mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Dmitriy Korchemkin
c0c4f93940
Implemented templated invocation routines for ParallelFor backends
in order to improve loop body inlining.
Several modifications of ParallelFor implementation using CXX threads:
- Index order changed from interleaved to sequential
- Static task scheduling replaced with dynamic (controlled by
kWorkBlocksPerThread)
- Changed index retrieval to atomic
Modifications of OpenMP backend:
- Changed loop scheduling to guided
Changing index order from interleaved to sequential in parallel seem
to significantly improve run-times of parallel loops, for example in
evaluation of jacobian and residuals.
Other modifications provide minor improvements for unbalanced
sub-problem lengths and parallel for loops with small number of
computation per operation.
Single-threaded performance was improved by avoiding costs of
wrapping parallel loop bodies in std::function.
On BAL dataset the following improvements in time consumed for
evaluation of residuals or jacobian and residuals were observed:
OLD NEW OLD/NEW
dataset threads r J r J r J
problem-257-65132-pre.txt 1 0.025 0.079 0.025 0.074 1.016 1.056
problem-257-65132-pre.txt 2 0.030 0.062 0.022 0.050 1.333 1.246
problem-257-65132-pre.txt 4 0.023 0.052 0.014 0.034 1.592 1.515
problem-257-65132-pre.txt 8 0.015 0.035 0.010 0.025 1.477 1.401
problem-257-65132-pre.txt 16 0.011 0.027 0.008 0.019 1.365 1.377
problem-356-226730-pre.txt 1 0.150 0.442 0.147 0.412 1.017 1.070
problem-356-226730-pre.txt 2 0.155 0.322 0.100 0.281 1.542 1.145
problem-356-226730-pre.txt 4 0.129 0.291 0.089 0.196 1.439 1.485
problem-356-226730-pre.txt 8 0.091 0.184 0.066 0.139 1.381 1.319
problem-356-226730-pre.txt 16 0.070 0.148 0.055 0.110 1.272 1.340
problem-1723-156502-pre.txt 1 0.084 0.243 0.082 0.229 1.023 1.063
problem-1723-156502-pre.txt 2 0.088 0.188 0.055 0.154 1.589 1.222
problem-1723-156502-pre.txt 4 0.072 0.159 0.049 0.108 1.475 1.475
problem-1723-156502-pre.txt 8 0.050 0.105 0.037 0.077 1.348 1.368
problem-1723-156502-pre.txt 16 0.038 0.083 0.030 0.062 1.269 1.344
problem-1778-993923-pre.txt 1 0.621 1.777 0.609 1.667 1.018 1.065
problem-1778-993923-pre.txt 2 0.621 1.273 0.415 1.199 1.494 1.061
problem-1778-993923-pre.txt 4 0.514 1.140 0.361 0.786 1.421 1.449
problem-1778-993923-pre.txt 8 0.365 0.808 0.277 0.559 1.319 1.443
problem-1778-993923-pre.txt 16 0.279 0.608 0.223 0.441 1.252 1.379
problem-13682-4456117-pre.txt 1 3.877 10.726 3.738 10.082 1.037 1.063
problem-13682-4456117-pre.txt 2 3.310 7.170 2.423 6.448 1.366 1.111
problem-13682-4456117-pre.txt 4 3.070 6.344 2.064 4.474 1.486 1.417
problem-13682-4456117-pre.txt 8 2.051 4.612 1.527 3.133 1.343 1.472
problem-13682-4456117-pre.txt 16 1.549 3.453 1.218 2.488 1.271 1.387
Run time in seconds for a single evaluation, using evaluation_benchmark
numactl -N 0 -m 0 ./bin/evaluation_benchmark --bal_root ${path_to_BAL}
Evaluation was performed on 28-core CPU.
Note: performance when running across numa-nodes degrades in both old
and proposed implementations, thus the test was executed limiting memory
and compute resources allocation to a single numa-node.
Change-Id: Ia195580bdab9d05c95ac983bfe37b045eecfaf49
84 lines
3.2 KiB
C++
84 lines
3.2 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2018 Google Inc. All rights reserved.
|
|
// http://ceres-solver.org/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: vitus@google.com (Michael Vitus)
|
|
|
|
// This include must come before any #ifndef check on Ceres compile options.
|
|
#include "ceres/internal/config.h"
|
|
|
|
#ifdef CERES_USE_CXX_THREADS
|
|
|
|
#include <atomic>
|
|
#include <cmath>
|
|
#include <condition_variable>
|
|
#include <memory>
|
|
#include <mutex>
|
|
|
|
#include "ceres/parallel_for.h"
|
|
#include "glog/logging.h"
|
|
|
|
namespace ceres::internal {
|
|
|
|
BlockUntilFinished::BlockUntilFinished(int num_total_jobs)
|
|
: num_total_jobs_finished_(0), num_total_jobs_(num_total_jobs) {}
|
|
|
|
void BlockUntilFinished::Finished(int num_jobs_finished) {
|
|
if (num_jobs_finished == 0) return;
|
|
std::lock_guard<std::mutex> lock(mutex_);
|
|
num_total_jobs_finished_ += num_jobs_finished;
|
|
CHECK_LE(num_total_jobs_finished_, num_total_jobs_);
|
|
if (num_total_jobs_finished_ == num_total_jobs_) {
|
|
condition_.notify_one();
|
|
}
|
|
}
|
|
|
|
void BlockUntilFinished::Block() {
|
|
std::unique_lock<std::mutex> lock(mutex_);
|
|
condition_.wait(
|
|
lock, [&]() { return num_total_jobs_finished_ == num_total_jobs_; });
|
|
}
|
|
|
|
ThreadPoolState::ThreadPoolState(int start,
|
|
int end,
|
|
int num_work_blocks,
|
|
int num_workers)
|
|
: start(start),
|
|
end(end),
|
|
num_work_blocks(num_work_blocks),
|
|
base_block_size((end - start) / num_work_blocks),
|
|
num_base_p1_sized_blocks((end - start) % num_work_blocks),
|
|
block_id(0),
|
|
thread_id(0),
|
|
block_until_finished(num_work_blocks) {}
|
|
|
|
int MaxNumThreadsAvailable() { return ThreadPool::MaxNumThreadsAvailable(); }
|
|
|
|
} // namespace ceres::internal
|
|
|
|
#endif // CERES_USE_CXX_THREADS
|