323 lines
12 KiB
C++
323 lines
12 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file timeublas.cpp
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* @brief Tests to help determine which way of accomplishing something with Eigen is faster
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* @author Richard Roberts
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* @date Sep 18, 2010
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*/
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#include <boost/format.hpp>
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#include <boost/lambda/lambda.hpp>
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#include <gtsam/base/timing.h>
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#include <gtsam/base/Matrix.h>
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#include <iostream>
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#include <random>
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#include <vector>
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#include <utility>
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using namespace std;
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//namespace ublas = boost::numeric::ublas;
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//using namespace Eigen;
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using boost::format;
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using namespace boost::lambda;
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static std::mt19937 rng;
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static std::uniform_real_distribution<> rg(-1.0, 0.0);
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//typedef ublas::matrix<double> matrix;
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//typedef ublas::matrix_range<matrix> matrix_range;
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//typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic> matrix;
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//typedef Eigen::Block<matrix> matrix_block;
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//using ublas::range;
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//using ublas::triangular_matrix;
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int main(int argc, char* argv[]) {
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if(true) {
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cout << "\nTiming matrix_block:" << endl;
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// We use volatile here to make these appear to the optimizing compiler as
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// if their values are only known at run-time.
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volatile size_t m=500;
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volatile size_t n=300;
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volatile size_t nReps = 1000;
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assert(m > n);
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std::uniform_int_distribution<size_t> ri(0,m-1);
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std::uniform_int_distribution<size_t> rj(0,n-1);
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gtsam::Matrix mat((int)m,(int)n);
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gtsam::SubMatrix full = mat.block(0, 0, m, n);
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gtsam::SubMatrix top = mat.block(0, 0, n, n);
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gtsam::SubMatrix block = mat.block(m/4, n/4, m-m/2, n-n/2);
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cout << format(" Basic: %1%x%2%\n") % (int)m % (int)n;
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cout << format(" Full: mat(%1%:%2%, %3%:%4%)\n") % 0 % (int)m % 0 % (int)n;
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cout << format(" Top: mat(%1%:%2%, %3%:%4%)\n") % 0 % (int)n % 0 % (int)n;
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cout << format(" Block: mat(%1%:%2%, %3%:%4%)\n") % size_t(m/4) % size_t(m-m/4) % size_t(n/4) % size_t(n-n/4);
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cout << endl;
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{
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double basicTime, fullTime, topTime, blockTime;
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cout << "Row-major matrix, row-major assignment:" << endl;
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// Do a few initial assignments to let any cache effects stabilize
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for(size_t rep=0; rep<1000; ++rep)
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for(size_t i=0; i<(size_t)mat.rows(); ++i)
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for(size_t j=0; j<(size_t)mat.cols(); ++j)
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mat(i,j) = rg(rng);
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gttic_(basicTime);
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for(size_t rep=0; rep<nReps; ++rep)
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for(size_t i=0; i<(size_t)mat.rows(); ++i)
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for(size_t j=0; j<(size_t)mat.cols(); ++j)
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mat(i,j) = rg(rng);
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gttoc_(basicTime);
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tictoc_getNode(basicTimeNode, basicTime);
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basicTime = basicTimeNode->secs();
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gtsam::tictoc_reset_();
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cout << format(" Basic: %1% mus/element") % double(1000000 * basicTime / double(mat.rows()*mat.cols()*nReps)) << endl;
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gttic_(fullTime);
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for(size_t rep=0; rep<nReps; ++rep)
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for(size_t i=0; i<(size_t)full.rows(); ++i)
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for(size_t j=0; j<(size_t)full.cols(); ++j)
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full(i,j) = rg(rng);
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gttoc_(fullTime);
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tictoc_getNode(fullTimeNode, fullTime);
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fullTime = fullTimeNode->secs();
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gtsam::tictoc_reset_();
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cout << format(" Full: %1% mus/element") % double(1000000 * fullTime / double(full.rows()*full.cols()*nReps)) << endl;
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gttic_(topTime);
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for(size_t rep=0; rep<nReps; ++rep)
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for(size_t i=0; i<(size_t)top.rows(); ++i)
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for(size_t j=0; j<(size_t)top.cols(); ++j)
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top(i,j) = rg(rng);
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gttoc_(topTime);
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tictoc_getNode(topTimeNode, topTime);
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topTime = topTimeNode->secs();
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gtsam::tictoc_reset_();
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cout << format(" Top: %1% mus/element") % double(1000000 * topTime / double(top.rows()*top.cols()*nReps)) << endl;
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gttic_(blockTime);
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for(size_t rep=0; rep<nReps; ++rep)
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for(size_t i=0; i<(size_t)block.rows(); ++i)
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for(size_t j=0; j<(size_t)block.cols(); ++j)
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block(i,j) = rg(rng);
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gttoc_(blockTime);
