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117 lines
3.9 KiB
117 lines
3.9 KiB
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2018 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Authors: sameeragarwal@google.com (Sameer Agarwal)
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#include <memory>
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#include "benchmark/benchmark.h"
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#include "ceres/ceres.h"
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#include "ceres/jet.h"
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namespace ceres {
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// From the NIST problem collection.
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struct Rat43CostFunctor {
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Rat43CostFunctor(const double x, const double y) : x_(x), y_(y) {}
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template <typename T>
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bool operator()(const T* parameters, T* residuals) const {
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const T& b1 = parameters[0];
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const T& b2 = parameters[1];
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const T& b3 = parameters[2];
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const T& b4 = parameters[3];
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residuals[0] = b1 * pow(1.0 + exp(b2 - b3 * x_), -1.0 / b4) - y_;
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return true;
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}
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private:
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const double x_;
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const double y_;
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};
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// Simple implementation of autodiff using Jets directly instead of
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// going through the machineary of AutoDiffCostFunction, which does
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// the same thing, but much more generically.
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class Rat43Automatic : public ceres::SizedCostFunction<1, 4> {
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public:
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Rat43Automatic(const Rat43CostFunctor* functor) : functor_(functor) {}
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virtual ~Rat43Automatic() {}
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virtual bool Evaluate(double const* const* parameters,
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double* residuals,
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double** jacobians) const {
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if (!jacobians) {
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return (*functor_)(parameters[0], residuals);
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}
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typedef ceres::Jet<double, 4> JetT;
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JetT jets[4];
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for (int i = 0; i < 4; ++i) {
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jets[i].a = parameters[0][i];
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jets[i].v.setZero();
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jets[i].v[i] = 1.0;
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}
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JetT result;
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(*functor_)(jets, &result);
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residuals[0] = result.a;
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for (int i = 0; i < 4; ++i) {
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jacobians[0][i] = result.v[i];
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}
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return true;
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}
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private:
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std::unique_ptr<const Rat43CostFunctor> functor_;
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};
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static void BM_Rat43AutoDiff(benchmark::State& state) {
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double parameter_block1[] = {1., 2., 3., 4.};
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double* parameters[] = {parameter_block1};
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double jacobian1[] = {0.0, 0.0, 0.0, 0.0};
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double residuals;
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double* jacobians[] = {jacobian1};
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const double x = 0.2;
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const double y = 0.3;
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std::unique_ptr<ceres::CostFunction> cost_function(
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new ceres::AutoDiffCostFunction<Rat43CostFunctor, 1, 4>(
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new Rat43CostFunctor(x, y)));
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while (state.KeepRunning()) {
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cost_function->Evaluate(
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parameters, &residuals, state.range(0) ? jacobians : nullptr);
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}
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}
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BENCHMARK(BM_Rat43AutoDiff)->Arg(0)->Arg(1);
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} // namespace ceres
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BENCHMARK_MAIN();
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