mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
0a53aa9054
1. Add abseil-cpp as a submodule. We are tracking the latest LTS release, which is lts_2024_01_16. 2. Replace glog/gflags with absl::log and absl::flags. 3. Remove miniglog 4. Also take a whack at making the bazel build work with abseil-cpp and gtest. There are a number of TODOs in this CL that still need to be resolved. Change-Id: I39355ed7d61375be4ebcbc8596d9cc70acc1c678
77 lines
2.9 KiB
C++
77 lines
2.9 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2023 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#include "absl/log/check.h"
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#include "benchmark/benchmark.h"
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#include "ceres/context_impl.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/parallel_for.h"
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namespace ceres::internal {
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// Parallel for with very small amount of work per iteration and small amount of
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// iterations benchmarks performance of task scheduling
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static void SchedulerBenchmark(benchmark::State& state) {
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const int vector_size = static_cast<int>(state.range(0));
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const int num_threads = static_cast<int>(state.range(1));
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ContextImpl context;
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context.EnsureMinimumThreads(num_threads);
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Vector x = Vector::Random(vector_size);
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for (auto _ : state) {
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ParallelFor(
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&context, 0, vector_size, num_threads, [&x](int id) { x[id] = 0.; });
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}
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CHECK_EQ(x.squaredNorm(), 0.);
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}
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BENCHMARK(SchedulerBenchmark)
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->Args({128, 1})
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->Args({128, 2})
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->Args({128, 4})
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->Args({128, 8})
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->Args({128, 16})
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->Args({256, 1})
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->Args({256, 2})
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->Args({256, 4})
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->Args({256, 8})
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->Args({256, 16})
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->Args({1024, 1})
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->Args({1024, 2})
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->Args({1024, 4})
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->Args({1024, 8})
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->Args({1024, 16})
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->Args({4096, 1})
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->Args({4096, 2})
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->Args({4096, 4})
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->Args({4096, 8})
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->Args({4096, 16});
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} // namespace ceres::internal
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BENCHMARK_MAIN();
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