0760 -0.0755 398 368 398 368 BM_MatrixMatrixMultiplyDynamic/8/6/10 -0.0497 -0.0487 505 480 505 480 BM_MatrixMatrixMultiplyDynamic/8/6/12 +0.0090 +0.0091 529 534 529 534 BM_MatrixMatrixMultiplyDynamic/8/6/15 -0.0778 -0.0757 704 649 702 649 BM_MatrixMatrixMultiplyDynamic/8/8/2 -0.1332 -0.1305 150 130 149 130 BM_MatrixMatrixMultiplyDynamic/8/8/4 -0.0903 -0.0878 257 234 257 234 BM_MatrixMatrixMultiplyDynamic/8/8/6 -0.1177 -0.1165 380 335 379 335 BM_MatrixMatrixMultiplyDynamic/8/8/8 -0.0799 -0.0786 509 468 508 468 BM_MatrixMatrixMultiplyDynamic/8/8/10 -0.1098 -0.1057 604 538 601 537 BM_MatrixMatrixMultiplyDynamic/8/8/12 -0.0676 -0.0662 697 650 696 650 BM_MatrixMatrixMultiplyDynamic/8/8/15 -0.0707 -0.0696 856 796 855 796 BM_MatrixMatrixMultiplyDynamic/8/10/2 -0.0429 -0.0417 149 142 149 142 BM_MatrixMatrixMultiplyDynamic/8/10/4 -0.0652 -0.0640 286 267 286 267 BM_MatrixMatrixMultiplyDynamic/8/10/6 -0.0259 -0.0253 402 392 402 392 BM_MatrixMatrixMultiplyDynamic/8/10/8 -0.0131 -0.0129 526 520 526 519 BM_MatrixMatrixMultiplyDynamic/8/10/10 -0.0873 -0.0865 697 636 696 636 BM_MatrixMatrixMultiplyDynamic/8/10/12 -0.0130 -0.0127 799 788 798 788 BM_MatrixMatrixMultiplyDynamic/8/10/15 -0.0441 -0.0438 1018 973 1018 973 BM_MatrixMatrixMultiplyDynamic/8/12/2 -0.0384 -0.0379 172 166 172 165 BM_MatrixMatrixMultiplyDynamic/8/12/4 -0.0321 -0.0307 307 297 307 297 BM_MatrixMatrixMultiplyDynamic/8/12/6 -0.0394 -0.0380 458 440 458 440 BM_MatrixMatrixMultiplyDynamic/8/12/8 -0.0529 -0.0522 608 576 607 576 BM_MatrixMatrixMultiplyDynamic/8/12/10 -0.0566 -0.0560 747 705 747 705 BM_MatrixMatrixMultiplyDynamic/8/12/12 -0.0007 -0.0006 1024 1024 1024 1023 BM_MatrixMatrixMultiplyDynamic/8/12/15 -0.0422 -0.0420 1163 1114 1162 1113 BM_MatrixMatrixMultiplyDynamic/8/15/2 -0.0241 -0.0241 197 192 197 192 BM_MatrixMatrixMultiplyDynamic/8/15/4 -0.0515 -0.0514 352 334 352 333 BM_MatrixMatrixMultiplyDynamic/8/15/6 -0.0192 -0.0194 506 496 506 496 BM_MatrixMatrixMultiplyDynamic/8/15/8 -0.0338 -0.0334 674 651 674 651 BM_MatrixMatrixMultiplyDynamic/8/15/10 -0.0556 -0.0545 922 871 921 871 BM_MatrixMatrixMultiplyDynamic/8/15/12 -0.0473 -0.0462 1052 1002 1050 1001 BM_MatrixMatrixMultiplyDynamic/8/15/15 -0.0522 -0.0521 1484 1406 1483 1406 BM_MatrixTransposeMatrixMultiplyDynamic/2/2/2 -0.1216 -0.1203 31 27 31 27 BM_MatrixTransposeMatrixMultiplyDynamic/2/2/4 -0.3827 -0.3818 49 30 49 30 BM_MatrixTransposeMatrixMultiplyDynamic/2/2/6 -0.3901 -0.3888 67 41 67 41 BM_MatrixTransposeMatrixMultiplyDynamic/2/2/8 -0.5469 -0.5458 86 39 86 39 BM_MatrixTransposeMatrixMultiplyDynamic/2/4/2 -0.2362 -0.2365 47 36 47 36 BM_MatrixTransposeMatrixMultiplyDynamic/2/4/4 -0.4470 -0.4469 77 43 77 43 BM_MatrixTransposeMatrixMultiplyDynamic/2/4/6 -0.4545 -0.4546 111 61 111 61 BM_MatrixTransposeMatrixMultiplyDynamic/2/4/8 -0.6093 -0.6093 142 56 142 56 BM_MatrixTransposeMatrixMultiplyDynamic/2/5/2 -0.2345 -0.2348 54 41 54 41 BM_MatrixTransposeMatrixMultiplyDynamic/2/5/4 -0.5111 -0.5107 99 48 99 48 BM_MatrixTransposeMatrixMultiplyDynamic/2/5/6 -0.4944 -0.4946 136 69 136 69 BM_MatrixTransposeMatrixMultiplyDynamic/2/5/8 -0.6354 -0.6354 171 62 171 62 BM_MatrixTransposeMatrixMultiplyDynamic/2/8/2 -0.3370 -0.3369 82 55 82 55 BM_MatrixTransposeMatrixMultiplyDynamic/2/8/4 -0.5062 -0.5064 139 69 139 69 BM_MatrixTransposeMatrixMultiplyDynamic/2/8/6 -0.5422 -0.5421 208 95 208 95 BM_MatrixTransposeMatrixMultiplyDynamic/2/8/8 -0.6903 -0.6896 294 91 294 91 BM_MatrixTransposeMatrixMultiplyDynamic/2/10/2 -0.1791 -0.1811 99 82 99 81 BM_MatrixTransposeMatrixMultiplyDynamic/2/10/4 -0.5062 -0.5061 177 88 177 88 BM_MatrixTransposeMatrixMultiplyDynamic/2/10/6 -0.5110 -0.5110 256 125 256 125 BM_MatrixTransposeMatrixMultiplyDynamic/2/10/8 -0.6632 -0.6632 334 112 333 112 BM_MatrixTransposeMatrixMultiplyDynamic/2/12/2 -0.3272 -0.3269 120 81 120 81 BM_MatrixTransposeMatrixMultiplyDynamic/2/12/4 -0.5019 -0.5019 212 105 212 105 BM_MatrixTransposeMatrixMultiplyDynamic/2/12/6 -0.5365 -0.5365 303 140 303 140 BM_MatrixTransposeMatrixMultiplyDynamic/2/12/8 -0.6856 -0.6856 398 125 398 125 BM_MatrixTransposeMatrixMultiplyDynamic/2/15/2 -0.2425 -0.2425 143 109 143 109 BM_MatrixTransposeMatrixMultiplyDynamic/2/15/4 -0.5891 -0.5871 298 122 296 122 BM_MatrixTransposeMatrixMultiplyDynamic/2/15/6 -0.5790 -0.5782 414 174 413 174 BM_MatrixTransposeMatrixMultiplyDynamic/2/15/8 -0.7173 -0.7173 509 144 509 144 BM_MatrixTransposeMatrixMultiplyDynamic/4/2/2 +0.0482 +0.0489 37 39 37 39 BM_MatrixTransposeMatrixMultiplyDynamic/4/2/4 -0.2428 -0.2433 60 45 60 45 BM_MatrixTransposeMatrixMultiplyDynamic/4/2/6 -0.2921 -0.2917 84 59 84 59 BM_MatrixTransposeMatrixMultiplyDynamic/4/2/8 -0.4632 -0.4630 105 56 105 56 BM_MatrixTransposeMatrixMultiplyDynamic/4/4/2 -0.0305 -0.0301 60 58 60 58 BM_MatrixTransposeMatrixMultiplyDynamic/4/4/4 -0.3008 -0.3007 101 70 101 70 BM_MatrixTransposeMatrixMultiplyDynamic/4/4/6 -0.3708 -0.3700 149 94 149 94 BM_MatrixTransposeMatrixMultiplyDynamic/4/4/8 -0.5160 -0.5159 190 92 189 92 BM_MatrixTransposeMatrixMultiplyDynamic/4/5/2 -0.0187 -0.0185 71 70 71 70 BM_MatrixTransposeMatrixMultiplyDynamic/4/5/4 -0.3064 -0.3054 130 90 130 90 BM_MatrixTransposeMatrixMultiplyDynamic/4/5/6 -0.3762 -0.3753 184 115 184 115 BM_MatrixTransposeMatrixMultiplyDynamic/4/5/8 -0.5845 -0.5838 240 100 240 100 BM_MatrixTransposeMatrixMultiplyDynamic/4/8/2 +0.0517 +0.0521 109 115 109 115 BM_MatrixTransposeMatrixMultiplyDynamic/4/8/4 -0.2895 -0.2889 194 138 194 138 BM_MatrixTransposeMatrixMultiplyDynamic/4/8/6 -0.3138 -0.3136 279 191 279 191 BM_MatrixTransposeMatrixMultiplyDynamic/4/8/8 -0.5429 -0.5421 381 174 380 174 BM_MatrixTransposeMatrixMultiplyDynamic/4/10/2 +0.0612 +0.0620 135 143 135 143 BM_MatrixTransposeMatrixMultiplyDynamic/4/10/4 -0.3269 -0.3263 259 174 258 174 BM_MatrixTransposeMatrixMultiplyDynamic/4/10/6 -0.2955 -0.2961 343 242 343 241 BM_MatrixTransposeMatrixMultiplyDynamic/4/10/8 -0.5484 -0.5475 466 210 465 210 BM_MatrixTransposeMatrixMultiplyDynamic/4/12/2 +0.1234 +0.1239 157 177 157 177 BM_MatrixTransposeMatrixMultiplyDynamic/4/12/4 -0.3002 -0.2997 291 204 291 204 BM_MatrixTransposeMatrixMultiplyDynamic/4/12/6 -0.3419 -0.3415 415 273 415 273 BM_MatrixTransposeMatrixMultiplyDynamic/4/12/8 -0.5604 -0.5600 545 239 544 239 BM_MatrixTransposeMatrixMultiplyDynamic/4/15/2 +0.1730 +0.1712 185 217 185 216 BM_MatrixTransposeMatrixMultiplyDynamic/4/15/4 -0.3099 -0.3097 346 239 346 239 BM_MatrixTransposeMatrixMultiplyDynamic/4/15/6 -0.3743 -0.3741 521 326 521 326 BM_MatrixTransposeMatrixMultiplyDynamic/4/15/8 -0.5411 -0.5409 654 300 654 300 BM_MatrixTransposeMatrixMultiplyDynamic/6/2/2 +0.2546 +0.2547 41 51 41 51 BM_MatrixTransposeMatrixMultiplyDynamic/6/2/4 -0.0940 -0.0942 66 60 66 60 BM_MatrixTransposeMatrixMultiplyDynamic/6/2/6 -0.1584 -0.1585 95 80 95 80 BM_MatrixTransposeMatrixMultiplyDynamic/6/2/8 -0.4333 -0.4329 130 74 130 74 BM_MatrixTransposeMatrixMultiplyDynamic/6/4/2 +0.1951 +0.1952 69 82 69 82 BM_MatrixTransposeMatrixMultiplyDynamic/6/4/4 -0.2034 -0.2034 123 98 123 98 BM_MatrixTransposeMatrixMultiplyDynamic/6/4/6 -0.1998 -0.1995 178 142 178 142 