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Bring upstream what we developed for LaMAR.
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I added some benchmarking code. Results:
Running ./benchmark_cost_functions
Run on (16 X 3600 MHz CPU s)
CPU Caches:
L1 Data 32 KiB (x8)
L1 Instruction 32 KiB (x8)
L2 Unified 256 KiB (x8)
L3 Unified 16384 KiB (x1)
main branch
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Benchmark Time CPU Iterations
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BM_ReprojErrorCostFunction_mean 50955 ns 50954 ns 50
BM_ReprojErrorCostFunction_median 50917 ns 50914 ns 50
BM_ReprojErrorCostFunction_stddev 175 ns 176 ns 50
BM_ReprojErrorConstantPoseCostFunction_mean 39073 ns 39072 ns 50
BM_ReprojErrorConstantPoseCostFunction_median 39046 ns 39044 ns 50
BM_ReprojErrorConstantPoseCostFunction_stddev 136 ns 136 ns 50
BM_ReprojErrorConstantPoint3DCostFunction_mean 44643 ns 44642 ns 50
BM_ReprojErrorConstantPoint3DCostFunction_median 44614 ns 44613 ns 50
BM_ReprojErrorConstantPoint3DCostFunction_stddev 162 ns 162 ns 50
This PR - no inlining
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Benchmark Time CPU Iterations
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BM_ReprojErrorCostFunction_mean 51440 ns 51440 ns 50
BM_ReprojErrorCostFunction_median 51347 ns 51348 ns 50
BM_ReprojErrorCostFunction_stddev 242 ns 242 ns 50
BM_ReprojErrorConstantPoseCostFunction_mean 40791 ns 40791 ns 50
BM_ReprojErrorConstantPoseCostFunction_median 40750 ns 40750 ns 50
BM_ReprojErrorConstantPoseCostFunction_stddev 172 ns 172 ns 50
BM_ReprojErrorConstantPoint3DCostFunction_mean 45659 ns 45659 ns 50
BM_ReprojErrorConstantPoint3DCostFunction_median 45607 ns 45607 ns 50
BM_ReprojErrorConstantPoint3DCostFunction_stddev 190 ns 190 ns 50
This PR - with inlining
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Benchmark Time CPU Iterations
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BM_ReprojErrorCostFunction_mean 51266 ns 51265 ns 50
BM_ReprojErrorCostFunction_median 51214 ns 51214 ns 50
BM_ReprojErrorCostFunction_stddev 196 ns 196 ns 50
BM_ReprojErrorConstantPoseCostFunction_mean 41002 ns 41001 ns 50
BM_ReprojErrorConstantPoseCostFunction_median 40819 ns 40819 ns 50
BM_ReprojErrorConstantPoseCostFunction_stddev 382 ns 382 ns 50
BM_ReprojErrorConstantPoint3DCostFunction_mean 45580 ns 45579 ns 50
BM_ReprojErrorConstantPoint3DCostFunction_median 45545 ns 45543 ns 50
BM_ReprojErrorConstantPoint3DCostFunction_stddev 156 ns 156 ns 50
- Inlining makes no difference.
- Compared to main,
ReprojErrorConstantPoint3DCostFunctionis 2% slower andReprojErrorConstantPoseCostFunctionis 4% slower. I will revert these changes if you judge that this is too large.
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Thanks a lot for the benchmark numbers. I guess the difference is marginal. With the benchmark setup, it's also a little unclear, if the cost function or the constructor leads to the increase, as you only evaluate it once.
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I will take another look later but then probably just merge.
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Updated the benchmark code to avoid measuring the construction:
main branch
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Benchmark Time CPU Iterations
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BM_ReprojErrorCostFunction/Run_mean 51161 ns 51161 ns 50
BM_ReprojErrorCostFunction/Run_median 51114 ns 51113 ns 50
BM_ReprojErrorCostFunction/Run_stddev 170 ns 170 ns 50
BM_ReprojErrorConstantPoseCostFunction/Run_mean 39244 ns 39244 ns 50
BM_ReprojErrorConstantPoseCostFunction/Run_median 39217 ns 39216 ns 50
BM_ReprojErrorConstantPoseCostFunction/Run_stddev 122 ns 122 ns 50
BM_ReprojErrorConstantPoint3DCostFunction/Run_mean 44527 ns 44527 ns 50
BM_ReprojErrorConstantPoint3DCostFunction/Run_median 44493 ns 44493 ns 50
BM_ReprojErrorConstantPoint3DCostFunction/Run_stddev 177 ns 177 ns 50
This PR - no inlining
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Benchmark Time CPU Iterations
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BM_ReprojErrorCostFunction/Run_mean 51454 ns 51454 ns 50
BM_ReprojErrorCostFunction/Run_median 51417 ns 51417 ns 50
BM_ReprojErrorCostFunction/Run_stddev 185 ns 185 ns 50
BM_ReprojErrorConstantPoseCostFunction/Run_mean 40587 ns 40587 ns 50
BM_ReprojErrorConstantPoseCostFunction/Run_median 40565 ns 40565 ns 50
BM_ReprojErrorConstantPoseCostFunction/Run_stddev 128 ns 128 ns 50
BM_ReprojErrorConstantPoint3DCostFunction/Run_mean 45538 ns 45537 ns 50
BM_ReprojErrorConstantPoint3DCostFunction/Run_median 45486 ns 45485 ns 50
BM_ReprojErrorConstantPoint3DCostFunction/Run_stddev 159 ns 159 ns 50
The numbers are mostly unchanged.
Merged
sarlinpe deleted the sarlinpe/improve-cost-functions branch
February 8, 2024 14:52