You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
135 lines
3.5 KiB
135 lines
3.5 KiB
#include <iostream>
|
|
#include <iomanip>
|
|
#include <Eigen/Core>
|
|
#include <Eigen/Geometry>
|
|
#include <bench/BenchTimer.h>
|
|
|
|
using namespace Eigen;
|
|
using namespace std;
|
|
|
|
#ifndef REPEAT
|
|
#define REPEAT 1000000
|
|
#endif
|
|
|
|
enum func_opt
|
|
{
|
|
TV,
|
|
TMATV,
|
|
TMATVMAT,
|
|
};
|
|
|
|
|
|
template <class res, class arg1, class arg2, int opt>
|
|
struct func;
|
|
|
|
template <class res, class arg1, class arg2>
|
|
struct func<res, arg1, arg2, TV>
|
|
{
|
|
static EIGEN_DONT_INLINE res run( arg1& a1, arg2& a2 )
|
|
{
|
|
asm ("");
|
|
return a1 * a2;
|
|
}
|
|
};
|
|
|
|
template <class res, class arg1, class arg2>
|
|
struct func<res, arg1, arg2, TMATV>
|
|
{
|
|
static EIGEN_DONT_INLINE res run( arg1& a1, arg2& a2 )
|
|
{
|
|
asm ("");
|
|
return a1.matrix() * a2;
|
|
}
|
|
};
|
|
|
|
template <class res, class arg1, class arg2>
|
|
struct func<res, arg1, arg2, TMATVMAT>
|
|
{
|
|
static EIGEN_DONT_INLINE res run( arg1& a1, arg2& a2 )
|
|
{
|
|
asm ("");
|
|
return res(a1.matrix() * a2.matrix());
|
|
}
|
|
};
|
|
|
|
template <class func, class arg1, class arg2>
|
|
struct test_transform
|
|
{
|
|
static void run()
|
|
{
|
|
arg1 a1;
|
|
a1.setIdentity();
|
|
arg2 a2;
|
|
a2.setIdentity();
|
|
|
|
BenchTimer timer;
|
|
timer.reset();
|
|
for (int k=0; k<10; ++k)
|
|
{
|
|
timer.start();
|
|
for (int k=0; k<REPEAT; ++k)
|
|
a2 = func::run( a1, a2 );
|
|
timer.stop();
|
|
}
|
|
cout << setprecision(4) << fixed << timer.value() << "s " << endl;;
|
|
}
|
|
};
|
|
|
|
|
|
#define run_vec( op, scalar, mode, option, vsize ) \
|
|
std::cout << #scalar << "\t " << #mode << "\t " << #option << " " << #vsize " "; \
|
|
{\
|
|
typedef Transform<scalar, 3, mode, option> Trans;\
|
|
typedef Matrix<scalar, vsize, 1, option> Vec;\
|
|
typedef func<Vec,Trans,Vec,op> Func;\
|
|
test_transform< Func, Trans, Vec >::run();\
|
|
}
|
|
|
|
#define run_trans( op, scalar, mode, option ) \
|
|
std::cout << #scalar << "\t " << #mode << "\t " << #option << " "; \
|
|
{\
|
|
typedef Transform<scalar, 3, mode, option> Trans;\
|
|
typedef func<Trans,Trans,Trans,op> Func;\
|
|
test_transform< Func, Trans, Trans >::run();\
|
|
}
|
|
|
|
int main(int argc, char* argv[])
|
|
{
|
|
cout << "vec = trans * vec" << endl;
|
|
run_vec(TV, float, Isometry, AutoAlign, 3);
|
|
run_vec(TV, float, Isometry, DontAlign, 3);
|
|
run_vec(TV, float, Isometry, AutoAlign, 4);
|
|
run_vec(TV, float, Isometry, DontAlign, 4);
|
|
run_vec(TV, float, Projective, AutoAlign, 4);
|
|
run_vec(TV, float, Projective, DontAlign, 4);
|
|
run_vec(TV, double, Isometry, AutoAlign, 3);
|
|
run_vec(TV, double, Isometry, DontAlign, 3);
|
|
run_vec(TV, double, Isometry, AutoAlign, 4);
|
|
run_vec(TV, double, Isometry, DontAlign, 4);
|
|
run_vec(TV, double, Projective, AutoAlign, 4);
|
|
run_vec(TV, double, Projective, DontAlign, 4);
|
|
|
|
cout << "vec = trans.matrix() * vec" << endl;
|
|
run_vec(TMATV, float, Isometry, AutoAlign, 4);
|
|
run_vec(TMATV, float, Isometry, DontAlign, 4);
|
|
run_vec(TMATV, double, Isometry, AutoAlign, 4);
|
|
run_vec(TMATV, double, Isometry, DontAlign, 4);
|
|
|
|
cout << "trans = trans1 * trans" << endl;
|
|
run_trans(TV, float, Isometry, AutoAlign);
|
|
run_trans(TV, float, Isometry, DontAlign);
|
|
run_trans(TV, double, Isometry, AutoAlign);
|
|
run_trans(TV, double, Isometry, DontAlign);
|
|
run_trans(TV, float, Projective, AutoAlign);
|
|
run_trans(TV, float, Projective, DontAlign);
|
|
run_trans(TV, double, Projective, AutoAlign);
|
|
run_trans(TV, double, Projective, DontAlign);
|
|
|
|
cout << "trans = trans1.matrix() * trans.matrix()" << endl;
|
|
run_trans(TMATVMAT, float, Isometry, AutoAlign);
|
|
run_trans(TMATVMAT, float, Isometry, DontAlign);
|
|
run_trans(TMATVMAT, double, Isometry, AutoAlign);
|
|
run_trans(TMATVMAT, double, Isometry, DontAlign);
|
|
}
|
|
|