Add a constant cost function to the autodiff benchmarks The constant cost function is run with a variable number of parameters to test at which point, different compilers fail to optimize the autodiff code. Clang achieves expected performance which fails at >50 parameters. G++ fails already at 20 parameters Change-Id: I75d8c683ef0011d813ec6d966d7ad58f86530f44
diff --git a/internal/ceres/autodiff_benchmarks/autodiff_benchmarks.cc b/internal/ceres/autodiff_benchmarks/autodiff_benchmarks.cc index 252cb52..c274aa5 100644 --- a/internal/ceres/autodiff_benchmarks/autodiff_benchmarks.cc +++ b/internal/ceres/autodiff_benchmarks/autodiff_benchmarks.cc
@@ -32,6 +32,7 @@ #include "benchmark/benchmark.h" #include "ceres/autodiff_benchmarks/brdf_cost_function.h" +#include "ceres/autodiff_benchmarks/constant_cost_function.h" #include "ceres/autodiff_benchmarks/linear_cost_functions.h" #include "ceres/autodiff_benchmarks/snavely_reprojection_error.h" #include "ceres/ceres.h" @@ -39,6 +40,64 @@ namespace ceres { +template <int kParameterBlockSize> +static void BM_ConstantAnalytic(benchmark::State& state) { + constexpr int num_residuals = 1; + std::array<double, kParameterBlockSize> parameters_values; + std::iota(parameters_values.begin(), parameters_values.end(), 0); + double* parameters[] = {parameters_values.data()}; + + std::array<double, num_residuals> residuals; + + std::array<double, num_residuals * kParameterBlockSize> jacobian_values; + double* jacobians[] = {jacobian_values.data()}; + + std::unique_ptr<ceres::CostFunction> cost_function( + new ConstantCostFunction<kParameterBlockSize>()); + + for (auto _ : state) { + cost_function->Evaluate(parameters, residuals.data(), jacobians); + } +} + +template <int kParameterBlockSize> +static void BM_ConstantAutodiff(benchmark::State& state) { + constexpr int num_residuals = 1; + std::array<double, kParameterBlockSize> parameters_values; + std::iota(parameters_values.begin(), parameters_values.end(), 0); + double* parameters[] = {parameters_values.data()}; + + std::array<double, num_residuals> residuals; + + std::array<double, num_residuals * kParameterBlockSize> jacobian_values; + double* jacobians[] = {jacobian_values.data()}; + + using AutoDiffFunctor = ceres::internal::CostFunctionToFunctor< + ConstantCostFunction<kParameterBlockSize>>; + std::unique_ptr<ceres::CostFunction> cost_function( + new ceres::AutoDiffCostFunction<AutoDiffFunctor, 1, kParameterBlockSize>( + new AutoDiffFunctor())); + + for (auto _ : state) { + cost_function->Evaluate(parameters, residuals.data(), jacobians); + } +} + +BENCHMARK_TEMPLATE(BM_ConstantAnalytic, 1); +BENCHMARK_TEMPLATE(BM_ConstantAutodiff, 1); +BENCHMARK_TEMPLATE(BM_ConstantAnalytic, 10); +BENCHMARK_TEMPLATE(BM_ConstantAutodiff, 10); +BENCHMARK_TEMPLATE(BM_ConstantAnalytic, 20); +BENCHMARK_TEMPLATE(BM_ConstantAutodiff, 20); +BENCHMARK_TEMPLATE(BM_ConstantAnalytic, 30); +BENCHMARK_TEMPLATE(BM_ConstantAutodiff, 30); +BENCHMARK_TEMPLATE(BM_ConstantAnalytic, 40); +BENCHMARK_TEMPLATE(BM_ConstantAutodiff, 40); +BENCHMARK_TEMPLATE(BM_ConstantAnalytic, 50); +BENCHMARK_TEMPLATE(BM_ConstantAutodiff, 50); +BENCHMARK_TEMPLATE(BM_ConstantAnalytic, 60); +BENCHMARK_TEMPLATE(BM_ConstantAutodiff, 60); + #ifdef WITH_CODE_GENERATION static void BM_Linear1CodeGen(benchmark::State& state) { double parameter_block1[] = {1.};
diff --git a/internal/ceres/autodiff_benchmarks/constant_cost_function.h b/internal/ceres/autodiff_benchmarks/constant_cost_function.h new file mode 100644 index 0000000..00f39d6 --- /dev/null +++ b/internal/ceres/autodiff_benchmarks/constant_cost_function.h
@@ -0,0 +1,63 @@ +// 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_BENCHMARKS_CONSTANT_COST_FUNCTIONS_H_ +#define CERES_INTERNAL_AUTODIFF_BENCHMARKS_CONSTANT_COST_FUNCTIONS_H_ + +#include "ceres/sized_cost_function.h" + +namespace ceres { + +template <int kParameterBlockSize> +struct ConstantCostFunction + : public ceres::SizedCostFunction<1, kParameterBlockSize> { + template <typename T> + bool operator()(const T* const x, T* residuals) const { + residuals[0] = T(5); + return true; + } + + virtual bool Evaluate(double const* const* parameters, + double* residuals, + double** jacobians) const { + residuals[0] = 5.0; + if (jacobians) { + if (jacobians[0]) { + memset(jacobians[0], 0, sizeof(double) * kParameterBlockSize); + } + } + return true; + } +}; + +} // namespace ceres + +#endif // CERES_INTERNAL_AUTODIFF_BENCHMARKS_CONSTANT_COST_FUNCTIONS_H_