mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Alex Stewart
8cb441c49a
- Follow up to commit https://github.com/ceres-solver/ceres-solver/commit/54ba6c27b504f43b59b0d91da0165995c66d9a3d which enabled -Wmissing-declarations and fixed all previous infractions. Change-Id: Ia10b49b4c9bc12c0f7bec2b8c0706f38be18f1dc
91 lines
3.7 KiB
C++
91 lines
3.7 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2019 Google Inc. All rights reserved.
|
|
// http://ceres-solver.org/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materils provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Authors: sameeragarwal@google.com (Sameer Agarwal)
|
|
|
|
#include "Eigen/Dense"
|
|
#include "benchmark/benchmark.h"
|
|
#include "ceres/invert_psd_matrix.h"
|
|
|
|
namespace ceres {
|
|
namespace internal {
|
|
|
|
template <int kSize>
|
|
void BenchmarkFixedSizedInvertPSDMatrix(benchmark::State& state) {
|
|
using MatrixType = typename EigenTypes<kSize, kSize>::Matrix;
|
|
MatrixType input = MatrixType::Random();
|
|
input += input.transpose() + MatrixType::Identity();
|
|
|
|
MatrixType output;
|
|
constexpr bool kAssumeFullRank = true;
|
|
for (auto _ : state) {
|
|
benchmark::DoNotOptimize(
|
|
output = InvertPSDMatrix<kSize>(kAssumeFullRank, input));
|
|
}
|
|
}
|
|
|
|
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 1);
|
|
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 2);
|
|
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 3);
|
|
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 4);
|
|
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 5);
|
|
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 6);
|
|
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 7);
|
|
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 8);
|
|
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 9);
|
|
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 10);
|
|
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 11);
|
|
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 12);
|
|
|
|
static void BenchmarkDynamicallyInvertPSDMatrix(benchmark::State& state) {
|
|
using MatrixType =
|
|
typename EigenTypes<Eigen::Dynamic, Eigen::Dynamic>::Matrix;
|
|
const int size = state.range(0);
|
|
MatrixType input = MatrixType::Random(size, size);
|
|
input += input.transpose() + MatrixType::Identity(size, size);
|
|
|
|
MatrixType output;
|
|
constexpr bool kAssumeFullRank = true;
|
|
for (auto _ : state) {
|
|
benchmark::DoNotOptimize(
|
|
output = InvertPSDMatrix<Eigen::Dynamic>(kAssumeFullRank, input));
|
|
}
|
|
}
|
|
|
|
BENCHMARK(BenchmarkDynamicallyInvertPSDMatrix)
|
|
->Apply([](benchmark::internal::Benchmark* benchmark) {
|
|
for (int i = 1; i < 13; ++i) {
|
|
benchmark->Args({i});
|
|
}
|
|
});
|
|
|
|
} // namespace internal
|
|
} // namespace ceres
|
|
|
|
BENCHMARK_MAIN();
|