mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-31 01:20:38 +08:00
Darius Rueckert
cf4185c4e3
Add a benchmark that compares codegen-autodiff versus old autodiff on the snavely reprojection error cost function. This creates two new cmake targets: codegen_ba_benchmark codegen_ba_benchark_fast_math The second one is only enabled on Clang and includes all known optimizations. Change-Id: Ibc30dc8b67b4c0fece41142914f9118f16ff1e20
95 lines
3.5 KiB
C++
95 lines
3.5 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2018 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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//#define EIGEN_DONT_VECTORIZE
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#include <memory>
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#include "benchmark/benchmark.h"
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#include "ceres/ceres.h"
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#include "snavely_reprojection_error.h"
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#include "test_utils.h"
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namespace ceres {
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static void BM_BAAutoDiff(benchmark::State& state) {
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using FunctorType =
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ceres::internal::CostFunctionToFunctor<test::SnavelyReprojectionErrorGen>;
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double parameter_block1[] = {1., 2., 3., 4., 5., 6., 7., 8., 9.};
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double parameter_block2[] = {1., 2., 3.};
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double* parameters[] = {parameter_block1, parameter_block2};
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double jacobian1[2 * 9];
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double jacobian2[2 * 3];
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double residuals[2];
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double* jacobians[] = {jacobian1, jacobian2};
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const double x = 0.2;
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const double y = 0.3;
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std::unique_ptr<ceres::CostFunction> cost_function(
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new ceres::AutoDiffCostFunction<FunctorType, 2, 9, 3>(
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new FunctorType(x, y)));
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while (state.KeepRunning()) {
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cost_function->Evaluate(
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parameters, residuals, state.range(0) ? jacobians : nullptr);
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}
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}
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static void BM_BACodeGen(benchmark::State& state) {
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double parameter_block1[] = {1., 2., 3., 4., 5., 6., 7., 8., 9.};
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double parameter_block2[] = {1., 2., 3.};
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double* parameters[] = {parameter_block1, parameter_block2};
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double jacobian1[2 * 9];
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double jacobian2[2 * 3];
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double residuals[2];
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double* jacobians[] = {jacobian1, jacobian2};
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const double x = 0.2;
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const double y = 0.3;
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std::unique_ptr<ceres::CostFunction> cost_function(
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new test::SnavelyReprojectionErrorGen(x, y));
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while (state.KeepRunning()) {
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cost_function->Evaluate(
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parameters, residuals, state.range(0) ? jacobians : nullptr);
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}
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}
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BENCHMARK(BM_BAAutoDiff)->ArgName("Residual")->Arg(0);
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BENCHMARK(BM_BAAutoDiff)->ArgName("Residual+Jacobian")->Arg(1);
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BENCHMARK(BM_BACodeGen)->ArgName("Residual")->Arg(0);
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BENCHMARK(BM_BACodeGen)->ArgName("Residual+Jacobian")->Arg(1);
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} // namespace ceres
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BENCHMARK_MAIN();
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