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Commit 3df660ad authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Improve matrix product benchmark

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src/examples/test_matrix_prod.cpp
+ 67
− 335
View file @ 3df660ad
...@@ -10,6 +10,50 @@ ...@@ -10,6 +10,50 @@
//std includes //std includes
#include <ctime> #include <ctime>
#include <iostream> #include <iostream>
#include <iomanip>
#define INIT_ALL\
R1.setRandom(s, s);\
R2.setRandom(s, s);\
C1.setRandom(s, s);\
C2.setRandom(s, s);
#define LOOP(N,Mo,M1,M2) \
for (int i = 0; i < N; i++) \
{ \
Mo = M1 * M2; \
M1(2,2) += 0.000001; \
M2(0,0) *= 1.000001; \
/*M2 = Mo; */\
}
#define EVALUATE(N,Mo,M1,M2) \
t0 = clock(); \
LOOP(N,Mo,M1,M2) \
t1 = clock(); \
std::cout << std::setw(15) << Mo(2,2) << "\t";
#define EVALUATE_ALL \
EVALUATE(N, Ro, R1, R2)\
std::cout << "Time Ro = R * R: " << (long double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;\
EVALUATE(N, Ro, R1, C2)\
std::cout << "Time Ro = R * C: " << (long double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;\
EVALUATE(N, Ro, C1, R2)\
std::cout << "Time Ro = C * R: " << (long double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;\
EVALUATE(N, Ro, C1, C2)\
std::cout << "Time Ro = C * C: " << (long double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;\
EVALUATE(N, Co, R1, R2)\
std::cout << "Time Co = R * R: " << (long double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;\
EVALUATE(N, Co, R1, C2)\
std::cout << "Time Co = R * C: " << (long double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;\
EVALUATE(N, Co, C1, R2)\
std::cout << "Time Co = C * R: " << (long double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;\
EVALUATE(N, Co, C1, C2)\
std::cout << "Time Co = C * C: " << (long double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N \
<< "us <-- this is the Eigen default!" << std::endl;
/** /**
* We multiply matrices and see how long it takes. * We multiply matrices and see how long it takes.
...@@ -20,10 +64,10 @@ int main() ...@@ -20,10 +64,10 @@ int main()
{ {
using namespace Eigen; using namespace Eigen;
int N = 1000000; int N = 100000;
const int S = 6; const int S = 6;
Matrix<double, 16, S - 3 + 1> results; Matrix<double, 16, S - 3 + 1> results;
clock_t t0; clock_t t0, t1;
{ {
Matrix<double, Dynamic, Dynamic, RowMajor> R1, R2, Ro; Matrix<double, Dynamic, Dynamic, RowMajor> R1, R2, Ro;
...@@ -31,152 +75,24 @@ int main() ...@@ -31,152 +75,24 @@ int main()
for (int s = 3; s <= S; s++) for (int s = 3; s <= S; s++)
{ {
R1.setRandom(s, s);
R2.setRandom(s, s);
C1.setRandom(s, s);
C2.setRandom(s, s);
std::cout << "Timings for dynamic matrix product. R: row major matrix. C: column major matrix. " << s << "x" std::cout << "Timings for dynamic matrix product. R: row major matrix. C: column major matrix. " << s << "x"
<< s << " matrices." << std::endl; << s << " matrices." << std::endl;
t0 = clock(); INIT_ALL
for (int i = 0; i < N; i++) EVALUATE_ALL
{
Ro = R1 * R2;
R2.setRandom();
}
std::cout << "TimeRo = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = R1 * C2;
C2.setRandom();
}
std::cout << "TimeRo = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = C1 * R2;
R2.setRandom();
}
std::cout << "TimeRo = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = C1 * C2;
C2.setRandom();
}
std::cout << "TimeRo = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = R1 * R2;
R2.setRandom();
}
std::cout << "Time Co = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = R1 * C2;
C2.setRandom();
}
std::cout << "Time Co = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = C1 * R2;
R2.setRandom();
}
std::cout << "Time Co = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = C1 * C2;
C2.setRandom();
}
std::cout << "Time Co = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6
<< "us <-- this is the Eigen default!" << std::endl;
} }
} }
N *= 10; // N *= 1000;
{ {
const int s = 3; const int s = 3;
std::cout << "Timings for static matrix product. R: row major matrix. C: column major matrix. " << s << "x" << s std::cout << "Timings for static matrix product. R: row major matrix. C: column major matrix. " << s << "x" << s
<< " matrices." << std::endl; << " matrices." << std::endl;
Matrix<double, s, s, RowMajor> R1, R2, Ro; Matrix<double, s, s, RowMajor> R1, R2, Ro;
Matrix<double, s, s, ColMajor> C1, C2, Co; Matrix<double, s, s, ColMajor> C1, C2, Co;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = R1 * R2;
R2.setRandom();
}
std::cout << "TimeRo = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = R1 * C2;
C2.setRandom();
}
std::cout << "TimeRo = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = C1 * R2;
R2.setRandom();
}
std::cout << "TimeRo = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = C1 * C2;
C2.setRandom();
}
std::cout << "TimeRo = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = R1 * R2;
R2.setRandom();
}
std::cout << "Time Co = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = R1 * C2;
C2.setRandom();
}
std::cout << "Time Co = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock(); INIT_ALL
for (int i = 0; i < N; i++) EVALUATE_ALL
{
Co = C1 * R2;
R2.setRandom();
}
std::cout << "Time Co = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = C1 * C2;
C2.setRandom();
}
std::cout << "Time Co = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6
<< "us <-- this is the Eigen default!" << std::endl;
} }
{ {
const int s = 4; const int s = 4;
...@@ -184,141 +100,20 @@ int main() ...@@ -184,141 +100,20 @@ int main()
