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ceres-solver/ceres-solver/77a54dd3d2f771051aa0c0e7639cfae8e47ed3ad
commit
77a54dd3d2f771051aa0c0e7639cfae8e47ed3ad
[log] [tgz]
author
Dmitriy Korchemkin <dmitriy.korchemkin@gmail.com>
Thu Nov 17 19:29:56 2022 +0300
committer
Dmitriy Korchemkin <dmitriy.korchemkin@gmail.com>
Thu Nov 17 23:17:01 2022 +0300
tree
e45733f197ce82f551a0e25e80b659ed6b6211a5
parent
946fa50de7f24f5114a85ace1cfc4a6faf51e50d [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

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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.