Add Codegen BA Benchmark Add a benchmark that compares codegen-autodiff versus old autodiff on the snavely reprojection error cost function. This creates two new cmake targets: codegen_ba_benchmark codegen_ba_benchark_fast_math The second one is only enabled on Clang and includes all known optimizations. Change-Id: Ibc30dc8b67b4c0fece41142914f9118f16ff1e20
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt index 9e64b89..a8813a6 100644 --- a/internal/ceres/CMakeLists.txt +++ b/internal/ceres/CMakeLists.txt
@@ -506,6 +506,7 @@ target_link_libraries(${BENCHMARK_TARGET} PUBLIC ceres benchmark::benchmark) target_include_directories(${BENCHMARK_TARGET} PUBLIC ${Ceres_SOURCE_DIR}/internal + ${Ceres_SOURCE_DIR}/internal/ceres ${CERES_LIBRARY_PRIVATE_DEPENDENCIES_INCLUDE_DIRS}) endmacro()
diff --git a/internal/ceres/codegen/CMakeLists.txt b/internal/ceres/codegen/CMakeLists.txt index 4bea21f..4dd75ed 100644 --- a/internal/ceres/codegen/CMakeLists.txt +++ b/internal/ceres/codegen/CMakeLists.txt
@@ -88,3 +88,31 @@ UnaryArithmetic BinaryComparison LogicalOperators ScalarFunctions LogicalFunctions Branches) endif() + +if (BUILD_BENCHMARKS) + generate_test_functor(SnavelyReprojectionErrorGen snavely_reprojection_error.h) + + # Benchmark with default compiler flags + add_executable(codegen_ba_benchmark codegen_ba_benchmark.cc) + add_dependencies_to_benchmark(codegen_ba_benchmark) + target_link_libraries(codegen_ba_benchmark PUBLIC SnavelyReprojectionErrorGen) + + # Benchmark with all optimizations (clang only) + if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + + # Always fine + list(APPEND CERES_BENCHMARK_FLAGS "-march=native") + list(APPEND CERES_BENCHMARK_FLAGS "-fno-math-errno" "-fno-trapping-math" "-fassociative-math" "-fno-signed-zeros" "-ffp-contract=fast") + + # This enables the 0*x=0 optimization + list(APPEND CERES_BENCHMARK_FLAGS "-fno-honor-infinities" "-fno-honor-nans") + + # Total overkill but we want to make sure everything inlineable is inlined. + list(APPEND CERES_BENCHMARK_FLAGS "-mllvm" "-inline-threshold=1000000") + + add_executable(codegen_ba_benchmark_fast_math codegen_ba_benchmark.cc) + add_dependencies_to_benchmark(codegen_ba_benchmark_fast_math) + target_link_libraries(codegen_ba_benchmark_fast_math PUBLIC SnavelyReprojectionErrorGen) + target_compile_options(codegen_ba_benchmark_fast_math PRIVATE ${CERES_BENCHMARK_FLAGS}) + endif() +endif()
diff --git a/internal/ceres/codegen/codegen_ba_benchmark.cc b/internal/ceres/codegen/codegen_ba_benchmark.cc new file mode 100644 index 0000000..8d37d75 --- /dev/null +++ b/internal/ceres/codegen/codegen_ba_benchmark.cc
@@ -0,0 +1,94 @@ +// 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) +//#define EIGEN_DONT_VECTORIZE +#include <memory> + +#include "benchmark/benchmark.h" +#include "ceres/ceres.h" +#include "snavely_reprojection_error.h" +#include "test_utils.h" + +namespace ceres { + +static void BM_BAAutoDiff(benchmark::State& state) { + using FunctorType = + ceres::internal::CostFunctionToFunctor<test::SnavelyReprojectionErrorGen>; + + double parameter_block1[] = {1., 2., 3., 4., 5., 6., 7., 8., 9.}; + double parameter_block2[] = {1., 2., 3.