Add Autodiff Brdf Benchmark
The disney brdf is a good benchmark cost functor, because it has
- 28 parameters in 7 blocks
- 3 residuals
- Lots of low-level arithmetic
Change-Id: I62c8a717d0aecb64639158f971bdccf6afdfae36
diff --git a/internal/ceres/autodiff_benchmarks/CMakeLists.txt b/internal/ceres/autodiff_benchmarks/CMakeLists.txt
index e42e584..29a238c 100644
--- a/internal/ceres/autodiff_benchmarks/CMakeLists.txt
+++ b/internal/ceres/autodiff_benchmarks/CMakeLists.txt
@@ -13,6 +13,7 @@
generate_benchmark_functor(SnavelyReprojectionError snavely_reprojection_error.h)
generate_benchmark_functor(Linear1CostFunction linear_cost_functions.h)
generate_benchmark_functor(Linear10CostFunction linear_cost_functions.h)
+ generate_benchmark_functor(Brdf brdf_cost_function.h)
list(APPEND CERES_BENCHMARK_FLAGS "-DWITH_CODE_GENERATION")
endif()
@@ -46,10 +47,20 @@
add_dependencies_to_benchmark(linear_benchmark_fast_math)
target_compile_options(linear_benchmark_fast_math PRIVATE ${CERES_BENCHMARK_FAST_MATH_FLAGS})
+add_executable(brdf_benchmark brdf_benchmark.cc)
+add_dependencies_to_benchmark(brdf_benchmark)
+target_compile_options(brdf_benchmark PRIVATE ${CERES_BENCHMARK_FLAGS})
+
+add_executable(brdf_benchmark_fast_math brdf_benchmark.cc)
+add_dependencies_to_benchmark(brdf_benchmark_fast_math)
+target_compile_options(brdf_benchmark_fast_math PRIVATE ${CERES_BENCHMARK_FAST_MATH_FLAGS})
+
if(CODE_GENERATION)
target_link_libraries(snavely_reprojection_error_benchmark PUBLIC SnavelyReprojectionError)
target_link_libraries(snavely_reprojection_error_benchmark_fast_math PUBLIC SnavelyReprojectionError)
target_link_libraries(linear_benchmark PUBLIC Linear1CostFunction Linear10CostFunction)
target_link_libraries(linear_benchmark_fast_math PUBLIC Linear1CostFunction Linear10CostFunction)
+ target_link_libraries(brdf_benchmark PUBLIC Brdf)
+ target_link_libraries(brdf_benchmark_fast_math PUBLIC Brdf)
endif()
diff --git a/internal/ceres/autodiff_benchmarks/brdf_benchmark.cc b/internal/ceres/autodiff_benchmarks/brdf_benchmark.cc
new file mode 100644
index 0000000..b66ecf3
--- /dev/null
+++ b/internal/ceres/autodiff_benchmarks/brdf_benchmark.cc
@@ -0,0 +1,116 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2020 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.
