Google Git
Sign in
ceres-solver / ceres-solver / 77a54dd3d2f771051aa0c0e7639cfae8e47ed3ad
commit77a54dd3d2f771051aa0c0e7639cfae8e47ed3ad[log] [tgz]
authorDmitriy Korchemkin <dmitriy.korchemkin@gmail.com>Thu Nov 17 19:29:56 2022 +0300
committerDmitriy Korchemkin <dmitriy.korchemkin@gmail.com>Thu Nov 17 23:17:01 2022 +0300
treee45733f197ce82f551a0e25e80b659ed6b6211a5
parent946fa50de7f24f5114a85ace1cfc4a6faf51e50d [diff]
Parallel updates to block-diagonal EtE FtF

--------------------------------------------------------------------------------
Benchmark                                                                   Time
--------------------------------------------------------------------------------
PMVUpdateBlockDiagonalFtF<final/problem-13682-4456117-pre.txt>/1   5056275941 ns
PMVUpdateBlockDiagonalFtF<final/problem-13682-4456117-pre.txt>/2   3677677097 ns
PMVUpdateBlockDiagonalFtF<final/problem-13682-4456117-pre.txt>/4   1932236015 ns
PMVUpdateBlockDiagonalFtF<final/problem-13682-4456117-pre.txt>/8    984585015 ns
PMVUpdateBlockDiagonalFtF<final/problem-13682-4456117-pre.txt>/16   614918752 ns

PMVUpdateBlockDiagonalEtE<final/problem-13682-4456117-pre.txt>/1    449324491 ns
PMVUpdateBlockDiagonalEtE<final/problem-13682-4456117-pre.txt>/2    273147462 ns
PMVUpdateBlockDiagonalEtE<final/problem-13682-4456117-pre.txt>/4    150742698 ns
PMVUpdateBlockDiagonalEtE<final/problem-13682-4456117-pre.txt>/8     81602564 ns
PMVUpdateBlockDiagonalEtE<final/problem-13682-4456117-pre.txt>/16    47010769 ns

PMVUpdateBlockDiagonalFtF<venice/problem-1778-993923-pre.txt>/1     774598200 ns
PMVUpdateBlockDiagonalFtF<venice/problem-1778-993923-pre.txt>/2     611312877 ns
PMVUpdateBlockDiagonalFtF<venice/problem-1778-993923-pre.txt>/4     326701149 ns
PMVUpdateBlockDiagonalFtF<venice/problem-1778-993923-pre.txt>/8     165634457 ns
PMVUpdateBlockDiagonalFtF<venice/problem-1778-993923-pre.txt>/16     90631068 ns

PMVUpdateBlockDiagonalEtE<venice/problem-1778-993923-pre.txt>/1      80651817 ns
PMVUpdateBlockDiagonalEtE<venice/problem-1778-993923-pre.txt>/2      49688691 ns
PMVUpdateBlockDiagonalEtE<venice/problem-1778-993923-pre.txt>/4      27199153 ns
PMVUpdateBlockDiagonalEtE<venice/problem-1778-993923-pre.txt>/8      14301768 ns
PMVUpdateBlockDiagonalEtE<venice/problem-1778-993923-pre.txt>/16      8683479 ns

PMVUpdateBlockDiagonalFtF<ladybug/problem-1723-156502-pre.txt>/1    104422529 ns
PMVUpdateBlockDiagonalFtF<ladybug/problem-1723-156502-pre.txt>/2     81555176 ns
PMVUpdateBlockDiagonalFtF<ladybug/problem-1723-156502-pre.txt>/4     43227593 ns
PMVUpdateBlockDiagonalFtF<ladybug/problem-1723-156502-pre.txt>/8     22177895 ns
PMVUpdateBlockDiagonalFtF<ladybug/problem-1723-156502-pre.txt>/16    12505813 ns

PMVUpdateBlockDiagonalEtE<ladybug/problem-1723-156502-pre.txt>/1     14205253 ns
PMVUpdateBlockDiagonalEtE<ladybug/problem-1723-156502-pre.txt>/2      7102357 ns
PMVUpdateBlockDiagonalEtE<ladybug/problem-1723-156502-pre.txt>/4      3806598 ns
PMVUpdateBlockDiagonalEtE<ladybug/problem-1723-156502-pre.txt>/8      2112615 ns
PMVUpdateBlockDiagonalEtE<ladybug/problem-1723-156502-pre.txt>/16     1245771 ns

PMVUpdateBlockDiagonalFtF<dubrovnik/problem-356-226730-pre.txt>/1   190102870 ns
PMVUpdateBlockDiagonalFtF<dubrovnik/problem-356-226730-pre.txt>/2   157359897 ns
PMVUpdateBlockDiagonalFtF<dubrovnik/problem-356-226730-pre.txt>/4    82657662 ns
PMVUpdateBlockDiagonalFtF<dubrovnik/problem-356-226730-pre.txt>/8    42746490 ns
PMVUpdateBlockDiagonalFtF<dubrovnik/problem-356-226730-pre.txt>/16   23434967 ns

PMVUpdateBlockDiagonalEtE<dubrovnik/problem-356-226730-pre.txt>/1    18894355 ns
PMVUpdateBlockDiagonalEtE<dubrovnik/problem-356-226730-pre.txt>/2    12138228 ns
PMVUpdateBlockDiagonalEtE<dubrovnik/problem-356-226730-pre.txt>/4     6808771 ns
PMVUpdateBlockDiagonalEtE<dubrovnik/problem-356-226730-pre.txt>/8     3829718 ns
PMVUpdateBlockDiagonalEtE<dubrovnik/problem-356-226730-pre.txt>/16    2103688 ns

PMVUpdateBlockDiagonalFtF<trafalgar/problem-257-65132-pre.txt>/1     34230036 ns
PMVUpdateBlockDiagonalFtF<trafalgar/problem-257-65132-pre.txt>/2     20121184 ns
PMVUpdateBlockDiagonalFtF<trafalgar/problem-257-65132-pre.txt>/4     10899938 ns
PMVUpdateBlockDiagonalFtF<trafalgar/problem-257-65132-pre.txt>/8      6186359 ns
PMVUpdateBlockDiagonalFtF<trafalgar/problem-257-65132-pre.txt>/16     4207103 ns

PMVUpdateBlockDiagonalEtE<trafalgar/problem-257-65132-pre.txt>/1      3077110 ns
PMVUpdateBlockDiagonalEtE<trafalgar/problem-257-65132-pre.txt>/2      2224104 ns
PMVUpdateBlockDiagonalEtE<trafalgar/problem-257-65132-pre.txt>/4      1274841 ns
PMVUpdateBlockDiagonalEtE<trafalgar/problem-257-65132-pre.txt>/8       721140 ns
PMVUpdateBlockDiagonalEtE<trafalgar/problem-257-65132-pre.txt>/16      437715 ns

Change-Id: If5a342a063869bd9c0505bf96b6d957da5169c1d
4 files changed
tree: e45733f197ce82f551a0e25e80b659ed6b6211a5
  1. .github/
  2. bazel/
  3. cmake/
  4. config/
  5. data/
  6. docs/
  7. examples/
  8. include/
  9. internal/
  10. scripts/
  11. .clang-format
  12. .gitignore
  13. BUILD
  14. CITATION.cff
  15. CMakeLists.txt
  16. CONTRIBUTING.md
  17. LICENSE
  18. package.xml
  19. README.md
  20. WORKSPACE
README.md

Android Linux macOS Windows

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.

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

Please see ceres-solver.org for more information.