BM_MatrixTransposeMatrixMultiplyDynamic/6/4/8 -0.4348 -0.4347 233 131 233 131 BM_MatrixTransposeMatrixMultiplyDynamic/6/5/2 +0.5517 +0.5521 82 128 82 128 BM_MatrixTransposeMatrixMultiplyDynamic/6/5/4 -0.1427 -0.1427 145 124 145 124 BM_MatrixTransposeMatrixMultiplyDynamic/6/5/6 -0.1846 -0.1846 220 179 220 179 BM_MatrixTransposeMatrixMultiplyDynamic/6/5/8 -0.4871 -0.4873 290 149 290 148 BM_MatrixTransposeMatrixMultiplyDynamic/6/8/2 +0.3469 +0.3473 131 176 131 176 BM_MatrixTransposeMatrixMultiplyDynamic/6/8/4 -0.1013 -0.1018 248 223 248 222 BM_MatrixTransposeMatrixMultiplyDynamic/6/8/6 -0.1652 -0.1670 354 295 353 294 BM_MatrixTransposeMatrixMultiplyDynamic/6/8/8 -0.4302 -0.4299 447 255 447 255 BM_MatrixTransposeMatrixMultiplyDynamic/6/10/2 +0.4005 +0.4001 157 219 157 219 BM_MatrixTransposeMatrixMultiplyDynamic/6/10/4 -0.0439 -0.0441 295 282 294 281 BM_MatrixTransposeMatrixMultiplyDynamic/6/10/6 -0.1031 -0.1074 420 377 420 375 BM_MatrixTransposeMatrixMultiplyDynamic/6/10/8 -0.3655 -0.3679 556 353 555 351 BM_MatrixTransposeMatrixMultiplyDynamic/6/12/2 +0.5654 +0.5604 183 287 183 286 BM_MatrixTransposeMatrixMultiplyDynamic/6/12/4 -0.1118 -0.1116 353 314 353 314 BM_MatrixTransposeMatrixMultiplyDynamic/6/12/6 -0.2045 -0.2053 517 411 516 410 BM_MatrixTransposeMatrixMultiplyDynamic/6/12/8 -0.4662 -0.4660 657 350 656 350 BM_MatrixTransposeMatrixMultiplyDynamic/6/15/2 +0.3582 +0.3588 242 328 241 328 BM_MatrixTransposeMatrixMultiplyDynamic/6/15/4 -0.1403 -0.1407 428 368 428 367 BM_MatrixTransposeMatrixMultiplyDynamic/6/15/6 -0.2424 -0.2421 632 479 632 479 BM_MatrixTransposeMatrixMultiplyDynamic/6/15/8 -0.5094 -0.5092 835 410 834 409 BM_MatrixTransposeMatrixMultiplyDynamic/8/2/2 +0.3930 +0.3925 47 66 47 66 BM_MatrixTransposeMatrixMultiplyDynamic/8/2/4 +0.0226 +0.0215 78 80 78 80 BM_MatrixTransposeMatrixMultiplyDynamic/8/2/6 -0.0428 -0.0427 105 100 105 100 BM_MatrixTransposeMatrixMultiplyDynamic/8/2/8 -0.3418 -0.3437 141 93 141 92 BM_MatrixTransposeMatrixMultiplyDynamic/8/4/2 +0.3927 +0.3924 85 118 85 118 BM_MatrixTransposeMatrixMultiplyDynamic/8/4/4 -0.0040 -0.0039 137 136 136 136 BM_MatrixTransposeMatrixMultiplyDynamic/8/4/6 -0.0342 -0.0339 204 197 204 197 BM_MatrixTransposeMatrixMultiplyDynamic/8/4/8 -0.3575 -0.3577 267 171 267 171 BM_MatrixTransposeMatrixMultiplyDynamic/8/5/2 +0.7014 +0.7033 99 168 99 168 BM_MatrixTransposeMatrixMultiplyDynamic/8/5/4 +0.0952 +0.0952 163 179 163 179 BM_MatrixTransposeMatrixMultiplyDynamic/8/5/6 -0.1164 -0.1163 246 218 246 218 BM_MatrixTransposeMatrixMultiplyDynamic/8/5/8 -0.3550 -0.3565 322 208 322 207 BM_MatrixTransposeMatrixMultiplyDynamic/8/8/2 +0.7074 +0.7072 140 239 140 239 BM_MatrixTransposeMatrixMultiplyDynamic/8/8/4 +0.1072 +0.1075 276 306 276 306 BM_MatrixTransposeMatrixMultiplyDynamic/8/8/6 -0.0771 -0.0768 398 368 398 367 BM_MatrixTransposeMatrixMultiplyDynamic/8/8/8 -0.3614 -0.3612 524 335 524 335 BM_MatrixTransposeMatrixMultiplyDynamic/8/10/2 +0.6979 +0.7004 184 313 184 312 BM_MatrixTransposeMatrixMultiplyDynamic/8/10/4 +0.0967 +0.0955 326 357 325 356 BM_MatrixTransposeMatrixMultiplyDynamic/8/10/6 -0.0248 -0.0239 486 474 485 474 BM_MatrixTransposeMatrixMultiplyDynamic/8/10/8 -0.3432 -0.3437 603 396 603 396 BM_MatrixTransposeMatrixMultiplyDynamic/8/12/2 +0.5977 +0.5985 210 335 210 335 BM_MatrixTransposeMatrixMultiplyDynamic/8/12/4 -0.0530 -0.0484 405 384 403 384 BM_MatrixTransposeMatrixMultiplyDynamic/8/12/6 -0.0557 -0.0561 574 542 574 541 BM_MatrixTransposeMatrixMultiplyDynamic/8/12/8 -0.2835 -0.2849 730 523 730 522 BM_MatrixTransposeMatrixMultiplyDynamic/8/15/2 +0.7117 +0.7085 254 434 254 433 BM_MatrixTransposeMatrixMultiplyDynamic/8/15/4 +0.0630 +0.0602 458 487 458 486 BM_MatrixTransposeMatrixMultiplyDynamic/8/15/6 -0.0321 -0.0330 662 641 662 640 BM_MatrixTransposeMatrixMultiplyDynamic/8/15/8 -0.3974 -0.3978 911 549 910 548 Change-Id: I09d87c1885be86177b93c8fe0e6f89a75eb2f7a1 |
