| // 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 "ceres/ceres.h" |
| #include "codegen/test_utils.h" |
| #include "linear_cost_functions.h" |
| |
| namespace ceres { |
| |
| #ifdef WITH_CODE_GENERATION |
| static void BM_Linear1CodeGen(benchmark::State& state) { |
| double parameter_block1[] = {1.}; |
| double* parameters[] = {parameter_block1}; |
| |
| double jacobian1[1]; |
| double residuals[1]; |
| double* jacobians[] = {jacobian1}; |
| |
| std::unique_ptr<ceres::CostFunction> cost_function(new Linear1CostFunction()); |
| |
| while (state.KeepRunning()) { |
| cost_function->Evaluate(parameters, residuals, jacobians); |
| } |
| } |
| BENCHMARK(BM_Linear1CodeGen); |
| #endif |
| |
| static void BM_Linear1AutoDiff(benchmark::State& state) { |
| using FunctorType = |
| ceres::internal::CostFunctionToFunctor<Linear1CostFunction>; |
| |
| double parameter_block1[] = {1.}; |
| double* parameters[] = {parameter_block1}; |
| |
| double jacobian1[1]; |
| double residuals[1]; |
| double* jacobians[] = {jacobian1}; |
| |
| std::unique_ptr<ceres::CostFunction> cost_function( |
| new ceres::AutoDiffCostFunction<FunctorType, 1, 1>(new FunctorType())); |
| |
| while (state.KeepRunning()) { |
| cost_function->Evaluate(parameters, residuals, jacobians); |
| } |
| } |
| BENCHMARK(BM_Linear1AutoDiff); |
| |
| #ifdef WITH_CODE_GENERATION |
| static void BM_Linear10CodeGen(benchmark::State& state) { |
| double parameter_block1[] = {1., 2., 3., 4., 5., 6., 7., 8., 9., 10.}; |
| double* parameters[] = {parameter_block1}; |
| |
| double jacobian1[10 * 10]; |
| double residuals[10]; |
| double* jacobians[] = {jacobian1}; |
| |
| std::unique_ptr<ceres::CostFunction> cost_function( |
| new Linear10CostFunction()); |
| |
| while (state.KeepRunning()) { |
| cost_function->Evaluate(parameters, residuals, jacobians); |
| } |
| } |
| BENCHMARK(BM_Linear10CodeGen); |
| #endif |
| |
| static void BM_Linear10AutoDiff(benchmark::State& state) { |
| using FunctorType = |
| ceres::internal::CostFunctionToFunctor<Linear10CostFunction>; |
| |
| double parameter_block1[] = {1., 2., 3., 4., 5., 6., 7., 8., 9., 10.}; |
| double* parameters[] = {parameter_block1}; |
| |
| double jacobian1[10 * 10]; |
| double residuals[10]; |
| double* jacobians[] = {jacobian1}; |
| |
| std::unique_ptr<ceres::CostFunction> cost_function( |
| new ceres::AutoDiffCostFunction<FunctorType, 10, 10>(new FunctorType())); |
| |
| while (state.KeepRunning()) { |
| cost_function->Evaluate(parameters, residuals, jacobians); |
| } |
| } |
| BENCHMARK(BM_Linear10AutoDiff); |
| |
| } // namespace ceres |
| |
| BENCHMARK_MAIN(); |