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Fix compile errors for the benchmarks
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Fix #708
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@RainerKuemmerle
RainerKuemmerle committed Aug 6, 2023
1 parent 5747da0 commit 2e050e4
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Showing 3 changed files with 48 additions and 43 deletions.
8 changes: 4 additions & 4 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -526,16 +526,16 @@ if(BUILD_UNITTESTS)
add_subdirectory(unit_test)
endif()

# Include the subdirectories
add_subdirectory(g2o)

# Benchmarks
option(G2O_BUILD_BENCHMARKS "build benchmarks" OFF)
if(G2O_BUILD_BENCHMARKS)
find_package(benchmark)
if(${benchmark_FOUND})
add_subdirectory(benchmarks)
else()
message(WARNING G2O_BUILD_BENCHMARKS was set to true, but the benchmark library cannot be found)
message(WARNING "G2O_BUILD_BENCHMARKS was set to true, but the benchmark library cannot be found")
endif()
endif()

# Include the subdirectories
add_subdirectory(g2o)
5 changes: 5 additions & 0 deletions benchmarks/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,2 +1,7 @@
add_executable(benchmark_jacobian_timing jacobian_timing_tests.cpp)

target_include_directories(benchmark_jacobian_timing PUBLIC
"$<BUILD_INTERFACE:${g2o_SOURCE_DIR};${PROJECT_BINARY_DIR}>"
)

target_link_libraries(benchmark_jacobian_timing benchmark::benchmark ${G2O_EIGEN3_EIGEN_TARGET})
78 changes: 39 additions & 39 deletions benchmarks/jacobian_timing_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,10 +6,10 @@
// Test several different ways of evaluating Jacobians to see the impact of
// different ways of implementing stuff.

template <typename double, int D>
template <typename Number, int D>
void BM_FixedArray(benchmark::State& state) {
while (state.KeepRunning()) {
double add_vi[D] = {};
Number add_vi[D] = {};
for (int i = 0; i < D; ++i) {
benchmark::DoNotOptimize(add_vi[i] = 1);
benchmark::DoNotOptimize(add_vi[i] = -1);
Expand All @@ -18,11 +18,11 @@ void BM_FixedArray(benchmark::State& state) {
}
}

template <typename double, int D>
template <typename Number, int D>
void BM_FixedArrayPointer(benchmark::State& state) {
while (state.KeepRunning()) {
double add_vi[D] = {};
double* v = &add_vi[0];
Number add_vi[D] = {};
Number* v = &add_vi[0];
for (int i = 0; i < D; ++i) {
benchmark::DoNotOptimize((*v) = 1);
benchmark::DoNotOptimize((*v) = -1);
Expand All @@ -31,12 +31,12 @@ void BM_FixedArrayPointer(benchmark::State& state) {
}
}

template <typename double>
template <typename Number>
void BM_VariableArray(benchmark::State& state) {
while (state.KeepRunning()) {
const int d = state.range(0);

double add_vi[d];
Number add_vi[d];
// std::fill(add_vi, add_vi + d, double(0.0));

for (int i = 0; i < d; ++i) {
Expand All @@ -51,15 +51,15 @@ void BM_VariableArray(benchmark::State& state) {
}
}

template <typename double>
template <typename Number>
void BM_VariableArrayPointer(benchmark::State& state) {
while (state.KeepRunning()) {
const int d = state.range(0);
double add_vi[d];
Number add_vi[d];

std::fill(add_vi, add_vi + d, double(0.0));
std::fill(add_vi, add_vi + d, Number(0.0));

double* v = &add_vi[0];
Number* v = &add_vi[0];

for (int i = 0; i < d; ++i) {
benchmark::DoNotOptimize((*v) = 1);
Expand All @@ -69,10 +69,10 @@ void BM_VariableArrayPointer(benchmark::State& state) {
}
}

template <typename double, int D>
template <typename Number, int D>
void BM_StaticEigenMatrix(benchmark::State& state) {
while (state.KeepRunning()) {
Eigen::Matrix<double, D, 1> add_vi = Eigen::Matrix<double, D, 1>::Zero();
Eigen::Matrix<Number, D, 1> add_vi = Eigen::Matrix<Number, D, 1>::Zero();
for (int i = 0; i < D; ++i) {
benchmark::DoNotOptimize(add_vi[i] = 1);
benchmark::DoNotOptimize(add_vi[i] = -1);
Expand All @@ -81,11 +81,11 @@ void BM_StaticEigenMatrix(benchmark::State& state) {
}
}

template <typename double, int D>
template <typename Number, int D>
void BM_StaticEigenMatrixPointer(benchmark::State& state) {
while (state.KeepRunning()) {
Eigen::Matrix<double, D, 1> add_vi = Eigen::Matrix<double, D, 1>::Zero();
double* v = add_vi.data();
Eigen::Matrix<Number, D, 1> add_vi = Eigen::Matrix<Number, D, 1>::Zero();
Number* v = add_vi.data();
for (int i = 0; i < D; ++i) {
benchmark::DoNotOptimize((*v) = 1);
benchmark::DoNotOptimize((*v) = -1);
Expand All @@ -94,11 +94,11 @@ void BM_StaticEigenMatrixPointer(benchmark::State& state) {
}
}

