mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
6c835f81a7
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
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