| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2022 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: joydeepb@cs.utexas.edu (Joydeep Biswas) |
| |
| #include <memory> |
| #include <random> |
| #include <string> |
| |
| #include "Eigen/Dense" |
| #include "benchmark/benchmark.h" |
| #include "ceres/block_jacobi_preconditioner.h" |
| #include "ceres/block_sparse_matrix.h" |
| #include "ceres/context_impl.h" |
| #include "ceres/cuda_sparse_matrix.h" |
| #include "ceres/cuda_vector.h" |
| #include "ceres/fake_bundle_adjustment_jacobian.h" |
| #include "ceres/internal/config.h" |
| #include "ceres/internal/eigen.h" |
| #include "ceres/linear_solver.h" |
| |
| #ifndef CERES_NO_CUDA |
| #include "cuda_runtime.h" |
| #endif |
| |
| namespace ceres::internal { |
| |
| constexpr int kNumCameras = 1000; |
| constexpr int kNumPoints = 10000; |
| constexpr int kCameraSize = 6; |
| constexpr int kPointSize = 3; |
| constexpr double kVisibility = 0.1; |
| |
| constexpr int kNumRowBlocks = 100000; |
| constexpr int kNumColBlocks = 10000; |
| constexpr int kMinRowBlockSize = 1; |
| constexpr int kMaxRowBlockSize = 5; |
| constexpr int kMinColBlockSize = 1; |
| constexpr int kMaxColBlockSize = 15; |
| constexpr double kBlockDensity = 5.0 / kNumColBlocks; |
| |
| static void BM_BlockSparseRightMultiplyAndAccumulateBA( |
| benchmark::State& state) { |
| const int num_threads = state.range(0); |
| std::mt19937 prng; |
| auto jacobian = CreateFakeBundleAdjustmentJacobian( |
| kNumCameras, kNumPoints, kCameraSize, kPointSize, kVisibility, prng); |
| |
| ContextImpl context; |
| context.EnsureMinimumThreads(num_threads); |
| |
| Vector x(jacobian->num_cols()); |
| Vector y(jacobian->num_rows()); |
| x.setRandom(); |
| y.setRandom(); |
| double sum = 0; |
| for (auto _ : state) { |
| jacobian->RightMultiplyAndAccumulate( |
| x.data(), y.data(), &context, num_threads); |
| sum += y.norm(); |
| } |
| CHECK_NE(sum, 0.0); |
| } |
| |
| BENCHMARK(BM_BlockSparseRightMultiplyAndAccumulateBA) |
| ->Arg(1) |
| ->Arg(2) |
| ->Arg(4) |
| ->Arg(8) |
| ->Arg(16); |
| |
| static void BM_BlockSparseRightMultiplyAndAccumulateUnstructured( |
| benchmark::State& state) { |
| const int num_threads = state.range(0); |
| BlockSparseMatrix::RandomMatrixOptions options; |
| options.num_row_blocks = kNumRowBlocks; |
| options.num_col_blocks = kNumColBlocks; |
| options.min_row_block_size = kMinRowBlockSize; |
| options.min_col_block_size = kMinColBlockSize; |
| options.max_row_block_size = kMaxRowBlockSize; |
| options.max_col_block_size = kMaxColBlockSize; |
| options.block_density = kBlockDensity; |
| std::mt19937 prng; |
| |
| auto jacobian = BlockSparseMatrix::CreateRandomMatrix(options, prng); |
| |
| ContextImpl context; |
| context.EnsureMinimumThreads(num_threads); |
| |
| Vector x(jacobian->num_cols()); |
| Vector y(jacobian->num_rows()); |
| x.setRandom(); |
| y.setRandom(); |
| double sum = 0; |
| for (auto _ : state) { |
| jacobian->RightMultiplyAndAccumulate( |
| x.data(), y.data(), &context, num_threads); |
| sum += y.norm(); |
| } |
| CHECK_NE(sum, 0.0); |
| } |
| |
| BENCHMARK(BM_BlockSparseRightMultiplyAndAccumulateUnstructured) |
| ->Arg(1) |
| ->Arg(2) |
| ->Arg(4) |
| ->Arg(8) |
| ->Arg(16); |
| |
| static void BM_BlockSparseLeftMultiplyAndAccumulateBA(benchmark::State& state) { |
| std::mt19937 prng; |
| auto jacobian = CreateFakeBundleAdjustmentJacobian( |
| kNumCameras, kNumPoints, kCameraSize, kPointSize, kVisibility, prng); |
| Vector x(jacobian->num_rows()); |