template <typename double>
template <typename Number>
void BM_DynamicEigenMatrix(benchmark::State& state) {
while (state.KeepRunning()) {
const int d = state.range(0);
Eigen::Matrix<double, Eigen::Dynamic, 1> add_vi(d);
Eigen::Matrix<Number, Eigen::Dynamic, 1> add_vi(d);
add_vi.setZero();
for (int i = 0; i < d; ++i) {
benchmark::DoNotOptimize(add_vi[i] = 1);
Expand All @@ -108,13 +108,13 @@ void BM_DynamicEigenMatrix(benchmark::State& state) {
}
}

template <typename double>
template <typename Number>
void BM_DynamicEigenMatrixPointer(benchmark::State& state) {
while (state.KeepRunning()) {
const int d = state.range(0);
Eigen::Matrix<double, Eigen::Dynamic, 1> add_vi(d);
Eigen::Matrix<Number, Eigen::Dynamic, 1> add_vi(d);
add_vi.setZero();
double* v = add_vi.data();
Number* v = add_vi.data();
for (int i = 0; i < d; ++i) {
benchmark::DoNotOptimize((*v) = 1);
benchmark::DoNotOptimize((*v) = -1);
Expand All @@ -123,13 +123,13 @@ void BM_DynamicEigenMatrixPointer(benchmark::State& state) {
}
}

template <typename double>
template <typename Number>
void BM_DynamicAlignedBuffer(benchmark::State& state) {
while (state.KeepRunning()) {
const int d = state.range(0);
static g2o::dynamic_aligned_buffer<double> buffer{size_t(d)};
double* add_vi = buffer.request(d);
std::fill(add_vi, add_vi + d, double(0.0));
static g2o::dynamic_aligned_buffer<Number> buffer{size_t(d)};
Number* add_vi = buffer.request(d);
std::fill(add_vi, add_vi + d, Number(0.0));
for (int i = 0; i < d; ++i) {
benchmark::DoNotOptimize(add_vi[i] = 1);
benchmark::DoNotOptimize(add_vi[i] = -1);
Expand All @@ -138,14 +138,14 @@ void BM_DynamicAlignedBuffer(benchmark::State& state) {
}
}

template <typename double>
template <typename Number>
void BM_DynamicAlignedBufferPointer(benchmark::State& state) {
while (state.KeepRunning()) {
const int d = state.range(0);
static g2o::dynamic_aligned_buffer<double> buffer{size_t(d)};
double* add_vi = buffer.request(d);
std::fill(add_vi, add_vi + d, double(0.0));
double* v = add_vi;
static g2o::dynamic_aligned_buffer<Number> buffer{size_t(d)};
Number* add_vi = buffer.request(d);
std::fill(add_vi, add_vi + d, Number(0.0));
Number* v = add_vi;

for (int i = 0; i < d; ++i) {
benchmark::DoNotOptimize((*v) = 1);
Expand All @@ -155,21 +155,21 @@ void BM_DynamicAlignedBufferPointer(benchmark::State& state) {
}
}

template <typename double>
template <typename Number>
void BM_StaticDynamicDynamicAlignedBufferHybrid(benchmark::State& state) {
while (state.KeepRunning()) {
const int d = state.range(0);
if (d <= 10) {
double add_vi[10] = {};
Number add_vi[10] = {};
for (int i = 0; i < d; ++i) {
benchmark::DoNotOptimize(add_vi[i] = 1);
benchmark::DoNotOptimize(add_vi[i] = -1);
benchmark::DoNotOptimize(add_vi[i] = 0);
}
} else {
static g2o::dynamic_aligned_buffer<double> buffer{size_t(d)};
double* add_vi = buffer.request(d);
std::fill(add_vi, add_vi + d, double(0.0));
static g2o::dynamic_aligned_buffer<Number> buffer{size_t(d)};
Number* add_vi = buffer.request(d);
std::fill(add_vi, add_vi + d, Number(0.0));
for (int i = 0; i < d; ++i) {
benchmark::DoNotOptimize(add_vi[i] = 1);
benchmark::DoNotOptimize(add_vi[i] = -1);
Expand All @@ -179,10 +179,10 @@ void BM_StaticDynamicDynamicAlignedBufferHybrid(benchmark::State& state) {
}
}

template <typename double, int D>
template <typename Number, int D>
void BM_ClassFixedArrayStatic(benchmark::State& state) {
while (state.KeepRunning()) {
ceres::internal::FixedArray<double, D> add_vi(D);
g2o::ceres::internal::FixedArray<Number, D> add_vi(D);
add_vi.fill(0.);
for (int i = 0; i < D; ++i) {
benchmark::DoNotOptimize(add_vi[i] = 1);
Expand All @@ -192,11 +192,11 @@ void BM_ClassFixedArrayStatic(benchmark::State& state) {
}
}

template <typename double>
template <typename Number>
void BM_ClassFixedArrayDynamic(benchmark::State& state) {
while (state.KeepRunning()) {
const int d = state.range(0);
ceres::internal::FixedArray<double> add_vi(d);
g2o::ceres::internal::FixedArray<Number> add_vi(d);
add_vi.fill(0.);
for (int i = 0; i < d; ++i) {
benchmark::DoNotOptimize(add_vi[i] = 1);
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