mirror of https://github.com/ceres-solver/ceres-solver.git synced 2026-08-29 08:34:37 +08:00

T

Mike Vitus 5d8b494557 Adds a ParallelFor wrapper for no threads and OpenMP.

With the addition of C++11 support we can simplify the parallel for code by
removing the ifdef branching.  Converts coordinate_descent_minimizer.cc to use
the thread_id ParallelFor API.

Tested by building with OpenMP, C++11 threads, TBB, and no threads.  All tests
pass.

Also compared timing via the bundle adjuster.

./bin/bundle_adjuster --input=../problem-744-543562-pre.txt

With OpenMP num_threads=8

Head:
Time (in seconds):
  Residual only evaluation           0.807753 (5)
  Jacobian & residual evaluation     4.489404 (6)
  Linear solver                     41.826481 (5)
Minimizer                           50.745857
Total                               73.294424

CL:
Time (in seconds):
  Residual only evaluation           0.970483 (5)
  Jacobian & residual evaluation     4.647438 (6)
  Linear solver                     41.781892 (5)
Minimizer                           50.848904
Total                               73.089983

With OpenMP num_threads=1

HEAD:
Time (in seconds):
  Residual only evaluation           2.990246 (5)
  Jacobian & residual evaluation    14.132090 (6)
  Linear solver                     79.631951 (5)
Minimizer                          100.281847
Total                              122.946267

CL:
Time (in seconds):
  Residual only evaluation           3.075178 (5)
  Jacobian & residual evaluation    13.966451 (6)
  Linear solver                     77.005441 (5)
Minimizer                           97.568712
Total                              120.410454

Change-Id: I1857d7943073be7465b6c6476bf46ab11c5475a3

2018-04-09 10:10:03 -07:00

bazel

Adds a ParallelFor wrapper for no threads and OpenMP.

2018-04-09 10:10:03 -07:00

cmake

Fix exported gflags include path.

2018-04-03 18:07:43 +01:00

config/ceres/internal

Lint cleanup from Jim Roseborough

2015-08-05 15:20:57 -07:00

data

Remove Protocol Buffers support.

2013-06-24 14:28:40 -07:00

docs

Replace scoped_ptr with C++11's unique_ptr

2018-04-02 14:47:47 -07:00

examples

Deprecate Solver::Options::num_linear_solver_threads

2018-02-27 20:38:05 -08:00

include/ceres

Use C++11's inline member initialization syntax

2018-04-06 16:50:42 -07:00

internal/ceres

Adds a ParallelFor wrapper for no threads and OpenMP.

2018-04-09 10:10:03 -07:00

jni

Adds a ParallelFor wrapper for no threads and OpenMP.

2018-04-09 10:10:03 -07:00

scripts

Minor changes to the documentation.

2016-11-27 15:12:11 -08:00

.gitignore

Add bazel output to .gitignore

2018-01-15 12:23:15 +01:00

BUILD

Add Iterative Refinement

2018-04-06 16:51:14 -07:00

CMakeLists.txt

Deprecate mutex.h

2018-04-02 06:03:06 -07:00

LICENSE

Update copyright headers with new year and URL

2015-03-18 05:43:23 +00:00

package.xml

Update docs and code in preparation for 1.14.0

2018-03-13 10:10:13 -07:00

README.md

Update title in README.md

2016-03-07 09:33:07 -08:00

WORKSPACE

Build benchmarks with Bazel

2018-02-25 15:18:26 -08:00

README.md

Ceres Solver

Ceres Solver is an open source C++ library for modeling and solving large, complicated optimization problems. It is a feature rich, mature and performant library which has been used in production at Google since 2010. Ceres Solver can solve two kinds of problems.

Non-linear Least Squares problems with bounds constraints.
General unconstrained optimization problems.

Please see ceres-solver.org for more information.

WARNING - Do not make GitHub pull requests!

Ceres development happens on Gerrit, including both repository hosting and code reviews. The GitHub Repository is a continuously updated mirror which is primarily meant for issue tracking. Please see our Contributing to Ceres Guide for more details.

The upstream Gerrit repository is

https://ceres-solver.googlesource.com/ceres-solver

Languages

C++ 94.4%

CMake 3.8%

Python 0.8%

C 0.5%

Starlark 0.4%