| commit | 71d638ef327b04a019a1014ae638745d82679042 | [log] [tgz] |
|---|---|---|
| author | Sameer Agarwal <sameeragarwal@google.com> | Fri Jul 19 17:32:44 2019 -0700 |
| committer | Sameer Agarwal <sameeragarwal@google.com> | Mon Aug 05 07:15:41 2019 -0700 |
| tree | d0dec22184e7b690ab70a51722cc0953dfd90bb7 | |
| parent | 2ffddaccfe5905957ce2ecad26e3b360107fd49c [diff] |
Add a specialized schur eliminator. Add a new specialized Schur Eliminator for the case where there is exactly one F block and all dimensions are known at compile time. Benchmark on my macbook shoes ~3x speedup for Eliminate and 4x speedup for BackSubstitute. Similar speedups are observed on other platforms. ------------------------------------------------------------------------------------------ Benchmark Time CPU Iterations ------------------------------------------------------------------------------------------ BM_SchurEliminatorEliminate/10 4176 ns 4132 ns 153522 BM_SchurEliminatorEliminate/64 24392 ns 24234 ns 29993 BM_SchurEliminatorEliminate/512 169632 ns 168709 ns 3872 BM_SchurEliminatorEliminate/4096 1296407 ns 1292873 ns 519 BM_SchurEliminatorEliminate/10000 3159652 ns 3149532 ns 216 BM_SchurEliminatorForOneFBlockEliminate/10 1187 ns 1184 ns 603953 BM_SchurEliminatorForOneFBlockEliminate/64 7917 ns 7898 ns 87558 BM_SchurEliminatorForOneFBlockEliminate/512 57629 ns 57485 ns 12035 BM_SchurEliminatorForOneFBlockEliminate/4096 484680 ns 480757 ns 1459 BM_SchurEliminatorForOneFBlockEliminate/10000 1157237 ns 1150735 ns 566 BM_SchurEliminatorBackSubstitute/10 681 ns 679 ns 1070500 BM_SchurEliminatorBackSubstitute/64 3899 ns 3887 ns 182883 BM_SchurEliminatorBackSubstitute/512 33632 ns 33467 ns 22582 BM_SchurEliminatorBackSubstitute/4096 241117 ns 240257 ns 2884 BM_SchurEliminatorBackSubstitute/10000 631869 ns 626992 ns 1146 BM_SchurEliminatorForOneFBlockBackSubstitute/10 139 ns 138 ns 5021341 BM_SchurEliminatorForOneFBlockBackSubstitute/64 898 ns 892 ns 780396 BM_SchurEliminatorForOneFBlockBackSubstitute/512 7344 ns 7286 ns 87059 BM_SchurEliminatorForOneFBlockBackSubstitute/4096 57634 ns 57345 ns 11642 BM_SchurEliminatorForOneFBlockBackSubstitute/10000 153129 ns 152320 ns 4949 Change-Id: Iae64e96c91beb44b807df0e0572d202df7cdaed8
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.
Please see ceres-solver.org for more information.