move benchmarks to separate directory

Summary: Move benchmarks to a separate directory as tests/ is getting big.

Reviewed By: nikhilaravi

Differential Revision: D32885462

fbshipit-source-id: a832662a494ee341ab77d95493c95b0af0a83f43

tests/benchmarks/bm_iou_box3d.py

@@ -0,0 +1,54 @@
+# Copyright (c) Facebook, Inc. and its 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.
+
+from itertools import product
+
+from fvcore.common.benchmark import benchmark
+from test_iou_box3d import TestIoU3D
+
+
+def bm_iou_box3d() -> None:
+    # Realistic use cases
+    N = [30, 100]
+    M = [5, 10, 100]
+    kwargs_list = []
+    test_cases = product(N, M)
+    for case in test_cases:
+        n, m = case
+        kwargs_list.append({"N": n, "M": m, "device": "cuda:0"})
+    benchmark(TestIoU3D.iou, "3D_IOU", kwargs_list, warmup_iters=1)
+
+    # Comparison of C++/CUDA
+    kwargs_list = []
+    N = [1, 4, 8, 16]
+    devices = ["cpu", "cuda:0"]
+    test_cases = product(N, N, devices)
+    for case in test_cases:
+        n, m, d = case
+        kwargs_list.append({"N": n, "M": m, "device": d})
+    benchmark(TestIoU3D.iou, "3D_IOU", kwargs_list, warmup_iters=1)
+
+    # Naive PyTorch
+    N = [1, 4]
+    kwargs_list = []
+    test_cases = product(N, N)
+    for case in test_cases:
+        n, m = case
+        kwargs_list.append({"N": n, "M": m, "device": "cuda:0"})
+    benchmark(TestIoU3D.iou_naive, "3D_IOU_NAIVE", kwargs_list, warmup_iters=1)
+
+    # Sampling based method
+    num_samples = [2000, 5000]
+    kwargs_list = []
+    test_cases = product(N, N, num_samples)
+    for case in test_cases:
+        n, m, s = case
+        kwargs_list.append({"N": n, "M": m, "num_samples": s, "device": "cuda:0"})
+    benchmark(TestIoU3D.iou_sampling, "3D_IOU_SAMPLING", kwargs_list, warmup_iters=1)
+
+
+if __name__ == "__main__":
+    bm_iou_box3d()