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126 lines
3.2 KiB
126 lines
3.2 KiB
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#include <iostream>
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#include <Eigen/Geometry>
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#include <bench/BenchTimer.h>
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using namespace std;
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using namespace Eigen;
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#ifndef SCALAR
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#define SCALAR float
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#endif
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#ifndef SIZE
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#define SIZE 8
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#endif
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typedef SCALAR Scalar;
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typedef NumTraits<Scalar>::Real RealScalar;
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typedef Matrix<RealScalar,Dynamic,Dynamic> A;
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typedef Matrix</*Real*/Scalar,Dynamic,Dynamic> B;
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typedef Matrix<Scalar,Dynamic,Dynamic> C;
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typedef Matrix<RealScalar,Dynamic,Dynamic> M;
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template<typename Transformation, typename Data>
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EIGEN_DONT_INLINE void transform(const Transformation& t, Data& data)
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{
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EIGEN_ASM_COMMENT("begin");
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data = t * data;
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EIGEN_ASM_COMMENT("end");
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}
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template<typename Scalar, typename Data>
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EIGEN_DONT_INLINE void transform(const Quaternion<Scalar>& t, Data& data)
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{
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EIGEN_ASM_COMMENT("begin quat");
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for(int i=0;i<data.cols();++i)
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data.col(i) = t * data.col(i);
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EIGEN_ASM_COMMENT("end quat");
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}
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template<typename T> struct ToRotationMatrixWrapper
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{
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enum {Dim = T::Dim};
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typedef typename T::Scalar Scalar;
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ToRotationMatrixWrapper(const T& o) : object(o) {}
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T object;
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};
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template<typename QType, typename Data>
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EIGEN_DONT_INLINE void transform(const ToRotationMatrixWrapper<QType>& t, Data& data)
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{
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EIGEN_ASM_COMMENT("begin quat via mat");
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data = t.object.toRotationMatrix() * data;
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EIGEN_ASM_COMMENT("end quat via mat");
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}
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template<typename Scalar, int Dim, typename Data>
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EIGEN_DONT_INLINE void transform(const Transform<Scalar,Dim,Projective>& t, Data& data)
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{
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data = (t * data.colwise().homogeneous()).template block<Dim,Data::ColsAtCompileTime>(0,0);
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}
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template<typename T> struct get_dim { enum { Dim = T::Dim }; };
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template<typename S, int R, int C, int O, int MR, int MC>
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struct get_dim<Matrix<S,R,C,O,MR,MC> > { enum { Dim = R }; };
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template<typename Transformation, int N>
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struct bench_impl
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{
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static EIGEN_DONT_INLINE void run(const Transformation& t)
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{
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Matrix<typename Transformation::Scalar,get_dim<Transformation>::Dim,N> data;
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data.setRandom();
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bench_impl<Transformation,N-1>::run(t);
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BenchTimer timer;
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BENCH(timer,10,100000,transform(t,data));
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cout.width(9);
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cout << timer.best() << " ";
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}
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};
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template<typename Transformation>
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struct bench_impl<Transformation,0>
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{
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static EIGEN_DONT_INLINE void run(const Transformation&) {}
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};
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template<typename Transformation>
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EIGEN_DONT_INLINE void bench(const std::string& msg, const Transformation& t)
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{
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cout << msg << " ";
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bench_impl<Transformation,SIZE>::run(t);
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std::cout << "\n";
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}
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int main(int argc, char ** argv)
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{
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Matrix<Scalar,3,4> mat34; mat34.setRandom();
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Transform<Scalar,3,Isometry> iso3(mat34);
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Transform<Scalar,3,Affine> aff3(mat34);
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Transform<Scalar,3,AffineCompact> caff3(mat34);
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Transform<Scalar,3,Projective> proj3(mat34);
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Quaternion<Scalar> quat;quat.setIdentity();
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ToRotationMatrixWrapper<Quaternion<Scalar> > quatmat(quat);
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Matrix<Scalar,3,3> mat33; mat33.setRandom();
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cout.precision(4);
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std::cout
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<< "N ";
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for(int i=0;i<SIZE;++i)
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{
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cout.width(9);
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cout << i+1 << " ";
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}
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cout << "\n";
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bench("matrix 3x3", mat33);
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bench("quaternion", quat);
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bench("quat-mat ", quatmat);
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bench("isometry3 ", iso3);
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bench("affine3 ", aff3);
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bench("c affine3 ", caff3);
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bench("proj3 ", proj3);
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}
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