|
|
#include <iostream>
#include <iomanip>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <bench/BenchTimer.h>
using namespace StormEigen; 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); }
|