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tictoc_getNode(blockTimeNode, blockTime);
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blockTime = blockTimeNode->secs();
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gtsam::tictoc_reset_();
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cout << format(" Block: %1% mus/element") % double(1000000 * blockTime / double(block.rows()*block.cols()*nReps)) << endl;
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cout << endl;
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}
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{
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double basicTime, fullTime, topTime, blockTime;
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cout << "Row-major matrix, column-major assignment:" << endl;
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// Do a few initial assignments to let any cache effects stabilize
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for(size_t rep=0; rep<1000; ++rep)
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for(size_t j=0; j<(size_t)mat.cols(); ++j)
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for(size_t i=0; i<(size_t)mat.rows(); ++i)
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mat(i,j) = rg(rng);
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gttic_(basicTime);
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for(size_t rep=0; rep<nReps; ++rep)
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for(size_t j=0; j<(size_t)mat.cols(); ++j)
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for(size_t i=0; i<(size_t)mat.rows(); ++i)
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mat(i,j) = rg(rng);
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gttoc_(basicTime);
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tictoc_getNode(basicTimeNode, basicTime);
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basicTime = basicTimeNode->secs();
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gtsam::tictoc_reset_();
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cout << format(" Basic: %1% mus/element") % double(1000000 * basicTime / double(mat.rows()*mat.cols()*nReps)) << endl;
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gttic_(fullTime);
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for(size_t rep=0; rep<nReps; ++rep)
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for(size_t j=0; j<(size_t)full.cols(); ++j)
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for(size_t i=0; i<(size_t)full.rows(); ++i)
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full(i,j) = rg(rng);
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gttoc_(fullTime);
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tictoc_getNode(fullTimeNode, fullTime);
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fullTime = fullTimeNode->secs();
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gtsam::tictoc_reset_();
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cout << format(" Full: %1% mus/element") % double(1000000 * fullTime / double(full.rows()*full.cols()*nReps)) << endl;
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gttic_(topTime);
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for(size_t rep=0; rep<nReps; ++rep)
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for(size_t j=0; j<(size_t)top.cols(); ++j)
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for(size_t i=0; i<(size_t)top.rows(); ++i)
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top(i,j) = rg(rng);
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gttoc_(topTime);
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tictoc_getNode(topTimeNode, topTime);
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topTime = topTimeNode->secs();
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gtsam::tictoc_reset_();
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cout << format(" Top: %1% mus/element") % double(1000000 * topTime / double(top.rows()*top.cols()*nReps)) << endl;
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gttic_(blockTime);
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for(size_t rep=0; rep<nReps; ++rep)
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for(size_t j=0; j<(size_t)block.cols(); ++j)
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for(size_t i=0; i<(size_t)block.rows(); ++i)
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block(i,j) = rg(rng);
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gttoc_(blockTime);
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tictoc_getNode(blockTimeNode, blockTime);
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blockTime = blockTimeNode->secs();
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gtsam::tictoc_reset_();
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cout << format(" Block: %1% mus/element") % double(1000000 * blockTime / double(block.rows()*block.cols()*nReps)) << endl;
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cout << endl;
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}
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{
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double basicTime, fullTime, topTime, blockTime;
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typedef pair<size_t,size_t> ij_t;
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vector<ij_t> ijs(100000);
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cout << "Row-major matrix, random assignment:" << endl;
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// Do a few initial assignments to let any cache effects stabilize
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for_each(ijs.begin(), ijs.end(), _1 = make_pair(ri(rng),rj(rng)));
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for(size_t rep=0; rep<1000; ++rep)
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for(const ij_t& ij: ijs) { mat(ij.first, ij.second) = rg(rng); }
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gttic_(basicTime);
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for_each(ijs.begin(), ijs.end(), _1 = make_pair(ri(rng),rj(rng)));
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for(size_t rep=0; rep<1000; ++rep)
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for(const ij_t& ij: ijs) { mat(ij.first, ij.second) = rg(rng); }
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gttoc_(basicTime);
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tictoc_getNode(basicTimeNode, basicTime);
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basicTime = basicTimeNode->secs();
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gtsam::tictoc_reset_();
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cout << format(" Basic: %1% mus/element") % double(1000000 * basicTime / double(ijs.size()*nReps)) << endl;
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gttic_(fullTime);
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for_each(ijs.begin(), ijs.end(), _1 = make_pair(ri(rng),rj(rng)));
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for(size_t rep=0; rep<1000; ++rep)
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for(const ij_t& ij: ijs) { full(ij.first, ij.second) = rg(rng); }
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gttoc_(fullTime);
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tictoc_getNode(fullTimeNode, fullTime);
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fullTime = fullTimeNode->secs();
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gtsam::tictoc_reset_();
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cout << format(" Full: %1% mus/element") % double(1000000 * fullTime / double(ijs.size()*nReps)) << endl;
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gttic_(topTime);
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for_each(ijs.begin(), ijs.end(), _1 = make_pair(ri(rng)%top.rows(),rj(rng)));
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for(size_t rep=0; rep<1000; ++rep)
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for(const ij_t& ij: ijs) { top(ij.first, ij.second) = rg(rng); }
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gttoc_(topTime);
