Benchmark Cameras

Summary: Address comments to add benchmarkings for cameras and the new fisheye cameras. The dependency functions in test_cameras have been updated in Diff 1. The following two snapshots show benchmarking results.

Reviewed By: kjchalup

Differential Revision: D38991914

fbshipit-source-id: 51fe9bb7237543e4ee112c9f5068a4cf12a9d482

tests/benchmarks/bm_cameras.py

@@ -0,0 +1,59 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+# All rights reserved.
+#
+# This source code is licensed under the BSD-style license found in the
+# LICENSE file in the root directory of this source tree.
+
+import itertools
+
+from fvcore.common.benchmark import benchmark
+from tests.test_cameras import TestCamerasCommon
+
+
+def _setUp():
+    case_grid = {
+        "cam_type": [
+            "OpenGLOrthographicCameras",
+            "OpenGLPerspectiveCameras",
+            "SfMOrthographicCameras",
+            "SfMPerspectiveCameras",
+            "FoVOrthographicCameras",
+            "FoVPerspectiveCameras",
+            "OrthographicCameras",
+            "PerspectiveCameras",
+            "FishEyeCameras",
+        ],
+        "batch_size": [1, 10],
+        "num_points": [10, 100],
+        "device": ["cpu", "cuda:0"],
+    }
+    test_cases = itertools.product(*case_grid.values())
+    kwargs_list = [dict(zip(case_grid.keys(), case)) for case in test_cases]
+    return kwargs_list
+
+
+def _bm_cameras_project() -> None:
+    kwargs_list = _setUp()
+    benchmark(
+        TestCamerasCommon.transform_points,
+        "TEST_TRANSFORM_POINTS",
+        kwargs_list,
+    )
+
+
+def _bm_cameras_unproject() -> None:
+    kwargs_list = _setUp()
+    benchmark(
+        TestCamerasCommon.unproject_points,
+        "TEST_UNPROJECT_POINTS",
+        kwargs_list,
+    )
+
+
+def bm_cameras() -> None:
+    _bm_cameras_project()
+    _bm_cameras_unproject()
+
+
+if __name__ == "__main__":
+    bm_cameras()