Add benchmark for diffuse and specular lighting

Summary: I was trying to speed up the lighting computations, but my ideas didn't work. Even if that didn't work, we can at least commit the benchmarking script I wrote for diffuse and specular shading.

Reviewed By: nikhilaravi

Differential Revision: D21580171

fbshipit-source-id: 8b60c0284e91ecbe258b6aae839bd5c2bbe788aa

pytorch3d/renderer/lighting.py

@@ -61,6 +61,7 @@ def diffuse(normals, color, direction) -> torch.Tensor:
         color = color.view(expand_dims)
 
     # Renormalize the normals in case they have been interpolated.
+    # We tried to replace the following with F.cosine_similarity, but it wasn't faster.
     normals = F.normalize(normals, p=2, dim=-1, eps=1e-6)
     direction = F.normalize(direction, p=2, dim=-1, eps=1e-6)
     angle = F.relu(torch.sum(normals * direction, dim=-1))
@@ -132,6 +133,8 @@ def specular(
         shininess = shininess.view(expand_dims)
 
     # Renormalize the normals in case they have been interpolated.
+    # We tried a version that uses F.cosine_similarity instead of renormalizing,
+    # but it was slower.
     normals = F.normalize(normals, p=2, dim=-1, eps=1e-6)
     direction = F.normalize(direction, p=2, dim=-1, eps=1e-6)
     cos_angle = torch.sum(normals * direction, dim=-1)

tests/bm_lighting.py

+# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
+
+from itertools import product
+
+import torch
+from fvcore.common.benchmark import benchmark
+from pytorch3d.renderer.lighting import diffuse, specular
+
+
+def _bm_diffuse_cuda_with_init(N, S, K):
+    device = torch.device("cuda")
+    normals = torch.randn(N, S, S, K, 3, device=device)
+    color = torch.randn(1, 3, device=device)
+    direction = torch.randn(N, S, S, K, 3, device=device)
+    args = (normals, color, direction)
+    torch.cuda.synchronize()
+    return lambda: diffuse(*args)
+
+
+def _bm_specular_cuda_with_init(N, S, K):
+    device = torch.device("cuda")
+    points = torch.randn(N, S, S, K, 3, device=device)
+    normals = torch.randn(N, S, S, K, 3, device=device)
+    direction = torch.randn(N, S, S, K, 3, device=device)
+    color = torch.randn(1, 3, device=device)
+    camera_position = torch.randn(N, 3, device=device)
+    shininess = torch.randn(N, device=device)
+    args = (points, normals, direction, color, camera_position, shininess)
+    torch.cuda.synchronize()
+    return lambda: specular(*args)
+
+
+def bm_lighting() -> None:
+    # For now only benchmark lighting on GPU
+    if not torch.cuda.is_available():
+        return
+
+    kwargs_list = []
+    Ns = [1, 8]
+    Ss = [128, 256]
+    Ks = [1, 10, 80]
+    test_cases = product(Ns, Ss, Ks)
+    for case in test_cases:
+        N, S, K = case
+        kwargs_list.append({"N": N, "S": S, "K": K})
+    benchmark(_bm_diffuse_cuda_with_init, "DIFFUSE", kwargs_list, warmup_iters=3)
+    benchmark(_bm_specular_cuda_with_init, "SPECULAR", kwargs_list, warmup_iters=3)