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tictoc_getNode(topTimeNode, topTime);
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topTime = topTimeNode->secs();
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gtsam::tictoc_reset_();
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cout << format(" Top: %1% mus/element") % double(1000000 * topTime / double(ijs.size()*nReps)) << endl;
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gttic_(blockTime);
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for_each(ijs.begin(), ijs.end(), _1 = make_pair(ri(rng)%block.rows(),rj(rng)%block.cols()));
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for(size_t rep=0; rep<1000; ++rep)
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for(const ij_t& ij: ijs) { block(ij.first, ij.second) = rg(rng); }
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gttoc_(blockTime);
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tictoc_getNode(blockTimeNode, blockTime);
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blockTime = blockTimeNode->secs();
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gtsam::tictoc_reset_();
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cout << format(" Block: %1% mus/element") % double(1000000 * blockTime / double(ijs.size()*nReps)) << endl;
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cout << endl;
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}
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}
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// if(true) {
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// cout << "\nTesting square triangular matrices:" << endl;
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//
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//// typedef triangular_matrix<double, ublas::upper, ublas::column_major> triangular;
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//// typedef ublas::matrix<double, ublas::column_major> matrix;
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// typedef MatrixXd matrix; // default col major
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//
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//// triangular tri(5,5);
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//
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// matrix mat(5,5);
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// for(size_t j=0; j<(size_t)mat.cols(); ++j)
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// for(size_t i=0; i<(size_t)mat.rows(); ++i)
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// mat(i,j) = rg(rng);
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//
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// tri = ublas::triangular_adaptor<matrix, ublas::upper>(mat);
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// cout << " Assigned from triangular adapter: " << tri << endl;
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//
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// cout << " Triangular adapter of mat: " << ublas::triangular_adaptor<matrix, ublas::upper>(mat) << endl;
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//
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// for(size_t j=0; j<(size_t)mat.cols(); ++j)
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// for(size_t i=0; i<(size_t)mat.rows(); ++i)
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// mat(i,j) = rg(rng);
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// mat = tri;
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// cout << " Assign matrix from triangular: " << mat << endl;
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//
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// for(size_t j=0; j<(size_t)mat.cols(); ++j)
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// for(size_t i=0; i<(size_t)mat.rows(); ++i)
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// mat(i,j) = rg(rng);
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// (ublas::triangular_adaptor<matrix, ublas::upper>(mat)) = tri;
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// cout << " Assign triangular adaptor from triangular: " << mat << endl;
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// }
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// {
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// cout << "\nTesting wide triangular matrices:" << endl;
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//
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// typedef triangular_matrix<double, ublas::upper, ublas::column_major> triangular;
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// typedef ublas::matrix<double, ublas::column_major> matrix;
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//
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// triangular tri(5,7);
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//
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// matrix mat(5,7);
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// for(size_t j=0; j<(size_t)mat.cols(); ++j)
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// for(size_t i=0; i<(size_t)mat.rows(); ++i)
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// mat(i,j) = rg(rng);
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//
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// tri = ublas::triangular_adaptor<matrix, ublas::upper>(mat);
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// cout << " Assigned from triangular adapter: " << tri << endl;
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//
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// cout << " Triangular adapter of mat: " << ublas::triangular_adaptor<matrix, ublas::upper>(mat) << endl;
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//
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// for(size_t j=0; j<(size_t)mat.cols(); ++j)
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// for(size_t i=0; i<(size_t)mat.rows(); ++i)
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// mat(i,j) = rg(rng);
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// mat = tri;
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// cout << " Assign matrix from triangular: " << mat << endl;
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//
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// for(size_t j=0; j<(size_t)mat.cols(); ++j)
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// for(size_t i=0; i<(size_t)mat.rows(); ++i)
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// mat(i,j) = rg(rng);
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// mat = ublas::triangular_adaptor<matrix, ublas::upper>(mat);
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// cout << " Assign matrix from triangular adaptor of self: " << mat << endl;
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// }
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// {
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// cout << "\nTesting subvectors:" << endl;
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//
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// typedef MatrixXd matrix;
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// matrix mat(4,4);
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//
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// for(size_t j=0; j<(size_t)mat.cols(); ++j)
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// for(size_t i=0; i<(size_t)mat.rows(); ++i)
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// mat(i,j) = i*mat.rows() + j;
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// cout << " mat = " << mat;
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//
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// cout << " vec(1:4, 2:2) = " << mat.block(1,2, ), ublas::range(1,4), ublas::range(2,2));
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//
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// }
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return 0;
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}
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