commit | f0c3b2368478af977e9c2ebe931b7fa92276ac55 | [log] [tgz] |
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author | Mike Vitus <vitus@google.com> | Wed Feb 28 13:08:48 2018 -0800 |
committer | Mike Vitus <vitus@google.com> | Thu Mar 01 09:00:44 2018 -0800 |
tree | db94992836d18367d010b46eef32ca81ee0fd635 | |
parent | 4e391c36c1d1d9c5fb59f3fbc8b7481ac82416a2 [diff] |
Increases the performance of the C++11 threading. Previously, the thread ID was acquired and released on every iteration of the for loop. The C++11 concurrent queue implementation is much slower than TBB's version and consequently this was a huge bottleneck. This introduces another ParallelFor API which takes the thread ID as a parameter in the evaluation function. This allows us to acquire and release the thread ID for each block of work which drastically improves the performance. This change brings us on par with OpenMP and TBB. See below for a timing comparison. Note: in this example this CLs C++11 version is faster to compute the residuals because TBB still must acquire the thread ID on every iteration, which has some overhead. Tested by building and running tests for no threading, OpenMP, TBB, and C++11 threads. Also ran bazel tests. ./bin/bundle_adjuster --input=problem-744-543562-pre.txt --num_threads=8 C++11 @Head Time (in seconds): Residual only evaluation 7.819692 (5) Jacobian & residual evaluation 11.606063 (6) Linear solver 47.860195 (5) Minimizer 70.877072 Total 90.806338 --------------------------------------------------- C++11 (This CL) Time (in seconds): Residual only evaluation 1.217500 (5) Jacobian & residual evaluation 5.796112 (6) Linear solver 44.080873 (5) Minimizer 54.635524 Total 77.640072 --------------------------------------------------- OpenMP Time (in seconds): Residual only evaluation 0.797023 (5) Jacobian & residual evaluation 5.633916 (6) Linear solver 43.280020 (5) Minimizer 53.199058 Total 76.250861 --------------------------------------------------- TBB Time (in seconds): Residual only evaluation 1.911095 (5) Jacobian & residual evaluation 5.557807 (6) Linear solver 44.074680 (5) Minimizer 55.002688 Total 78.052687 --------------------------------------------------- No Threads Time (in seconds): Residual only evaluation 2.939212 (5) Jacobian & residual evaluation 18.519874 (6) Linear solver 74.017837 (5) Minimizer 98.980080 Total 122.216391 Change-Id: I3af959b0771bbdfe8cad8c13896191d6ac903181
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.
Ceres development happens on Gerrit, including both repository hosting and code reviews. The GitHub Repository is a continuously updated mirror which is primarily meant for issue tracking. Please see our Contributing to Ceres Guide for more details.
The upstream Gerrit repository is
https://ceres-solver.googlesource.com/ceres-solver