+//
+// Author: darius.rueckert@fau.de (Darius Rueckert)
+
+#include <memory>
+
+#include "benchmark/benchmark.h"
+#include "brdf_cost_function.h"
+#include "ceres/ceres.h"
+#include "codegen/test_utils.h"
+
+namespace ceres {
+
+#ifdef WITH_CODE_GENERATION
+static void BM_BrdfCodeGen(benchmark::State& state) {
+ using FunctorType = ceres::internal::CostFunctionToFunctor<Brdf>;
+
+ double material[] = {1., 2., 3., 4., 5., 6., 7., 8., 9., 10.};
+ auto c = Eigen::Vector3d(0.1, 0.2, 0.3);
+ auto n = Eigen::Vector3d(-0.1, 0.5, 0.2).normalized();
+ auto v = Eigen::Vector3d(0.5, -0.2, 0.9).normalized();
+ auto l = Eigen::Vector3d(-0.3, 0.4, -0.3).normalized();
+ auto x = Eigen::Vector3d(0.5, 0.7, -0.1).normalized();
+ auto y = Eigen::Vector3d(0.2, -0.2, -0.2).normalized();
+
+ double* parameters[7] = {
+ material, c.data(), n.data(), v.data(), l.data(), x.data(), y.data()};
+
+ double jacobian[(10 + 6 * 3) * 3];
+ double residuals[3];
+ double* jacobians[7] = {
+ jacobian + 0,
+ jacobian + 10 * 3,
+ jacobian + 13 * 3,
+ jacobian + 16 * 3,
+ jacobian + 19 * 3,
+ jacobian + 22 * 3,
+ jacobian + 25 * 3,
+ };
+
+ std::unique_ptr<ceres::CostFunction> cost_function(new Brdf());
+
+ while (state.KeepRunning()) {
+ cost_function->Evaluate(parameters, residuals, jacobians);
+ }
+}
+
+BENCHMARK(BM_BrdfCodeGen);
+#endif
+
+static void BM_BrdfAutoDiff(benchmark::State& state) {
+ using FunctorType = ceres::internal::CostFunctionToFunctor<Brdf>;
+
+ double material[] = {1., 2., 3., 4., 5., 6., 7., 8., 9., 10.};
+ auto c = Eigen::Vector3d(0.1, 0.2, 0.3);
+ auto n = Eigen::Vector3d(-0.1, 0.5, 0.2).normalized();
+ auto v = Eigen::Vector3d(0.5, -0.2, 0.9).normalized();
+ auto l = Eigen::Vector3d(-0.3, 0.4, -0.3).normalized();
+ auto x = Eigen::Vector3d(0.5, 0.7, -0.1).normalized();
+ auto y = Eigen::Vector3d(0.2, -0.2, -0.2).normalized();
+
+ double* parameters[7] = {
+ material, c.data(), n.data(), v.data(), l.data(), x.data(), y.data()};
+
+ double jacobian[(10 + 6 * 3) * 3];
+ double residuals[3];
+ double* jacobians[7] = {
+ jacobian + 0,
+ jacobian + 10 * 3,
+ jacobian + 13 * 3,
+ jacobian + 16 * 3,
+ jacobian + 19 * 3,
+ jacobian + 22 * 3,
+ jacobian + 25 * 3,
+ };
+
+ std::unique_ptr<ceres::CostFunction> cost_function(
+ new ceres::AutoDiffCostFunction<FunctorType, 3, 10, 3, 3, 3, 3, 3, 3>(
+ new FunctorType));
+
+ while (state.KeepRunning()) {
+ cost_function->Evaluate(parameters, residuals, jacobians);
+ }
+}
+
+BENCHMARK(BM_BrdfAutoDiff);
+
+} // namespace ceres
+
+BENCHMARK_MAIN();
diff --git a/internal/ceres/autodiff_benchmarks/brdf_cost_function.h b/internal/ceres/autodiff_benchmarks/brdf_cost_function.h
new file mode 100644
index 0000000..287c409
--- /dev/null
+++ b/internal/ceres/autodiff_benchmarks/brdf_cost_function.h
@@ -0,0 +1,235 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2020 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.
+//
+// Author: darius.rueckert@fau.de (Darius Rueckert)
+//
+//
+#ifndef CERES_INTERNAL_AUTODIFF_BENCHMARK_BRDF_COST_FUNCTION_H_
+#define CERES_INTERNAL_AUTODIFF_BENCHMARK_BRDF_COST_FUNCTION_H_
+
+#include <Eigen/Core>
+#include <cmath>
+
+#include "ceres/codegen/codegen_cost_function.h"
+namespace ceres {
+
+// The brdf is based on:
+// Burley, Brent, and Walt Disney Animation Studios. "Physically-based shading
+// at disney." ACM SIGGRAPH. Vol. 2012. 2012.
