| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2023 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 materials 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. |
| |
| #include "benchmark/benchmark.h" |
| #include "ceres/context_impl.h" |
| #include "ceres/internal/eigen.h" |
| #include "ceres/parallel_for.h" |
| #include "glog/logging.h" |
| |
| namespace ceres::internal { |
| |
| // Parallel for with very small amount of work per iteration and small amount of |
| // iterations benchmarks performance of task scheduling |
| static void SchedulerBenchmark(benchmark::State& state) { |
| const int vector_size = static_cast<int>(state.range(0)); |
| const int num_threads = static_cast<int>(state.range(1)); |
| ContextImpl context; |
| context.EnsureMinimumThreads(num_threads); |
| |
| Vector x = Vector::Random(vector_size); |
| for (auto _ : state) { |
| ParallelFor( |
| &context, 0, vector_size, num_threads, [&x](int id) { x[id] = 0.; }); |
| } |
| CHECK_EQ(x.squaredNorm(), 0.); |
| } |
| BENCHMARK(SchedulerBenchmark) |
| ->Args({128, 1}) |
| ->Args({128, 2}) |
| ->Args({128, 4}) |
| ->Args({128, 8}) |
| ->Args({128, 16}) |
| ->Args({256, 1}) |
| ->Args({256, 2}) |
| ->Args({256, 4}) |
| ->Args({256, 8}) |
| ->Args({256, 16}) |
| ->Args({1024, 1}) |
| ->Args({1024, 2}) |
| ->Args({1024, 4}) |
| ->Args({1024, 8}) |
| ->Args({1024, 16}) |
| ->Args({4096, 1}) |
| ->Args({4096, 2}) |
| ->Args({4096, 4}) |
| ->Args({4096, 8}) |
| ->Args({4096, 16}); |
| |
| } // namespace ceres::internal |
| |
| BENCHMARK_MAIN(); |