| Vector y(jacobian->num_cols()); |
| x.setRandom(); |
| y.setRandom(); |
| double sum = 0; |
| for (auto _ : state) { |
| jacobian->LeftMultiplyAndAccumulate(x.data(), y.data()); |
| sum += y.norm(); |
| } |
| CHECK_NE(sum, 0.0); |
| } |
| |
| BENCHMARK(BM_BlockSparseLeftMultiplyAndAccumulateBA); |
| |
| static void BM_BlockSparseLeftMultiplyAndAccumulateUnstructured( |
| benchmark::State& state) { |
| BlockSparseMatrix::RandomMatrixOptions options; |
| options.num_row_blocks = 100000; |
| options.num_col_blocks = 10000; |
| options.min_row_block_size = 1; |
| options.min_col_block_size = 1; |
| options.max_row_block_size = 10; |
| options.max_col_block_size = 15; |
| options.block_density = 5.0 / options.num_col_blocks; |
| std::mt19937 prng; |
| |
| auto jacobian = BlockSparseMatrix::CreateRandomMatrix(options, prng); |
| Vector x(jacobian->num_rows()); |
| Vector y(jacobian->num_cols()); |
| x.setRandom(); |
| y.setRandom(); |
| double sum = 0; |
| for (auto _ : state) { |
| jacobian->LeftMultiplyAndAccumulate(x.data(), y.data()); |
| sum += y.norm(); |
| } |
| CHECK_NE(sum, 0.0); |
| } |
| |
| BENCHMARK(BM_BlockSparseLeftMultiplyAndAccumulateUnstructured); |
| |
| static void BM_CRSRightMultiplyAndAccumulateBA(benchmark::State& state) { |
| const int num_threads = state.range(0); |
| std::mt19937 prng; |
| auto bsm_jacobian = CreateFakeBundleAdjustmentJacobian( |
| kNumCameras, kNumPoints, kCameraSize, kPointSize, kVisibility, prng); |
| |
| CompressedRowSparseMatrix jacobian(bsm_jacobian->num_rows(), |
| bsm_jacobian->num_cols(), |
| bsm_jacobian->num_nonzeros()); |
| bsm_jacobian->ToCompressedRowSparseMatrix(&jacobian); |
| |
| ContextImpl context; |
| context.EnsureMinimumThreads(num_threads); |
| |
| Vector x(jacobian.num_cols()); |
| Vector y(jacobian.num_rows()); |
| x.setRandom(); |
| y.setRandom(); |
| double sum = 0; |
| for (auto _ : state) { |
| jacobian.RightMultiplyAndAccumulate( |
| x.data(), y.data(), &context, num_threads); |
| sum += y.norm(); |
| } |
| CHECK_NE(sum, 0.0); |
| } |
| |
| BENCHMARK(BM_CRSRightMultiplyAndAccumulateBA) |
| ->Arg(1) |
| ->Arg(2) |
| ->Arg(4) |
| ->Arg(8) |
| ->Arg(16); |
| |
| static void BM_CRSRightMultiplyAndAccumulateUnstructured( |
| benchmark::State& state) { |
| const int num_threads = state.range(0); |
| BlockSparseMatrix::RandomMatrixOptions options; |
| options.num_row_blocks = kNumRowBlocks; |
| options.num_col_blocks = kNumColBlocks; |
| options.min_row_block_size = kMinRowBlockSize; |
| options.min_col_block_size = kMinColBlockSize; |
| options.max_row_block_size = kMaxRowBlockSize; |
| options.max_col_block_size = kMaxColBlockSize; |
| options.block_density = kBlockDensity; |
| std::mt19937 prng; |
| |
| auto bsm_jacobian = BlockSparseMatrix::CreateRandomMatrix(options, prng); |
| CompressedRowSparseMatrix jacobian(bsm_jacobian->num_rows(), |
| bsm_jacobian->num_cols(), |
| bsm_jacobian->num_nonzeros()); |
| bsm_jacobian->ToCompressedRowSparseMatrix(&jacobian); |
| |
| ContextImpl context; |
| context.EnsureMinimumThreads(num_threads); |
| |
| Vector x(jacobian.num_cols()); |
| Vector y(jacobian.num_rows()); |
| x.setRandom(); |
| y.setRandom(); |
| double sum = 0; |
| for (auto _ : state) { |
| jacobian.RightMultiplyAndAccumulate( |
| x.data(), y.data(), &context, num_threads); |
| sum += y.norm(); |
| } |
| CHECK_NE(sum, 0.0); |
| } |
| |
| BENCHMARK(BM_CRSRightMultiplyAndAccumulateUnstructured) |
| ->Arg(1) |
| ->Arg(2) |
| ->Arg(4) |
| ->Arg(8) |
| ->Arg(16); |
| |