+//
+// The implementation is based on:
+// https://github.com/wdas/brdf/blob/master/src/brdfs/disney.brdf
+struct Brdf : public ceres::CodegenCostFunction<3, 10, 3, 3, 3, 3, 3, 3> {
+ public:
+ Brdf() {}
+
+ template <typename T>
+ bool operator()(const T* const material,
+ const T* const c_ptr,
+ const T* const n_ptr,
+ const T* const v_ptr,
+ const T* const l_ptr,
+ const T* const x_ptr,
+ const T* const y_ptr,
+ T* residual) const {
+ using ceres::Ternary;
+ using Vec2 = Eigen::Matrix<T, 2, 1>;
+ using Vec3 = Eigen::Matrix<T, 3, 1>;
+
+ T metallic = material[0];
+ T subsurface = material[1];
+ T specular = material[2];
+ T roughness = material[3];
+ T specular_tint = material[4];
+ T anisotropic = material[5];
+ T sheen = material[6];
+ T sheen_tint = material[7];
+ T clearcoat = material[8];
+ T clearcoat_gloss = material[9];
+
+ Eigen::Map<const Vec3> c(c_ptr);
+ Eigen::Map<const Vec3> n(n_ptr);
+ Eigen::Map<const Vec3> v(v_ptr);
+ Eigen::Map<const Vec3> l(l_ptr);
+ Eigen::Map<const Vec3> x(x_ptr);
+ Eigen::Map<const Vec3> y(y_ptr);
+
+ const T n_dot_l = n.dot(l);
+ const T n_dot_v = n.dot(v);
+
+ const Vec3 l_p_v = l + v;
+ const Vec3 h = l_p_v / l_p_v.norm();
+
+ const T n_dot_h = n.dot(h);
+ const T l_dot_h = l.dot(h);
+
+ const T h_dot_x = h.dot(x);
+ const T h_dot_y = h.dot(y);
+
+ const T c_dlum = T(0.3) * c[0] + T(0.6) * c[1] + T(0.1) * c[2];
+
+ const Vec3 c_tint = c / c_dlum;
+
+ const Vec3 c_spec0 =
+ Lerp(specular * T(0.08) *
+ Lerp(Vec3(T(1), T(1), T(1)), c_tint, specular_tint),
+ c,
+ metallic);
+ const Vec3 c_sheen = Lerp(Vec3(T(1), T(1), T(1)), c_tint, sheen_tint);
+
+ // Diffuse fresnel - go from 1 at normal incidence to .5 at grazing
+ // and mix in diffuse retro-reflection based on roughness
+ const T fl = SchlickFresnel(n_dot_l);
+ const T fv = SchlickFresnel(n_dot_v);
+ const T fd_90 = T(0.5) + T(2) * l_dot_h * l_dot_h * roughness;
+ const T fd = Lerp(T(1), fd_90, fl) * Lerp(T(1), fd_90, fv);
+
+ // Based on Hanrahan-Krueger brdf approximation of isotropic bssrdf
+ // 1.25 scale is used to (roughly) preserve albedo
+ // Fss90 used to "flatten" retroreflection based on roughness
+ const T fss_90 = l_dot_h * l_dot_h * roughness;
+ const T fss = Lerp(T(1), fss_90, fl) * Lerp(T(1), fss_90, fv);
+ const T ss =
+ T(1.25) * (fss * (T(1) / (n_dot_l + n_dot_v) - T(0.5)) + T(0.5));
+
+ // specular
+ const T eps = T(0.001);
+ const T aspct = Aspect(anisotropic);
+ const T ax_temp = Square(roughness) / aspct;
+ const T ay_temp = Square(roughness) * aspct;
+ const T ax = Ternary(ax_temp < eps, eps, ax_temp);
+ const T ay = Ternary(ay_temp < eps, eps, ay_temp);
+ const T ds = GTR2Aniso(n_dot_h, h_dot_x, h_dot_y, ax, ay);
+ const T fh = SchlickFresnel(l_dot_h);
+ const Vec3 fs = Lerp(c_spec0, Vec3(T(1), T(1), T(1)), fh);
