From 2e050e4231e725e1dff80e801f663fd1f71645a3 Mon Sep 17 00:00:00 2001
From: Rainer Kuemmerle <rainer.kuemmerle@gmail.com>
Date: Sun, 6 Aug 2023 14:20:10 +0200
Subject: [PATCH] Fix compile errors for the benchmarks

Fix #708
---
 CMakeLists.txt                       |  8 +--
 benchmarks/CMakeLists.txt            |  5 ++
 benchmarks/jacobian_timing_tests.cpp | 78 ++++++++++++++--------------
 3 files changed, 48 insertions(+), 43 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7fefcc402..c3b6ab5f5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -526,6 +526,9 @@ 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)
@@ -533,9 +536,6 @@ if(G2O_BUILD_BENCHMARKS)
   if(${benchmark_FOUND})
     add_subdirectory(benchmarks)
   else()
-    message(WARNING G2O_BUILD_BENCHMARKS was set to true, but the benchmark library cannot be found)
+    message(WARNING "G2O_BUILD_BENCHMARKS was set to true, but the benchmark library cannot be found")
   endif()
 endif()
-
-# Include the subdirectories
-add_subdirectory(g2o)
diff --git a/benchmarks/CMakeLists.txt b/benchmarks/CMakeLists.txt
index dc78dccc4..89a2612ff 100644
--- a/benchmarks/CMakeLists.txt
+++ b/benchmarks/CMakeLists.txt
@@ -1,2 +1,7 @@
 add_executable(benchmark_jacobian_timing jacobian_timing_tests.cpp)
+
+target_include_directories(benchmark_jacobian_timing PUBLIC
+  "$<BUILD_INTERFACE:${g2o_SOURCE_DIR};${PROJECT_BINARY_DIR}>"
+)
+
 target_link_libraries(benchmark_jacobian_timing benchmark::benchmark ${G2O_EIGEN3_EIGEN_TARGET})
diff --git a/benchmarks/jacobian_timing_tests.cpp b/benchmarks/jacobian_timing_tests.cpp
index afbf04e3c..1ae7d320c 100644
--- a/benchmarks/jacobian_timing_tests.cpp
+++ b/benchmarks/jacobian_timing_tests.cpp
@@ -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);
@@ -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);
@@ -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) {
@@ -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);
@@ -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);
@@ -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);
@@ -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);
@@ -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);
@@ -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);
@@ -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);
@@ -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);
@@ -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);
@@ -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);