| static void BM_CRSLeftMultiplyAndAccumulateBA(benchmark::State& state) { |
| std::mt19937 prng; |
| // Perform setup here |
| auto bsm_jacobian = CreateFakeBundleAdjustmentJacobian( |
| kNumCameras, kNumPoints, kCameraSize, kPointSize, kVisibility, prng); |
| CompressedRowSparseMatrix jacobian(bsm_jacobian->num_rows(), |
| bsm_jacobian->num_cols(), |
| bsm_jacobian->num_nonzeros()); |
| bsm_jacobian->ToCompressedRowSparseMatrix(&jacobian); |
| |
| Vector x(jacobian.num_rows()); |
| Vector y(jacobian.num_cols()); |
| x.setRandom(); |
| y.setRandom(); |
| double sum = 0; |
| for (auto _ : state) { |
| // This code gets timed |
| jacobian.LeftMultiplyAndAccumulate(x.data(), y.data()); |
| sum += y.norm(); |
| } |
| CHECK_NE(sum, 0.0); |
| } |
| |
| BENCHMARK(BM_CRSLeftMultiplyAndAccumulateBA); |
| |
| static void BM_CRSLeftMultiplyAndAccumulateUnstructured( |
| benchmark::State& state) { |
| BlockSparseMatrix::RandomMatrixOptions options; |
| options.num_row_blocks = kNumRowBlocks; |
| options.num_col_blocks = kNumColBlocks; |
| options.min_row_block_size = kMinRowBlockSize; |
| options.min_col_block_size = kMinColBlockSize; |
| options.max_row_block_size = kMaxRowBlockSize; |
| options.max_col_block_size = kMaxColBlockSize; |
| options.block_density = kBlockDensity; |
| std::mt19937 prng; |
| |
| auto bsm_jacobian = BlockSparseMatrix::CreateRandomMatrix(options, prng); |
| CompressedRowSparseMatrix jacobian(bsm_jacobian->num_rows(), |
| bsm_jacobian->num_cols(), |
| bsm_jacobian->num_nonzeros()); |
| bsm_jacobian->ToCompressedRowSparseMatrix(&jacobian); |
| |
| Vector x(jacobian.num_rows()); |
| Vector y(jacobian.num_cols()); |
| x.setRandom(); |
| y.setRandom(); |
| double sum = 0; |
| for (auto _ : state) { |
| // This code gets timed |
| jacobian.LeftMultiplyAndAccumulate(x.data(), y.data()); |
| sum += y.norm(); |
| } |
| CHECK_NE(sum, 0.0); |
| } |
| |
| BENCHMARK(BM_CRSLeftMultiplyAndAccumulateUnstructured); |
| |
| #ifndef CERES_NO_CUDA |
| static void BM_CudaRightMultiplyAndAccumulateBA(benchmark::State& state) { |
| std::mt19937 prng; |
| auto jacobian = CreateFakeBundleAdjustmentJacobian( |
| kNumCameras, kNumPoints, kCameraSize, kPointSize, kVisibility, prng); |
| ContextImpl context; |
| std::string message; |
| context.InitCuda(&message); |
| CompressedRowSparseMatrix jacobian_crs( |
| jacobian->num_rows(), jacobian->num_cols(), jacobian->num_nonzeros()); |
| jacobian->ToCompressedRowSparseMatrix(&jacobian_crs); |
| CudaSparseMatrix cuda_jacobian(&context, jacobian_crs); |
| CudaVector cuda_x(&context, 0); |
| CudaVector cuda_y(&context, 0); |
| |
| Vector x(jacobian->num_cols()); |
| Vector y(jacobian->num_rows()); |
| x.setRandom(); |
| y.setRandom(); |
| |
| cuda_x.CopyFromCpu(x); |
| cuda_y.CopyFromCpu(y); |
| double sum = 0; |
| for (auto _ : state) { |
| cuda_jacobian.RightMultiplyAndAccumulate(cuda_x, &cuda_y); |
| sum += cuda_y.Norm(); |
| CHECK_EQ(cudaDeviceSynchronize(), cudaSuccess); |
| } |
| CHECK_NE(sum, 0.0); |
| } |
| |
| BENCHMARK(BM_CudaRightMultiplyAndAccumulateBA); |
| |
| static void BM_CudaRightMultiplyAndAccumulateUnstructured( |
| benchmark::State& state) { |
| BlockSparseMatrix::RandomMatrixOptions options; |
| options.num_row_blocks = kNumRowBlocks; |
| options.num_col_blocks = kNumColBlocks; |
| options.min_row_block_size = kMinRowBlockSize; |
| options.min_col_block_size = kMinColBlockSize; |
| options.max_row_block_size = kMaxRowBlockSize; |
| options.max_col_block_size = kMaxColBlockSize; |
| options.block_density = kBlockDensity; |
| std::mt19937 prng; |