+ const T roughg = Square(roughness * T(0.5) + T(0.5));
+ const T ggxn_dot_l = SmithG_GGX(n_dot_l, roughg);
+ const T ggxn_dot_v = SmithG_GGX(n_dot_v, roughg);
+ const T gs = ggxn_dot_l * ggxn_dot_v;
+
+ // sheen
+ const Vec3 f_sheen = fh * sheen * c_sheen;
+
+ // clearcoat (ior = 1.5 -> F0 = 0.04)
+ const T a = Lerp(T(0.1), T(0.001), clearcoat_gloss);
+ const T dr = GTR1(n_dot_h, a);
+ const T fr = Lerp(T(0.04), T(1), fh);
+ const T cggxn_dot_l = SmithG_GGX(n_dot_l, T(0.25));
+ const T cggxn_dot_v = SmithG_GGX(n_dot_v, T(0.25));
+ const T gr = cggxn_dot_l * cggxn_dot_v;
+
+ const Vec3 result_no_cosine =
+ (T(1.0 / M_PI) * Lerp(fd, ss, subsurface) * c + f_sheen) *
+ (T(1) - metallic) +
+ gs * fs * ds +
+ Vec3(T(0.25), T(0.25), T(0.25)) * clearcoat * gr * fr * dr;
+ const Vec3 result = n_dot_l * result_no_cosine;
+ residual[0] = result(0);
+ residual[1] = result(1);
+ residual[2] = result(2);
+
+ return true;
+ }
+
+ template <typename T>
+ T SchlickFresnel(const T& u) const {
+ T m = T(1) - u;
+ const T m2 = m * m;
+ return m2 * m2 * m; // (1-u)^5
+ }
+
+ template <typename T>
+ T Aspect(const T& anisotropic) const {
+ return T(sqrt(T(1) - anisotropic * T(0.9)));
+ }
+
+ template <typename T>
+ T SmithG_GGX(const T& n_dot_v, const T& alpha_g) const {
+ const T a = alpha_g * alpha_g;
+ const T b = n_dot_v * n_dot_v;
+ return T(1) / (n_dot_v + T(sqrt(a + b - a * b)));
+ }
+
+ // Generalized-Trowbridge-Reitz (GTR) Microfacet Distribution
+ // See paper, Appendix B
+ template <typename T>
+ T GTR1(const T& n_dot_h, const T& a) const {
+ T result = T(0);
+
+ CERES_IF(a >= T(1)) { result = T(1 / M_PI); }
+ CERES_ELSE {
+ const T a2 = a * a;
+ const T t = T(1) + (a2 - T(1)) * n_dot_h * n_dot_h;
+ result = (a2 - T(1)) / (T(M_PI) * T(log(a2) * t));
+ }
+ CERES_ENDIF;
+ return result;
+ }
+
+ template <typename T>
+ T GTR2Aniso(const T& n_dot_h,
+ const T& h_dot_x,
+ const T& h_dot_y,
+ const T& ax,
+ const T& ay) const {
+ return T(1) / (T(M_PI) * ax * ay *
+ Square(Square(h_dot_x / ax) + Square(h_dot_y / ay) +
+ n_dot_h * n_dot_h));
+ }
+
+ template <typename T>
+ inline T Lerp(const T& a, const T& b, const T& u) const {
+ return a + u * (b - a);
+ }
+
+ template <typename Derived1, typename Derived2>
+ typename Derived1::PlainObject Lerp(const Eigen::MatrixBase<Derived1>& a,
+ const Eigen::MatrixBase<Derived2>& b,
+ typename Derived1::Scalar alpha) const {
+ return (typename Derived1::Scalar(1) - alpha) * a + alpha * b;
+ }
+
+ template <typename T>
+ inline T Square(const T& x) const {
+ return x * x;
+ }
+
+#ifdef WITH_CODE_GENERATION
+#include "benchmarks/brdf.h"
+#else
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ return false;
+ }
+#endif
+};
+
+} // namespace ceres
+
+#endif // CERES_INTERNAL_AUTODIFF_BENCHMARK_BRDF_COST_FUNCTION_H_