<< " matrices." << std::endl; << " matrices." << std::endl;
Matrix<double, s, s, RowMajor> R1, R2, Ro; Matrix<double, s, s, RowMajor> R1, R2, Ro;
Matrix<double, s, s, ColMajor> C1, C2, Co; Matrix<double, s, s, ColMajor> C1, C2, Co;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = R1 * R2;
R2.setRandom();
}
std::cout << "TimeRo = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = R1 * C2;
C2.setRandom();
}
std::cout << "TimeRo = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = C1 * R2;
R2.setRandom();
}
std::cout << "TimeRo = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = C1 * C2;
C2.setRandom();
}
std::cout << "TimeRo = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = R1 * R2;
R2.setRandom();
}
std::cout << "Time Co = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = R1 * C2;
C2.setRandom();
}
std::cout << "Time Co = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = C1 * R2;
R2.setRandom();
}
std::cout << "Time Co = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock(); INIT_ALL
for (int i = 0; i < N; i++) EVALUATE_ALL
{
Co = C1 * C2;
C2.setRandom();
}
std::cout << "Time Co = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6
<< "us <-- this is the Eigen default!" << std::endl;
} }
// N /= 100000;
{ {
const int s = 5; const int s = 5;
std::cout << "Timings for static matrix product. R: row major matrix. C: column major matrix. " << s << "x" << s std::cout << "Timings for static matrix product. R: row major matrix. C: column major matrix. " << s << "x" << s
<< " matrices." << std::endl; << " matrices." << std::endl;
Matrix<double, s, s, RowMajor> R1, R2, Ro; Matrix<double, s, s, RowMajor> R1, R2, Ro;
Matrix<double, s, s, ColMajor> C1, C2, Co; Matrix<double, s, s, ColMajor> C1, C2, Co;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = R1 * R2;
R2.setRandom();
}
std::cout << "TimeRo = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock(); INIT_ALL
for (int i = 0; i < N; i++) EVALUATE_ALL
{
Ro = R1 * C2;
C2.setRandom();
}
std::cout << "TimeRo = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = C1 * R2;
R2.setRandom();
}
std::cout << "TimeRo = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = C1 * C2;
C2.setRandom();
}
std::cout << "TimeRo = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = R1 * R2;
R2.setRandom();
}
std::cout << "Time Co = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = R1 * C2;
C2.setRandom();
}
std::cout << "Time Co = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = C1 * R2;
R2.setRandom();
}
std::cout << "Time Co = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = C1 * C2;
C2.setRandom();
}
std::cout << "Time Co = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6
<< "us <-- this is the Eigen default!" << std::endl;
} }
{ {
const int s = 6; const int s = 6;
...@@ -326,97 +121,34 @@ int main() ...@@ -326,97 +121,34 @@ int main()
<< " matrices." << std::endl; << " matrices." << std::endl;
Matrix<double, s, s, RowMajor> R1, R2, Ro; Matrix<double, s, s, RowMajor> R1, R2, Ro;
Matrix<double, s, s, ColMajor> C1, C2, Co; Matrix<double, s, s, ColMajor> C1, C2, Co;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = R1 * R2;
R2.setRandom();
}
std::cout << "TimeRo = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock(); INIT_ALL
for (int i = 0; i < N; i++) EVALUATE_ALL
{
Ro = R1 * C2;
C2.setRandom();
}
std::cout << "TimeRo = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = C1 * R2;
R2.setRandom();
}
std::cout << "TimeRo = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Ro = C1 * C2;
C2.setRandom();
}
std::cout << "TimeRo = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = R1 * R2;
R2.setRandom();
}
std::cout << "Time Co = R * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = R1 * C2;
C2.setRandom();
}
std::cout << "Time Co = R * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = C1 * R2;
R2.setRandom();
}
std::cout << "Time Co = C * R: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl;
t0 = clock();
for (int i = 0; i < N; i++)
{
Co = C1 * C2;
C2.setRandom();
}
std::cout << "Time Co = C * C: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6
<< "us <-- this is the Eigen default!" << std::endl;
} }
std::cout << "Test q and R rotations" << std::endl; std::cout << "Test q and R rotations" << std::endl;
Eigen::Quaterniond q(Eigen::Vector4d::Random().normalized()); Eigen::Quaterniond q(Eigen::Vector4d::Random().normalized());
Eigen::Matrix3d R = q.matrix(); Eigen::Matrix3d R = q.matrix();
Eigen::Vector3d v((Eigen::Vector3d() << 1, 2, 3).finished()); Eigen::Vector3d v; v << 1,2,3; double vn = v.norm();
Eigen::Vector3d w;
N *= 10; N *= 100;
t0 = clock(); t0 = clock();
for (int i = 0; i < N; i++) for (int i = 0; i < N; i++)
{ {
w = R * v; v = R * v;
v.setRandom();
} }
t1 = clock();
std::cout << "Time w = R * v: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl; std::cout << "Time w = R * v: " << (double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;
t0 = clock(); t0 = clock();
for (int i = 0; i < N; i++) for (int i = 0; i < N; i++)
{ {
w = q * v; v = q * v;
v.setRandom();
} }
std::cout << "Time w = q * v: " << ((double)clock() - t0) / CLOCKS_PER_SEC / N * 1e6 << "us" << std::endl; t1 = clock();
std::cout << "Time w = q * v: " << (double)(t1 - t0) * 1e9 / CLOCKS_PER_SEC / N << "ns" << std::endl;
std::cout << "v norm change: " << 10*log((long double)v.norm()/(long double)vn) << " dB" << std::endl;
return 0; return 0;
} }
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