| |
| auto jacobian = BlockSparseMatrix::CreateRandomMatrix(options, prng); |
| ContextImpl context; |
| std::string message; |
| context.InitCuda(&message); |
| CompressedRowSparseMatrix jacobian_crs( |
| jacobian->num_rows(), jacobian->num_cols(), jacobian->num_nonzeros()); |
| jacobian->ToCompressedRowSparseMatrix(&jacobian_crs); |
| CudaSparseMatrix cuda_jacobian(&context, jacobian_crs); |
| CudaVector cuda_x(&context, 0); |
| CudaVector cuda_y(&context, 0); |
| |
| Vector x(jacobian->num_cols()); |
| Vector y(jacobian->num_rows()); |
| x.setRandom(); |
| y.setRandom(); |
| |
| cuda_x.CopyFromCpu(x); |
| cuda_y.CopyFromCpu(y); |
| double sum = 0; |
| for (auto _ : state) { |
| cuda_jacobian.RightMultiplyAndAccumulate(cuda_x, &cuda_y); |
| sum += cuda_y.Norm(); |
| CHECK_EQ(cudaDeviceSynchronize(), cudaSuccess); |
| } |
| CHECK_NE(sum, 0.0); |
| } |
| |
| BENCHMARK(BM_CudaRightMultiplyAndAccumulateUnstructured); |
| |
| static void BM_CudaLeftMultiplyAndAccumulateBA(benchmark::State& state) { |
| std::mt19937 prng; |
| auto jacobian = CreateFakeBundleAdjustmentJacobian( |
| kNumCameras, kNumPoints, kCameraSize, kPointSize, kVisibility, prng); |
| ContextImpl context; |
| std::string message; |
| context.InitCuda(&message); |
| CompressedRowSparseMatrix jacobian_crs( |
| jacobian->num_rows(), jacobian->num_cols(), jacobian->num_nonzeros()); |
| jacobian->ToCompressedRowSparseMatrix(&jacobian_crs); |
| CudaSparseMatrix cuda_jacobian(&context, jacobian_crs); |
| CudaVector cuda_x(&context, 0); |
| CudaVector cuda_y(&context, 0); |
| |
| Vector x(jacobian->num_rows()); |
| Vector y(jacobian->num_cols()); |
| x.setRandom(); |
| y.setRandom(); |
| |
| cuda_x.CopyFromCpu(x); |
| cuda_y.CopyFromCpu(y); |
| double sum = 0; |
| for (auto _ : state) { |
| cuda_jacobian.LeftMultiplyAndAccumulate(cuda_x, &cuda_y); |
| sum += cuda_y.Norm(); |
| CHECK_EQ(cudaDeviceSynchronize(), cudaSuccess); |
| } |
| CHECK_NE(sum, 0.0); |
| } |
| |
| BENCHMARK(BM_CudaLeftMultiplyAndAccumulateBA); |
| |
| static void BM_CudaLeftMultiplyAndAccumulateUnstructured( |
| benchmark::State& state) { |
| BlockSparseMatrix::RandomMatrixOptions options; |
| options.num_row_blocks = kNumRowBlocks; |
| options.num_col_blocks = kNumColBlocks; |
| options.min_row_block_size = kMinRowBlockSize; |
| options.min_col_block_size = kMinColBlockSize; |
| options.max_row_block_size = kMaxRowBlockSize; |
| options.max_col_block_size = kMaxColBlockSize; |
| options.block_density = kBlockDensity; |
| std::mt19937 prng; |
| |
| auto jacobian = BlockSparseMatrix::CreateRandomMatrix(options, prng); |
| ContextImpl context; |
| std::string message; |
| context.InitCuda(&message); |
| CompressedRowSparseMatrix jacobian_crs( |
| jacobian->num_rows(), jacobian->num_cols(), jacobian->num_nonzeros()); |
| jacobian->ToCompressedRowSparseMatrix(&jacobian_crs); |
| CudaSparseMatrix cuda_jacobian(&context, jacobian_crs); |
| CudaVector cuda_x(&context, 0); |
| CudaVector cuda_y(&context, 0); |
| |
| Vector x(jacobian->num_rows()); |
| Vector y(jacobian->num_cols()); |
| x.setRandom(); |
| y.setRandom(); |
| |
| cuda_x.CopyFromCpu(x); |
| cuda_y.CopyFromCpu(y); |
| double sum = 0; |
| for (auto _ : state) { |
| cuda_jacobian.LeftMultiplyAndAccumulate(cuda_x, &cuda_y); |
| sum += cuda_y.Norm(); |
| CHECK_EQ(cudaDeviceSynchronize(), cudaSuccess); |
| } |
| CHECK_NE(sum, 0.0); |
| } |
| |
| BENCHMARK(BM_CudaLeftMultiplyAndAccumulateUnstructured); |
| |
| #endif |
| |
| } // namespace ceres::internal |
| |
| BENCHMARK_MAIN(); |