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Keir Mierle
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22fa21c6f8 |
Build benchmarks with Bazel
Change-Id: I559cc1aa17d5be01dcff931e05b22e0dd9e248b6 |
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Keir Mierle
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a3b1e19c2c |
Add examples to the Bazel build
Also moves the gflags namespace define into the ceres_library() target. Change-Id: Ibb8f3fdd9a8c371fe96b475f752f8320ffe63cdc |
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Sameer Agarwal
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d634d6168e |
Add small_blas_gemm_benchmark.
Change-Id: Ide8c86c77c4adf73a3f5b6be4f23ab3d59705f7b |
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Emil Ernerfeldt
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39ccb79ae6 |
Implement some C++11 math functions for Jet
Change-Id: Ie164aeaac980cd2fe48a86230e1948c9fd75424a |
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Sameer Agarwal
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6c835f81a7 |
Improve the performance of MatrixTransposeVector Multiply.
This is done by making the matrix access more cache coherent. For small matrices there isn't much difference, but for larger matrices like 4x20, this leads to ~50% performance improvement. Benchmark Time CPU Time Old Time New CPU Old CPU New ----------------------------------------------------------------------------------------------------------------------------- BM_MatrixVectorMultiply/1/1 +0.0138 +0.0046 10 10 10 10 BM_MatrixVectorMultiply/1/2 +0.0215 +0.0146 10 11 10 10 BM_MatrixVectorMultiply/1/3 +0.0469 +0.0422 10 10 10 10 BM_MatrixVectorMultiply/1/4 +0.0696 +0.0671 10 11 10 11 BM_MatrixVectorMultiply/1/6 +0.0827 +0.0795 12 13 12 13 BM_MatrixVectorMultiply/1/7 +0.1408 +0.1152 13 15 13 14 BM_MatrixVectorMultiply/1/12 +0.0317 +0.0232 17 18 17 17 BM_MatrixVectorMultiply/1/16 -0.0362 -0.0168 21 20 20 20 BM_MatrixVectorMultiply/1/20 +0.0304 +0.0290 22 22 22 22 BM_MatrixVectorMultiply/2/1 +0.0019 +0.0009 10 10 10 10 BM_MatrixVectorMultiply/2/2 +0.0285 +0.0291 11 12 11 12 BM_MatrixVectorMultiply/2/3 -0.1178 -0.0977 16 14 15 14 BM_MatrixVectorMultiply/2/4 +0.0938 +0.1144 15 17 15 17 BM_MatrixVectorMultiply/2/6 +0.0617 +0.0629 17 18 17 18 BM_MatrixVectorMultiply/2/7 +0.0956 +0.0876 20 22 19 21 BM_MatrixVectorMultiply/2/12 +0.0043 +0.0119 24 24 24 24 BM_MatrixVectorMultiply/2/16 +0.0361 +0.0337 29 30 29 30 BM_MatrixVectorMultiply/2/20 +0.0463 +0.0365 33 35 33 34 BM_MatrixVectorMultiply/3/1 -0.0201 -0.0210 12 12 12 11 BM_MatrixVectorMultiply/3/2 -0.0741 -0.0766 16 15 16 15 BM_MatrixVectorMultiply/3/3 -0.0076 -0.0118 18 18 18 18 BM_MatrixVectorMultiply/3/4 +0.1071 +0.0963 19 21 19 21 BM_MatrixVectorMultiply/3/6 +0.0449 +0.0390 23 24 23 23 BM_MatrixVectorMultiply/3/7 +0.1099 +0.1018 25 28 24 27 BM_MatrixVectorMultiply/3/12 +0.1512 +0.0992 33 38 32 35 BM_MatrixVectorMultiply/3/16 +0.2281 +0.2005 37 46 37 44 BM_MatrixVectorMultiply/3/20 +0.2387 +0.1799 49 61 48 57 BM_MatrixVectorMultiply/4/1 +0.4444 +0.2574 14 21 14 18 BM_MatrixVectorMultiply/4/2 +0.0313 +0.0230 19 20 19 20 BM_MatrixVectorMultiply/4/3 +0.0626 +0.0596 23 24 23 24 