| // 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(); |