internal/ceres/autodiff_benchmarks/linear_benchmark.cc

// Ceres Solver - A fast non-linear least squares minimizer
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// http://ceres-solver.org/
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// Author: darius.rueckert@fau.de (Darius Rueckert)

#include <memory>

#include "benchmark/benchmark.h"
#include "ceres/ceres.h"
#include "codegen/test_utils.h"
#include "linear_cost_functions.h"

namespace ceres {

#ifdef WITH_CODE_GENERATION
static void BM_Linear1CodeGen(benchmark::State& state) {
  double parameter_block1[] = {1.};
  double* parameters[] = {parameter_block1};

  double jacobian1[1];
  double residuals[1];
  double* jacobians[] = {jacobian1};

  std::unique_ptr<ceres::CostFunction> cost_function(new Linear1CostFunction());

  while (state.KeepRunning()) {
    cost_function->Evaluate(parameters, residuals, jacobians);
  }
}
BENCHMARK(BM_Linear1CodeGen);
#endif

static void BM_Linear1AutoDiff(benchmark::State& state) {
  using FunctorType =
      ceres::internal::CostFunctionToFunctor<Linear1CostFunction>;

  double parameter_block1[] = {1.};
  double* parameters[] = {parameter_block1};

  double jacobian1[1];
  double residuals[1];
  double* jacobians[] = {jacobian1};

  std::unique_ptr<ceres::CostFunction> cost_function(
      new ceres::AutoDiffCostFunction<FunctorType, 1, 1>(new FunctorType()));

  while (state.KeepRunning()) {
    cost_function->Evaluate(parameters, residuals, jacobians);
  }
}
BENCHMARK(BM_Linear1AutoDiff);

#ifdef WITH_CODE_GENERATION
static void BM_Linear10CodeGen(benchmark::State& state) {
  double parameter_block1[] = {1., 2., 3., 4., 5., 6., 7., 8., 9., 10.};
  double* parameters[] = {parameter_block1};

  double jacobian1[10 * 10];
  double residuals[10];
  double* jacobians[] = {jacobian1};

  std::unique_ptr<ceres::CostFunction> cost_function(
      new Linear10CostFunction());

  while (state.KeepRunning()) {
    cost_function->Evaluate(parameters, residuals, jacobians);
  }
}
BENCHMARK(BM_Linear10CodeGen);
#endif

static void BM_Linear10AutoDiff(benchmark::State& state) {
  using FunctorType =
      ceres::internal::CostFunctionToFunctor<Linear10CostFunction>;

  double parameter_block1[] = {1., 2., 3., 4., 5., 6., 7., 8., 9., 10.};
  double* parameters[] = {parameter_block1};

  double jacobian1[10 * 10];
  double residuals[10];
  double* jacobians[] = {jacobian1};

  std::unique_ptr<ceres::CostFunction> cost_function(
      new ceres::AutoDiffCostFunction<FunctorType, 10, 10>(new FunctorType()));

  while (state.KeepRunning()) {
    cost_function->Evaluate(parameters, residuals, jacobians);
  }
}
BENCHMARK(BM_Linear10AutoDiff);

}  // namespace ceres

BENCHMARK_MAIN();