mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
4705159858
covariance.h was using SUITE_SPARSE even when SUITESPARSE was disabled because it did not have config.h included in it so it did not see that CERES_NO_SUITESPARSE was defined. Add more config.h includes to files that are using these configuration macros. Change-Id: I6b1d2c2bd9e559de40a6332cd6be85ad4da3377b
112 lines
4.1 KiB
C++
112 lines
4.1 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2022 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Authors: sameeragarwal@google.com (Sameer Agarwal)
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#include "Eigen/Dense"
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#include "benchmark/benchmark.h"
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#include "ceres/context_impl.h"
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#include "ceres/dense_sparse_matrix.h"
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#include "ceres/internal/config.h"
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#include "ceres/linear_solver.h"
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#include "ceres/random.h"
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namespace ceres {
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namespace internal {
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template <ceres::DenseLinearAlgebraLibraryType kLibraryType,
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ceres::LinearSolverType kSolverType>
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static void BM_DenseSolver(benchmark::State& state) {
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const int num_rows = state.range(0);
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const int num_cols = state.range(1);
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DenseSparseMatrix jacobian(num_rows, num_cols);
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*jacobian.mutable_matrix() = Eigen::MatrixXd::Random(num_rows, num_cols);
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Eigen::VectorXd rhs = Eigen::VectorXd::Random(num_rows, 1);
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Eigen::VectorXd solution(num_cols);
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LinearSolver::Options options;
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options.type = kSolverType;
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options.dense_linear_algebra_library_type = kLibraryType;
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ContextImpl context;
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options.context = &context;
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auto solver = LinearSolver::Create(options);
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LinearSolver::PerSolveOptions per_solve_options;
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Eigen::VectorXd diagonal = Eigen::VectorXd::Ones(num_cols) * 100;
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per_solve_options.D = diagonal.data();
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for (auto _ : state) {
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solver->Solve(&jacobian, rhs.data(), per_solve_options, solution.data());
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}
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}
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// Some reasonable matrix sizes. I picked them out of thin air.
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static void MatrixSizes(benchmark::internal::Benchmark* b) {
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// {num_rows, num_cols}
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b->Args({1, 1});
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b->Args({2, 1});
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b->Args({3, 1});
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b->Args({6, 2});
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b->Args({10, 3});
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b->Args({12, 4});
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b->Args({20, 5});
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b->Args({40, 5});
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b->Args({100, 10});
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b->Args({150, 15});
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b->Args({200, 16});
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b->Args({225, 18});
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b->Args({300, 20});
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b->Args({400, 20});
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b->Args({600, 22});
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b->Args({800, 25});
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}
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BENCHMARK_TEMPLATE2(BM_DenseSolver, ceres::EIGEN, ceres::DENSE_QR)
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->Apply(MatrixSizes);
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BENCHMARK_TEMPLATE2(BM_DenseSolver, ceres::EIGEN, ceres::DENSE_NORMAL_CHOLESKY)
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->Apply(MatrixSizes);
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#ifndef CERES_NO_LAPACK
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BENCHMARK_TEMPLATE2(BM_DenseSolver, ceres::LAPACK, ceres::DENSE_QR)
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->Apply(MatrixSizes);
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BENCHMARK_TEMPLATE2(BM_DenseSolver, ceres::LAPACK, ceres::DENSE_NORMAL_CHOLESKY)
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->Apply(MatrixSizes);
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#endif // CERES_NO_LAPACK
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#ifndef CERES_NO_CUDA
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BENCHMARK_TEMPLATE2(BM_DenseSolver, ceres::CUDA, ceres::DENSE_NORMAL_CHOLESKY)
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->Apply(MatrixSizes);
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BENCHMARK_TEMPLATE2(BM_DenseSolver, ceres::CUDA, ceres::DENSE_QR)
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->Apply(MatrixSizes);
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#endif // CERES_NO_CUDA
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} // namespace internal
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} // namespace ceres
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BENCHMARK_MAIN();
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