mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
80fce72bfd
Starting with SuiteSparse version 7.4.0 CHOLMOD has support for single
precision matrices. This allows us to have single precision and mixed
precision solves when using the SUITE_SPARSE backend.
This CL also fixes sparse_cholesky_test which was completely broken for
single precision testing.
Sample performance on my Mac.
/usr/bin/time -l ./bin/bundle_adjuster --input=../../Downloads/problem-3068-310854-pre.txt
<SNIP>
Cost:
Initial 9.099334e+07
Final 4.161838e+06
Change 8.683150e+07
Minimizer iterations 6
Successful steps 4
Unsuccessful steps 2
Time (in seconds):
Preprocessor 2.528222
Residual only evaluation 0.142804 (5)
Jacobian & residual evaluation 0.424014 (4)
Linear solver 54.083396 (5)
Minimizer 54.895752
Postprocessor 0.024564
Total 57.448539
Termination: NO_CONVERGENCE (Maximum number of iterations reached. Number of iterations: 5.)
59.04 real 341.24 user 5.49 sys
5776375808 maximum resident set size
<SNIP>
616329634071 instructions retired
929475980510 cycles elapsed
5375034560 peak memory footprint
/usr/bin/time -l ./bin/bundle_adjuster --input=../../Downloads/problem-3068-310854-pre.txt -mixed_precision_solves
<SNIP>
Cost:
Initial 9.099334e+07
Final 4.148930e+06
Change 8.684441e+07
Minimizer iterations 6
Successful steps 4
Unsuccessful steps 2
Time (in seconds):
Preprocessor 2.580217
Residual only evaluation 0.144098 (5)
Jacobian & residual evaluation 0.396723 (4)
Linear solver 23.636074 (5)
Minimizer 24.427163
Postprocessor 0.023790
Total 27.031170
Termination: NO_CONVERGENCE (Maximum number of iterations reached. Number of iterations: 5.)
28.58 real 128.53 user 2.37 sys
4818386944 maximum resident set size
<SNIP>
395186936091 instructions retired
368802808856 cycles elapsed
4327029824 peak memory footprint
Change-Id: I1f137b0dd12da8da7f9ced338dd8f20f4bbdf99d
108 lines
4.1 KiB
C
108 lines
4.1 KiB
C
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2022 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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//
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// Author: alexs.mac@gmail.com (Alex Stewart)
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// Configuration options for Ceres.
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//
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// Do not edit this file, it was automatically configured by CMake when
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// Ceres was compiled with the relevant configuration for the machine
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// on which Ceres was compiled.
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//
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// Ceres Developers: All options should have the same name as their mapped
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// CMake options, in the preconfigured version of this file
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// all options should be enclosed in '@'.
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#ifndef CERES_PUBLIC_INTERNAL_CONFIG_H_
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#define CERES_PUBLIC_INTERNAL_CONFIG_H_
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// If defined, use the LGPL code in Eigen.
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@CERES_USE_EIGEN_SPARSE@
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// If defined, Ceres was compiled without LAPACK.
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@CERES_NO_LAPACK@
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// If defined, Ceres was compiled without SuiteSparse.
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@CERES_NO_SUITESPARSE@
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// If defined, Ceres was compiled without CUDA.
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@CERES_NO_CUDA@
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// If defined, Ceres was compiled without cuDSS.
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@CERES_NO_CUDSS@
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// If defined, Ceres was compiled without Apple's Accelerate framework solvers.
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@CERES_NO_ACCELERATE_SPARSE@
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#if defined(CERES_NO_SUITESPARSE) && \
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defined(CERES_NO_ACCELERATE_SPARSE) && \
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defined(CERES_NO_CUDSS) && \
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!defined(CERES_USE_EIGEN_SPARSE) // NOLINT
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// If defined Ceres was compiled without any sparse linear algebra support.
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#define CERES_NO_SPARSE
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#endif
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// If defined, Ceres was compiled without Schur specializations.
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@CERES_RESTRICT_SCHUR_SPECIALIZATION@
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// If defined, Ceres was compiled to use Eigen instead of hardcoded BLAS
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// routines.
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@CERES_NO_CUSTOM_BLAS@
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// If defined, Ceres was compiled with a version of SuiteSparse/CHOLMOD without
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// the Partition module (requires METIS).
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@CERES_NO_CHOLMOD_PARTITION@
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// If defined Ceres was compiled with a version of SuiteSparse that does not
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// support single precision solves in CHOLMOD.
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@CERES_NO_CHOLMOD_FLOAT@
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// If defined Ceres was compiled without support for METIS via Eigen.
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@CERES_NO_EIGEN_METIS@
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// CERES_NO_SPARSE should be automatically defined by config.h if Ceres was
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// compiled without any sparse back-end. Verify that it has not subsequently
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// been inconsistently redefined.
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#if defined(CERES_NO_SPARSE)
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#if !defined(CERES_NO_SUITESPARSE)
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#error CERES_NO_SPARSE requires CERES_NO_SUITESPARSE.
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#endif
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#if !defined(CERES_NO_ACCELERATE_SPARSE)
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#error CERES_NO_SPARSE requires CERES_NO_ACCELERATE_SPARSE
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#endif
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#if defined(CERES_USE_EIGEN_SPARSE)
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#error CERES_NO_SPARSE requires !CERES_USE_EIGEN_SPARSE
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#endif
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#if !defined(CERES_NO_CUDSS)
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#error CERES_NO_SPARSE required CERES_NO_CUDSS
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#endif
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#endif
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#endif // CERES_PUBLIC_INTERNAL_CONFIG_H_
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