)]}' { "commit": "b158515089a85be8425db66ed43546605f86a00e", "tree": "1e88ea96569aa49f06b970d0936e01daf44860d2", "parents": [ "2fd81de12d619f8a32769a6775dc8cb06355aa70" ], "author": { "name": "Dmitriy Korchemkin", "email": "dmitriy.korchemkin@gmail.com", "time": "Sun Nov 27 21:35:44 2022 +0300" }, "committer": { "name": "Dmitriy Korchemkin", "email": "dmitriy.korchemkin@gmail.com", "time": "Sat Dec 17 02:52:27 2022 +0300" }, "message": "Parallel operations on vectors\n\nMain focus of this change is to parallelize remaining operations (most of them\nare operations on vectors) in code-path utilized with iterative Schur\ncomplement.\n\nParallelization is handled using lazy evaluation of Eigen expressions.\n\nOn linux pc with intel 8176 processor parallelization of vector operations has\nthe following effect:\n\nRunning ./bin/parallel_vector_operations_benchmark\nRun on (112 X 3200.32 MHz CPU s)\nCPU Caches:\n L1 Data 32 KiB (x56)\n L1 Instruction 32 KiB (x56)\n L2 Unified 1024 KiB (x56)\n L3 Unified 39424 KiB (x2)\nLoad Average: 3.30, 8.41, 11.82\n-----------------------------------\nBenchmark Time\n-----------------------------------\nSetZero 10009532 ns\nSetZeroParallel/1 10024139 ns\n...\nSetZeroParallel/16 877606 ns\n\nNegate 4978856 ns\nNegateParallel/1 5145413 ns\n...\nNegateParallel/16 721823 ns\n\nAssign 10731408 ns\nAssignParallel/1 10749944 ns\n...\nAssignParallel/16 1829381 ns\n\nD2X 15214399 ns\nD2XParallel/1 15623245 ns\n...\nD2XParallel/16 2687060 ns\n\nDivideSqrt 8220050 ns\nDivideSqrtParallel/1 9088467 ns\n...\nDivideSqrtParallel/16 905569 ns\n\nClamp 3502010 ns\nClampParallel/1 4507897 ns\n...\nClampParallel/16 759576 ns\n\nNorm 4426782 ns\nNormParallel/1 4442805 ns\n...\nNormParallel/16 430290 ns\n\nDot 9023276 ns\nDotParallel/1 9031304 ns\n...\nDotParallel/16 1157267 ns\n\nAxpby 14608289 ns\nAxpbyParallel/1 14570825 ns\n...\nAxpbyParallel/16 2672220 ns\n-----------------------------------\n\nMulti-threading of vector operations in ISC and program evaluation results into\nthe following improvement:\n\nRunning ./bin/evaluation_benchmark\n--------------------------------------------------------------------------------------\nBenchmark this 2fd81de\n--------------------------------------------------------------------------------------\nResiduals\u003cproblem-13682-4456117-pre.txt\u003e/1 4136 ms 4292 ms\nResiduals\u003cproblem-13682-4456117-pre.txt\u003e/2 2919 ms 2670 ms\nResiduals\u003cproblem-13682-4456117-pre.txt\u003e/4 2065 ms 2198 ms\nResiduals\u003cproblem-13682-4456117-pre.txt\u003e/8 1458 ms 1609 ms\nResiduals\u003cproblem-13682-4456117-pre.txt\u003e/16 1152 ms 1227 ms\n\nResidualsAndJacobian\u003cproblem-13682-4456117-pre.txt\u003e/1 19759 ms 20084 ms\nResidualsAndJacobian\u003cproblem-13682-4456117-pre.txt\u003e/2 10921 ms 10977 ms\nResidualsAndJacobian\u003cproblem-13682-4456117-pre.txt\u003e/4 6220 ms 6941 ms\nResidualsAndJacobian\u003cproblem-13682-4456117-pre.txt\u003e/8 3490 ms 4398 