}; + double* parameters[] = {parameter_block1, parameter_block2}; + + double jacobian1[2 * 9]; + double jacobian2[2 * 3]; + double residuals[2]; + double* jacobians[] = {jacobian1, jacobian2}; + + const double x = 0.2; + const double y = 0.3; + std::unique_ptr<ceres::CostFunction> cost_function( + new ceres::AutoDiffCostFunction<FunctorType, 2, 9, 3>( + new FunctorType(x, y))); + + while (state.KeepRunning()) { + cost_function->Evaluate( + parameters, residuals, state.range(0) ? jacobians : nullptr); + } +} + +static void BM_BACodeGen(benchmark::State& state) { + double parameter_block1[] = {1., 2., 3., 4., 5., 6., 7., 8., 9.}; + double parameter_block2[] = {1., 2., 3.}; + double* parameters[] = {parameter_block1, parameter_block2}; + + double jacobian1[2 * 9]; + double jacobian2[2 * 3]; + double residuals[2]; + double* jacobians[] = {jacobian1, jacobian2}; + + const double x = 0.2; + const double y = 0.3; + + std::unique_ptr<ceres::CostFunction> cost_function( + new test::SnavelyReprojectionErrorGen(x, y)); + + while (state.KeepRunning()) { + cost_function->Evaluate( + parameters, residuals, state.range(0) ? jacobians : nullptr); + } +} + +BENCHMARK(BM_BAAutoDiff)->ArgName("Residual")->Arg(0); +BENCHMARK(BM_BAAutoDiff)->ArgName("Residual+Jacobian")->Arg(1); +BENCHMARK(BM_BACodeGen)->ArgName("Residual")->Arg(0); +BENCHMARK(BM_BACodeGen)->ArgName("Residual+Jacobian")->Arg(1); + +} // namespace ceres + +BENCHMARK_MAIN();
diff --git a/internal/ceres/codegen/snavely_reprojection_error.h b/internal/ceres/codegen/snavely_reprojection_error.h new file mode 100644 index 0000000..d3c9da0 --- /dev/null +++ b/internal/ceres/codegen/snavely_reprojection_error.h
@@ -0,0 +1,92 @@ +// 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_CODEGEN_SNAVELY_REPROJECTION_ERROR_H_ +#define CERES_INTERNAL_CODEGEN_SNAVELY_REPROJECTION_ERROR_H_ + +#include "ceres/codegen/codegen_cost_function.h" +#include "ceres/rotation.h" + +namespace test { + +struct SnavelyReprojectionErrorGen + : public ceres::CodegenCostFunction<2, 9, 3> { + SnavelyReprojectionErrorGen(double observed_x, double observed_y) + : observed_x(observed_x), observed_y(observed_y) {} + + SnavelyReprojectionErrorGen() = default; + template <typename T> + bool operator()(const T* const camera, + const T* const point, + T* residuals) const { + T ox = CERES_LOCAL_VARIABLE(T, observed_x); + T oy = CERES_LOCAL_VARIABLE(T, observed_y); + + // camera[0,1,2] are the angle-axis rotation. + T p[3]; + ceres::AngleAxisRotatePoint(camera, point, p); + + // camera[3,4,5] are the translation. + p[0] += camera[3]; + p[1] += camera[4]; + p[2] += camera[5]; + + // Compute the center of distortion. The sign change comes from + // the camera model that Noah Snavely's Bundler assumes, whereby + // the camera coordinate system has a negative z axis. + const T xp = -p[0] / p[2]; + const T yp = -p[1] / p[2]; + + // Apply second and fourth order radial distortion. + const T& l1 = camera[7]; + const T& l2 = camera[8]; + const T r2 = xp * xp + yp * yp; + const T distortion = T(1.0) + r2 * (l1 + l2 * r2); + + // Compute final projected point position. + const T& focal = camera[6]; + const T predicted_x = focal * distortion * xp; + const T predicted_y = focal * distortion * yp; + + // The error is the difference between the predicted and observed position. + residuals[0] = predicted_x - ox; + residuals[1] = predicted_y - oy; + + return true; + } + +#include "tests/snavelyreprojectionerrorgen.h" + double observed_x; + double observed_y; +}; + +} // namespace test +#endif // CERES_INTERNAL_CODEGEN_SNAVELY_REPROJECTION_ERROR_H_