Add an optional dependency on the Google Benchmark library.
Also add a small benchmark for automatic differentiation.
Change-Id: I01c985495a973bc2a2fdc6c33fa1eb5ab788d7ef
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f6062d6..f12d5ed 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,6 +37,8 @@
cmake_policy(SET CMP0042 NEW)
endif()
+include(CMakeDependentOption)
+
project(Ceres C CXX)
# NOTE: The 'generic' CMake variables CMAKE_[SOURCE/BINARY]_DIR should not be
@@ -131,6 +133,7 @@
option(BUILD_TESTING "Enable tests" ON)
option(BUILD_DOCUMENTATION "Build User's Guide (html)" OFF)
option(BUILD_EXAMPLES "Build examples" ON)
+cmake_dependent_option(BUILD_BENCHMARKS "Build Ceres benchmarking suite" ON "CXX11" OFF)
option(BUILD_SHARED_LIBS "Build Ceres as a shared library." OFF)
if (MSVC)
option(MSVC_USE_STATIC_CRT
@@ -518,11 +521,22 @@
endif()
endif(CXX11)
+if (BUILD_BENCHMARKS)
+ find_package(benchmark QUIET)
+ if (benchmark_FOUND)
+ message("-- Found Google benchmark library. Building Ceres benchmarks.")
+ else()
+ message("-- Failed to find Google benchmark library, disabling build of benchmarks.")
+ update_cache_variable(BUILD_BENCHMARKS OFF)
+ endif()
+endif()
+
include_directories(
include
internal
internal/ceres
${GLOG_INCLUDE_DIRS})
+
# Eigen SparseQR generates various compiler warnings related to unused and
# uninitialised local variables. To avoid having to individually suppress these
# warnings around the #include statments for Eigen headers across all GCC/Clang
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
index c68edab..b7c99ac 100644
--- a/internal/ceres/CMakeLists.txt
+++ b/internal/ceres/CMakeLists.txt
@@ -371,3 +371,8 @@
ceres_test(bundle_adjustment)
endif (BUILD_TESTING AND GFLAGS)
+
+if (BUILD_BENCHMARKS)
+ add_executable(autodiff_cost_function_benchmark autodiff_cost_function_benchmark.cc)
+ target_link_libraries(autodiff_cost_function_benchmark ceres benchmark::benchmark)
+endif (BUILD_BENCHMARKS)
diff --git a/internal/ceres/autodiff_cost_function_benchmark.cc b/internal/ceres/autodiff_cost_function_benchmark.cc
new file mode 100644
index 0000000..9436354
--- /dev/null
+++ b/internal/ceres/autodiff_cost_function_benchmark.cc
@@ -0,0 +1,116 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2018 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.
+//
+// Authors: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <memory>
+
+#include "benchmark/benchmark.h"
+#include "ceres/ceres.h"
+#include "ceres/jet.h"
+
+namespace ceres {
+
+// From the NIST problem collection.
+struct Rat43CostFunctor {
+ Rat43CostFunctor(const double x, const double y) : x_(x), y_(y) {}
+
+ template <typename T>
+ bool operator()(const T* parameters, T* residuals) const {
+ const T& b1 = parameters[0];
+ const T& b2 = parameters[1];
+ const T& b3 = parameters[2];
+ const T& b4 = parameters[3];
+ residuals[0] = b1 * pow(1.0 + exp(b2 - b3 * x_), -1.0 / b4) - y_;
+ return true;
+ }
+
+ private:
+ const double x_;
+ const double y_;
+};
+
+// Simple implementation of autodiff using Jets directly instead of
+// going through the machineary of AutoDiffCostFunction, which does
+// the same thing, but much more generically.
+class Rat43Automatic : public ceres::SizedCostFunction<1, 4> {
+ public:
+ Rat43Automatic(const Rat43CostFunctor* functor) : functor_(functor) {}
+ virtual ~Rat43Automatic() {}
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ if (!jacobians) {
+ return (*functor_)(parameters[0], residuals);
+ }
+
+ typedef ceres::Jet<double, 4> JetT;
+ JetT jets[4];
+ for (int i = 0; i < 4; ++i) {
+ jets[i].a = parameters[0][i];
+ jets[i].v.setZero();
+ jets[i].v[i] = 1.0;
+ }
+
+ JetT result;
+ (*functor_)(jets, &result);
+
+ residuals[0] = result.a;
+ for (int i = 0; i < 4; ++i) {
+ jacobians[0][i] = result.v[i];
+ }
+ return true;
+ }
+
+ private:
+ std::unique_ptr<const Rat43CostFunctor> functor_;
+};
+
+static void BM_Rat43AutoDiff(benchmark::State& state) {
+ double parameter_block1[] = {1., 2., 3., 4.};
+ double* parameters[] = {parameter_block1};
+
+ double jacobian1[] = {0.0, 0.0, 0.0, 0.0};
+ double residuals;
+ double* jacobians[] = {jacobian1};
+ const double x = 0.2;
+ const double y = 0.3;
+ std::unique_ptr<ceres::CostFunction> cost_function(
+ new ceres::AutoDiffCostFunction<Rat43CostFunctor, 1, 4>(
+ new Rat43CostFunctor(x, y)));
+
+ while (state.KeepRunning()) {
+ cost_function->Evaluate(
+ parameters, &residuals, state.range(0) ? jacobians : nullptr);
+ }
+}
+BENCHMARK(BM_Rat43AutoDiff)->Arg(0)->Arg(1);
+
+} // namespace ceres
+
+BENCHMARK_MAIN();