BM_MatrixVectorMultiply/4/4 +0.2322 +0.1440 23 28 23 26 BM_MatrixVectorMultiply/4/6 +0.0936 +0.0768 26 29 26 28 BM_MatrixVectorMultiply/4/7 +0.0848 +0.0835 28 30 28 30 BM_MatrixVectorMultiply/4/12 +0.1607 +0.1101 39 46 39 43 BM_MatrixVectorMultiply/4/16 +0.0752 +0.0687 48 52 48 51 BM_MatrixVectorMultiply/4/20 +0.1782 +0.1463 61 72 60 69 BM_MatrixTransposeVectorMultiply/1/1 +0.3609 +0.2857 9 13 9 12 BM_MatrixTransposeVectorMultiply/1/2 +0.3106 +0.2970 10 13 10 12 BM_MatrixTransposeVectorMultiply/1/3 +0.3018 +0.2383 11 14 11 13 BM_MatrixTransposeVectorMultiply/1/4 -0.0795 -0.0819 14 13 14 12 BM_MatrixTransposeVectorMultiply/1/6 -0.0108 -0.0629 18 18 18 16 BM_MatrixTransposeVectorMultiply/1/7 -0.1073 -0.0879 20 18 19 17 BM_MatrixTransposeVectorMultiply/1/12 -0.3035 -0.3016 26 18 26 18 BM_MatrixTransposeVectorMultiply/1/16 -0.4909 -0.4951 39 20 38 19 BM_MatrixTransposeVectorMultiply/1/20 -0.4619 -0.4985 43 23 42 21 BM_MatrixTransposeVectorMultiply/2/1 +0.3471 +0.2906 10 13 10 13 BM_MatrixTransposeVectorMultiply/2/2 +0.2323 +0.2266 12 15 12 15 BM_MatrixTransposeVectorMultiply/2/3 +0.0802 +0.0779 16 17 16 17 BM_MatrixTransposeVectorMultiply/2/4 -0.0951 -0.0983 19 17 19 17 BM_MatrixTransposeVectorMultiply/2/6 -0.0974 -0.1064 24 21 24 21 BM_MatrixTransposeVectorMultiply/2/7 +0.0612 -0.0457 27 29 27 26 BM_MatrixTransposeVectorMultiply/2/12 -0.3777 -0.3838 41 25 41 25 BM_MatrixTransposeVectorMultiply/2/16 -0.4783 -0.4843 53 28 53 27 BM_MatrixTransposeVectorMultiply/2/20 -0.5567 -0.5566 71 32 70 31 BM_MatrixTransposeVectorMultiply/3/1 +0.4607 +0.4753 10 15 10 15 BM_MatrixTransposeVectorMultiply/3/2 +0.2870 +0.2754 14 19 14 18 BM_MatrixTransposeVectorMultiply/3/3 +0.1270 +0.1245 19 21 19 21 BM_MatrixTransposeVectorMultiply/3/4 +0.0160 +0.0076 22 22 22 22 BM_MatrixTransposeVectorMultiply/3/6 -0.0612 -0.0635 27 26 27 25 BM_MatrixTransposeVectorMultiply/3/7 -0.0531 -0.0695 31 29 30 28 BM_MatrixTransposeVectorMultiply/3/12 -0.4009 -0.3938 49 29 47 29 BM_MatrixTransposeVectorMultiply/3/16 -0.4584 -0.4537 64 35 62 34 BM_MatrixTransposeVectorMultiply/3/20 -0.5087 -0.5098 78 38 77 38 BM_MatrixTransposeVectorMultiply/4/1 +0.6696 +0.6837 11 18 11 18 BM_MatrixTransposeVectorMultiply/4/2 +0.3085 +0.3085 17 22 17 22 BM_MatrixTransposeVectorMultiply/4/3 +0.2908 +0.2821 21 26 20 26 BM_MatrixTransposeVectorMultiply/4/4 +0.0076 -0.0031 24 25 24 24 BM_MatrixTransposeVectorMultiply/4/6 -0.0884 -0.0841 34 31 34 31 BM_MatrixTransposeVectorMultiply/4/7 -0.0834 -0.0825 37 34 36 33 BM_MatrixTransposeVectorMultiply/4/12 -0.4477 -0.4453 62 34 61 34 BM_MatrixTransposeVectorMultiply/4/16 -0.5324 -0.5203 86 40 83 40 BM_MatrixTransposeVectorMultiply/4/20 -0.4905 -0.4933 99 50 98 50 Change-Id: I7f2a1c986e4a345bb67cb9eb0235234573024889 |
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Sameer Agarwal
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72cb66cb8f |
Refactor small_blas_benchmark.cc
1. Rename it to small_blas_gemv_benchmark.cc to better reflect its coverage. 2. Simplify the data generation. 3. Make the two vectors and the matrix in each element live in separate arrays to ensure that they are not cache coherent. 4. Use "Apply" instead of ArgPair to simplify and unify the matrix sizes. 5. Update the benchmark numbers and move them to a json file in the benchmarks directory. Change-Id: Iaf3764083f902258def739c4be42e0580be103cb |
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Alex Stewart
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1141f4ad1a |
Fix integer conversion warning in MSVC.