ms\nResidualsAndJacobian\u003cproblem-13682-4456117-pre.txt\u003e/16 2277 ms 3172 ms\n\nPlus\u003cproblem-13682-4456117-pre.txt\u003e/1 339 ms 322 ms\nPlus\u003cproblem-13682-4456117-pre.txt\u003e/2 220 ms\nPlus\u003cproblem-13682-4456117-pre.txt\u003e/4 128 ms\nPlus\u003cproblem-13682-4456117-pre.txt\u003e/8 78.0 ms\nPlus\u003cproblem-13682-4456117-pre.txt\u003e/16 49.8 ms\n\nISCRightMultiplyAndAccumulate\u003cproblem-13682-4456117-pre.txt\u003e/1 2434 ms 2478 ms\nISCRightMultiplyAndAccumulate\u003cproblem-13682-4456117-pre.txt\u003e/2 2706 ms 2688 ms\nISCRightMultiplyAndAccumulate\u003cproblem-13682-4456117-pre.txt\u003e/4 1430 ms 1548 ms\nISCRightMultiplyAndAccumulate\u003cproblem-13682-4456117-pre.txt\u003e/8 742 ms 883 ms\nISCRightMultiplyAndAccumulate\u003cproblem-13682-4456117-pre.txt\u003e/16 438 ms 555 ms\n\nISCRightMultiplyAndAccumulateDiag\u003cproblem-13682-4456117-pre.txt\u003e/1 2438 ms 2481 ms\nISCRightMultiplyAndAccumulateDiag\u003cproblem-13682-4456117-pre.txt\u003e/2 2565 ms 2790 ms\nISCRightMultiplyAndAccumulateDiag\u003cproblem-13682-4456117-pre.txt\u003e/4 1434 ms 1551 ms\nISCRightMultiplyAndAccumulateDiag\u003cproblem-13682-4456117-pre.txt\u003e/8 765 ms 892 ms\nISCRightMultiplyAndAccumulateDiag\u003cproblem-13682-4456117-pre.txt\u003e/16 435 ms 559 ms\n\nJacobianSquaredColumnNorm\u003cproblem-13682-4456117-pre.txt\u003e/1 1278 ms\nJacobianSquaredColumnNorm\u003cproblem-13682-4456117-pre.txt\u003e/2 1555 ms\nJacobianSquaredColumnNorm\u003cproblem-13682-4456117-pre.txt\u003e/4 833 ms\nJacobianSquaredColumnNorm\u003cproblem-13682-4456117-pre.txt\u003e/8 459 ms\nJacobianSquaredColumnNorm\u003cproblem-13682-4456117-pre.txt\u003e/16 250 ms\n\nJacobianScaleColumns\u003cproblem-13682-4456117-pre.txt\u003e/1 1468 ms\nJacobianScaleColumns\u003cproblem-13682-4456117-pre.txt\u003e/2 1871 ms\nJacobianScaleColumns\u003cproblem-13682-4456117-pre.txt\u003e/4 957 ms\nJacobianScaleColumns\u003cproblem-13682-4456117-pre.txt\u003e/8 528 ms\nJacobianScaleColumns\u003cproblem-13682-4456117-pre.txt\u003e/16 294 ms\n\nEnd-to-end improvements with bundle_adjuster invoked with\n./bin/bundle_adjuster --num_threads 28 --num_iterations 40 \\\n --linear_solver iterative_schur \\\n --preconditioner jacobi --input\n---------------------------------------------\nProblem this 2fd81de\n---------------------------------------------\nproblem-13682-4456117-pre.txt 508.6 892.7\nproblem-1778-993923-pre.txt 763.8 1129.9\nproblem-1723-156502-pre.txt 6.3 14.4\nproblem-356-226730-pre.txt 76.3 116.2\nproblem-257-65132-pre.txt 38.6 52.0\n\nChange-Id: Ie31cc5015f13fa479c16ffb5ce48c9b880990d49\n", "tree_diff": [ { "type": "modify", "old_id": "1e6a699511e943c8e3e6f2b23a009eca8fa8a014", "old_mode": 33188, "old_path": "internal/ceres/CMakeLists.txt", "new_id": "23dbbd686be86c74ce5e9377aa3f894f93a4a806", "new_mode": 33188, "new_path": "internal/ceres/CMakeLists.txt" }, { "type": "modify", "old_id": "459d70935dc4a5c79a1ce142a6a776c53afb0dd7", 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