mirror of
https://github.com/ceres-solver/ceres-solver.git
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Sameer Agarwal
9a28947636
This is done by locking a dummy mutex when num_threads = 1. Before on Mac M1 Pro BM_BlockSparseJacobiPreconditionerBA/1 55724955 ns 55150500 ns 12 BM_BlockSparseJacobiPreconditionerBA/2 32243968 ns 32119545 ns 22 BM_BlockSparseJacobiPreconditionerBA/4 21749220 ns 21448485 ns 33 BM_BlockSparseJacobiPreconditionerBA/8 31190360 ns 27924520 ns 25 BM_BlockSparseJacobiPreconditionerBA/16 31130365 ns 26186656 ns 32 BM_BlockCRSJacobiPreconditionerBA/1 60739399 ns 60737750 ns 12 BM_BlockCRSJacobiPreconditionerBA/2 35197331 ns 34524650 ns 20 BM_BlockCRSJacobiPreconditionerBA/4 21977577 ns 21241606 ns 33 BM_BlockCRSJacobiPreconditionerBA/8 31597485 ns 27892000 ns 25 BM_BlockCRSJacobiPreconditionerBA/16 31097307 ns 21841367 ns 30 BM_BlockSparseJacobiPreconditionerUnstructured/1 63510295 ns 63488833 ns 12 BM_BlockSparseJacobiPreconditionerUnstructured/2 34208964 ns 34063333 ns 21 BM_BlockSparseJacobiPreconditionerUnstructured/4 22443432 ns 22145455 ns 33 BM_BlockSparseJacobiPreconditionerUnstructured/8 24571793 ns 22801323 ns 31 BM_BlockSparseJacobiPreconditionerUnstructured/16 23507892 ns 20859250 ns 36 BM_BlockCRSJacobiPreconditionerUnstructured/1 63282292 ns 63280273 ns 11 BM_BlockCRSJacobiPreconditionerUnstructured/2 32994633 ns 32845810 ns 21 BM_BlockCRSJacobiPreconditionerUnstructured/4 18249372 ns 17526200 ns 40 BM_BlockCRSJacobiPreconditionerUnstructured/8 16539623 ns 15937341 ns 44 BM_BlockCRSJacobiPreconditionerUnstructured/16 16549527 ns 12850294 ns 51 After -------------------------------------------------------------------------------------------- Benchmark Time CPU Iterations -------------------------------------------------------------------------------------------- BM_BlockSparseJacobiPreconditionerBA/1 44348891 ns 44348875 ns 16 BM_BlockSparseJacobiPreconditionerBA/2 32840149 ns 32706476 ns 21 BM_BlockSparseJacobiPreconditionerBA/4 22318142 ns 21904419 ns 31 BM_BlockSparseJacobiPreconditionerBA/8 31322712 ns 27964120 ns 25 BM_BlockSparseJacobiPreconditionerBA/16 31742625 ns 26624577 ns 26 BM_BlockCRSJacobiPreconditionerBA/1 49870369 ns 49869714 ns 14 BM_BlockCRSJacobiPreconditionerBA/2 34901023 ns 34234900 ns 20 BM_BlockCRSJacobiPreconditionerBA/4 21946689 ns 21215394 ns 33 BM_BlockCRSJacobiPreconditionerBA/8 31461558 ns 27728360 ns 25 BM_BlockCRSJacobiPreconditionerBA/16 30792414 ns 23063968 ns 31 BM_BlockSparseJacobiPreconditionerUnstructured/1 62120649 ns 61979750 ns 12 BM_BlockSparseJacobiPreconditionerUnstructured/2 33806314 ns 33729526 ns 19 BM_BlockSparseJacobiPreconditionerUnstructured/4 22195685 ns 21831500 ns 32 BM_BlockSparseJacobiPreconditionerUnstructured/8 25003440 ns 22765452 ns 31 BM_BlockSparseJacobiPreconditionerUnstructured/16 24746505 ns 19425364 ns 33 BM_BlockCRSJacobiPreconditionerUnstructured/1 57506343 ns 57502077 ns 13 BM_BlockCRSJacobiPreconditionerUnstructured/2 33691442 ns 33584810 ns 21 BM_BlockCRSJacobiPreconditionerUnstructured/4 18121943 ns 17579050 ns 40 BM_BlockCRSJacobiPreconditionerUnstructured/8 17624991 ns 16086568 ns 44 BM_BlockCRSJacobiPreconditionerUnstructured/16 16493819 ns 13160882 ns 51 Change-Id: Ieac097f5e06a08b48170dcfb06b5145f1ee512e6
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.