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ceres-solver / ceres-solver / e6b2f532b497011071958416c9d36986eac29474
commite6b2f532b497011071958416c9d36986eac29474[log] [tgz]
authorDmitriy Korchemkin <dmitriy.korchemkin@gmail.com>Wed Sep 27 21:08:53 2023 +0000
committerDmitriy Korchemkin <dmitriy.korchemkin@gmail.com>Thu Sep 28 21:11:26 2023 +0000
tree9ffafad5deb6d6a2d74722af63219fe9dd9eafb9
parent41672dff8cc894cdcb4e6ce3ed6bc0bfd74b3aaa [diff]
Parallelize PSE preconditioner

Parallelization of remaining block-diagonal matrix-vector product and
vector operations makes parallel execution slightly faster

Before (Intel 8176 CPU, 10 iterations):
-----------------------------------------------------------------------
Benchmark                                                          Time
-----------------------------------------------------------------------
PSEPreconditioner...<problem-13682-4456117-pre.txt>/1_median   26677 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/1_stddev    26.6 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/2_median   31037 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/2_stddev     191 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/4_median   16915 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/4_stddev    98.0 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/8_median    9175 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/8_stddev    44.1 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/16_median   4974 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/16_stddev   11.5 ms

After:
-----------------------------------------------------------------------
Benchmark                                                          Time
-----------------------------------------------------------------------
PSEPreconditioner...<problem-13682-4456117-pre.txt>/1_median   26609 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/1_stddev    69.4 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/2_median   29178 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/2_stddev     367 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/4_median   16152 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/4_stddev     106 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/8_median    8773 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/8_stddev    41.5 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/16_median   4800 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/16_stddev   14.7 ms

Change-Id: Ib1d1b0c4edf9c556a9e996c49486d2726efcc558
7 files changed
tree: 9ffafad5deb6d6a2d74722af63219fe9dd9eafb9
  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

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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.