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_