- Raised by cnovel as issue #346: https://github.com/ceres-solver/ceres-solver/issues/346. Change-Id: I90815ab6412834dd793ca7c327002d551da0675b |
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Mike Vitus
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126e0ef0fe |
Adds missing source and tests to bazel build.
Change 12060 added parallel_for_tbb.cc and parallel_for_test.cc but did not add it to the bazel build rule. Tested by running bazel tests. Change-Id: I286cf0e191e0353f2c0266911a79e01f09e47343 |
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Keir Mierle
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d2090cd10a |
Improve NDK build error handling
Change-Id: I1dd51d8c5d3b8eef829f60a72c8c869e18b64830 |
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Mike Vitus
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27789c0d96 |
Adds a ThreadPool and a thread-safe ConcurrentQueue.
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 |
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Keir Mierle
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523de29803 |
Fix build: -Wreorder, test fail
Change-Id: I7e032a9017470612fe233c3eecd51c37020dee64 |
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Sameer Agarwal
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9d02b76dce |
An implementation of SubsetPreconditioner.
The key idea being, use some subset of the rows of the Jacobian as the preconditioner. This CL only implements the preconditioner assuming that the row selection has already been done. How the rows are selected will be left to the user based on their knowledge of the problem. A follow up CL will hook this preconditioner into the rest of the solver. Change-Id: I3e18dc57811116534e9ddf35d7b154bcce496d3b |
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Sameer Agarwal
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ff8a13d4a5 |
Add a benchmark for small_blas.h
This CL adds a benchmark for MatrixVectorMultiply and MatrixTransposeVectorMultiply. Change-Id: I50e1cec72c91dedf081b6f00681874abf545123b |
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Keir Mierle
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8549c88d7c |
Split bundle adjustment tests into individual binaries
The bundle adjustment test is extremely slow to run (especially in debug or fastbuild), and since it is in one binary, there is no way to get CMake or Bazel to parallelize the test execution. This change divides the test into a single binary for each configuration, making parallelized execution possible. In this patch, only the Bazel build is updated to use the new test. The old test still exists to retain parity with the CMake build. A followup change will complete the process of adding equivalent test execution to the CMake build. Example build output: % bazel test -c opt :all INFO: Analysed 123 targets (15 packages loaded). INFO: Found 2 targets and 121 test targets... INFO: From Compiling external/com_github_google_glog/src/logging.cc: external/com_github_google_glog/src/logging.cc: In static member function 'static void google::LogMessage::Fail()': external/com_github_google_glog/src/logging.cc:1518:1: warning: 'noreturn' function does return } ^ INFO: Elapsed time: 98.056s, Critical Path: 23.80s INFO: Build completed successfully, 976 total actions //:array_utils_test PASSED in 0.1s //:autodiff_cost_function_test PASSED in 0.2s //:autodiff_local_parameterization_test PASSED in 0.2s //:autodiff_test PASSED in 0.1s //:ba_denseschur_auto_test PASSED in 5.3s //:ba_denseschur_auto_threads_test PASSED in 0.1s //:ba_denseschur_user_test PASSED in 5.3s //:ba_denseschur_user_threads_test PASSED in 0.1s //:ba_iterschur_jacobi_auto_test PASSED in 6.2s //:ba_iterschur_jacobi_auto_threads_test PASSED in 0.1s //:ba_iterschur_jacobi_user_test PASSED in 6.0s //:ba_iterschur_jacobi_user_threads_test PASSED in 0.2s //:ba_iterschur_schurjacobi_auto_test PASSED in 6.1s //:ba_iterschur_schurjacobi_auto_threads_test PASSED in 0.2s //:ba_iterschur_schurjacobi_user_test PASSED in 5.7s //:ba_iterschur_schurjacobi_user_threads_test PASSED in 0.1s //:ba_iterschur_suitesparse_clustjacobi_auto_test PASSED in 0.1s //:ba_iterschur_suitesparse_clustjacobi_auto_threads_test PASSED in 0.1s //:ba_iterschur_suitesparse_clustjacobi_user_test PASSED in 0.1s //:ba_iterschur_suitesparse_clustjacobi_user_threads_test PASSED in 0.1s //:ba_iterschur_suitesparse_clusttri_auto_test PASSED in 0.1s //:ba_iterschur_suitesparse_clusttri_auto_threads_test PASSED in 0.1s //:ba_iterschur_suitesparse_clusttri_user_test PASSED in 0.1s //:ba_iterschur_suitesparse_clusttri_user_threads_test PASSED in 0.1s //:ba_sparsecholesky_cxsparse_auto_test PASSED in 0.2s //:ba_sparsecholesky_cxsparse_auto_threads_test PASSED in 0.2s //:ba_sparsecholesky_cxsparse_user_test PASSED in 0.1s //:ba_sparsecholesky_cxsparse_user_threads_test PASSED in 0.1s //:ba_sparsecholesky_eigensparse_auto_test PASSED in 0.1s //:ba_sparsecholesky_eigensparse_auto_threads_test PASSED in 0.1s //:ba_sparsecholesky_eigensparse_user_test PASSED in 0.2s //:ba_sparsecholesky_eigensparse_user_threads_test PASSED in 0.1s //:ba_sparsecholesky_suitesparse_auto_test PASSED in 0.1s //:ba_sparsecholesky_suitesparse_auto_threads_test PASSED in 0.3s //:ba_sparsecholesky_suitesparse_user_test PASSED in 0.1s //:ba_sparsecholesky_suitesparse_user_threads_test PASSED in 0.2s //:ba_sparseschur_cxsparse_auto_test PASSED in 0.1s //:ba_sparseschur_cxsparse_auto_threads_test PASSED in 0.2s //:ba_sparseschur_cxsparse_user_test PASSED in 0.1s //:ba_sparseschur_cxsparse_user_threads_test PASSED in 0.2s //:ba_sparseschur_eigensparse_auto_test PASSED in 0.2s //:ba_sparseschur_eigensparse_auto_threads_test PASSED in 0.2s //:ba_sparseschur_eigensparse_user_test PASSED in 0.1s //:ba_sparseschur_eigensparse_user_threads_test PASSED in 0.2s //:ba_sparseschur_suitesparse_auto_test PASSED in 0.3s //:ba_sparseschur_suitesparse_auto_threads_test PASSED in 0.2s //:ba_sparseschur_suitesparse_user_test PASSED in 0.2s //:ba_sparseschur_suitesparse_user_threads_test PASSED in 0.2s //:block_jacobi_preconditioner_test PASSED in 0.1s //:block_random_access_dense_matrix_test PASSED in 0.2s //:block_random_access_diagonal_matrix_test PASSED in 0.4s //:block_random_access_sparse_matrix_test PASSED in 0.2s //:block_sparse_matrix_test PASSED in 0.2s //:c_api_test PASSED in 0.2s //:canonical_views_clustering_test PASSED in 0.4s //:compressed_col_sparse_matrix_utils_test PASSED in 0.3s //:compressed_row_sparse_matrix_test PASSED in 0.3s //:conditioned_cost_function_test PASSED in 0.2s //:conjugate_gradients_solver_test PASSED in 0.2s //:corrector_test PASSED in 0.2s //:cost_function_to_functor_test PASSED in 0.1s //:covariance_test PASSED in 0.1s //:cubic_interpolation_test PASSED in 0.2s //:dense_linear_solver_test PASSED in 0.1s //:dense_sparse_matrix_test PASSED in 0.4s //:detect_structure_test PASSED in 0.3s //:dogleg_strategy_test PASSED in 0.4s //:dynamic_autodiff_cost_function_test PASSED in 0.2s //:dynamic_compressed_row_sparse_matrix_test PASSED in 0.2s //:dynamic_numeric_diff_cost_function_test PASSED in 0.1s //:dynamic_sparse_normal_cholesky_solver_test PASSED in 0.4s //:dynamic_sparsity_test PASSED in 0.3s //:evaluator_test PASSED in 0.2s //:gradient_checker_test PASSED in 0.2s //:gradient_checking_cost_function_test PASSED in 0.2s //:gradient_problem_solver_test PASSED in 0.2s //:gradient_problem_test PASSED in 0.4s //:graph_algorithms_test PASSED in 0.4s //:graph_test PASSED in 0.2s //:householder_vector_test PASSED in 0.2s //:implicit_schur_complement_test PASSED in 0.2s //:inner_product_computer_test PASSED in 0.3s //:invert_psd_matrix_test PASSED in 0.1s //:is_close_test PASSED in 0.4s //:iterative_schur_complement_solver_test PASSED in 0.3s //:jet_test PASSED in 0.3s //:levenberg_marquardt_strategy_test PASSED in 0.2s //:line_search_minimizer_test PASSED in 0.2s //:line_search_preprocessor_test PASSED in 0.1s //:local_parameterization_test PASSED in 0.1s //:loss_function_test PASSED in 0.1s //:minimizer_test PASSED in 0.2s //:normal_prior_test PASSED in 0.3s //:numeric_diff_cost_function_test PASSED in 0.2s //:ordered_groups_test PASSED in 0.2s //:parameter_block_ordering_test PASSED in 0.2s //:parameter_block_test PASSED in 0.1s //:partitioned_matrix_view_test PASSED in 0.1s //:polynomial_test PASSED in 0.1s //:problem_test PASSED in 0.1s //:program_test PASSED in 0.2s //:reorder_program_test PASSED in 0.2s //:residual_block_test PASSED in 0.2s //:residual_block_utils_test PASSED in 0.2s //:rotation_test PASSED in 7.1s //:schur_complement_solver_test PASSED in 0.2s //:schur_eliminator_test PASSED in 0.2s //:single_linkage_clustering_test PASSED in 0.2s //:small_blas_test PASSED in 0.2s //:solver_test PASSED in 0.2s //:sparse_cholesky_test PASSED in 0.2s //:sparse_normal_cholesky_solver_test PASSED in 0.2s //:system_test PASSED in 0.1s //:tiny_solver_autodiff_function_test PASSED in 0.2s //:tiny_solver_cost_function_adapter_test PASSED in 0.1s //:tiny_solver_test PASSED in 0.1s //:triplet_sparse_matrix_test PASSED in 0.2s //:trust_region_minimizer_test PASSED in 0.2s //:trust_region_preprocessor_test PASSED in 0.2s //:visibility_based_preconditioner_test PASSED in 0.1s //:visibility_test PASSED in 0.2s Executed 121 out of 121 tests: 121 tests pass. There were tests whose specified size is too big. Use the --test_verbose_timeout_warnings command line option to see which ones these are. Change-Id: I32825f1e6278ba69dc296bb2dc05fb8ebda26592 |
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Alex Stewart
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2f99a2a37d |
Require Eigen >= 3.3.4 on aarch64.
- Raised as issue #289: https://github.com/ceres-solver/ceres-solver/issues/289. Change-Id: I35888bf7eb3498cefbf02dadc893b231e0a9229f |
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Mike Vitus
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dc5ea0ea4d |
Adds a ParallelFor wrapper for tbb::parallel_for.
This is in preparation for adding support for a c++11 based parallel for implementation. The parallel for abstraction does not have the ability to constrain the total number of threads in nested for loops. This is solved by distributing the number of threads evenly between the nested for loops. Adds a TODO to consolidate the next for loops into a single loop that can be properly split between threads. Tested by building with TBB and running tests. Change-Id: I546973b9a4d19b9cdd53caff55d1c80bac8ea953 |
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Alex Stewart
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c426f464ab |
Fix TBB detection on Windows.
- Reported as issue #334 by anuppari: https://github.com/ceres-solver/ceres-solver/issues/334. Change-Id: Ie8af4b3ce7ef97e471deb780e2b7d683dcb0d658 |
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Keir Mierle
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1af2747421 |
Support disabling Schur specializations in Bazel build
Change-Id: If72bcd9f19ba4b44482b267e45fb2355b1a93ff0 |
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Sameer Agarwal
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2145c10539 |
Improve ExecutionSummary
1. Replace two maps by 1. 2. Update number of calls and the time for the call at the cost of a single map lookup. 3. Add Solver::Summary::num_linear_solves. Fixes https://github.com/ceres-solver/ceres-solver/issues/340 Change-Id: I71eb9be7fb363a8cb066591c4c1761f256c81677 |
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Sameer Agarwal
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0251359830 |
A bunch of minor changes.
1. Fix a typo in auto_diff_cost_function.h 2. Fix and update Solver::Summary::FullReport() text labels. 3. Add logging of the number of residual and jacobian evaluations to the full report. The GradientProblemSolver already does this. Change-Id: I41059af5f0ebe0417accbbc30b0808a4b04b9edb |
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Sameer Agarwal
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0ca99358cc |
Remove as typo from callbacks.h
Change-Id: I69fdae40adaed812454d7ff4d7e8909a5539e304 |
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Mike Vitus
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c82dd50962 |
Removes two unimplemented class functions.
General clean up to the Ceres codebase to remove the functions Evaluator::Evaluate and ProblemImpl::InternalEvaluate as they are unimplemented. Change-Id: I77fcb2c5f43aeca69555e953d6472b6c4cd1b778 |
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Sameer Agarwal
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78d49f4682 |
Update EigenTypes to deal with 1 column matrices
Most matrices in Ceres are row-major. Eigen does now allow statically sized row-major matrices with a single column. This CL changes the EigenTypes struct to change the definition of typedefs to change to ColMajor if this is the case. This will allow Schur specializations (2,1,6) for example. Change-Id: I24e7b62d4e1cb5660541062336225bbc9c41c6bf |
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Sameer Agarwal
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202dd9f3a1 |
Add GradientProblemSolver::Options::update_state_every_iteration
The non-linear least squares solver had the ability to update the user's parameters every iteration. Now GradientProblemSolver can do the same. Also a few minor Sphinx markup related cleanup to the documentation which were found in the process of updating Sphinx on my machine and adding the docs for this feature. This fixes https://github.com/ceres-solver/ceres-solver/issues/246 Change-Id: Ib6b90ac22be8bfb60b14f25ad52082ba371af164 |
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Mike Vitus
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30b862d126 |
Fixes the pose graph example documentation.
Change-Id: Ia20f1463c042785bdae32568de77750d41963c3c |
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Rodrigo Queiro
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c12aae5860 |
Fix macOS build by updating glog
This includes https://github.com/google/glog/pull/285. Change-Id: I4844d24ae7fc3187d4f4983e34d3a8066422a9c9 |
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Rodrigo Queiro
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c1075cd313 |
Create ceres_library() and use to provide :ceres
This doesn't add any configurability to ceres_library() yet, but it does correctly determine the include path for use with -I, allowing this to be used as a dependency from other workspaces. Change-Id: I223b6e63c2ea82ab7f552337f78fffd54f20b0e0 |
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Rodrigo Queiro
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ac22a97492 |
Run buildifier on BUILD/WORKSPACE
Change-Id: I80bf7025811128c0795bff3e3f5b61a355d848ba |
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Rodrigo Queiro
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093223454c |
Add bazel output to .gitignore
Change-Id: Ic7a300381badaf9c5c795da7f82ed10e5a433c3b |