mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Ahmed Taei
aefd37b182
This allows benchmarking both dynamic and static problem sizes. On my X86 2Ghz machine: CPU Caches: L1 Data 32 KiB (x48) L1 Instruction 32 KiB (x48) L2 Unified 1024 KiB (x48) L3 Unified 39424 KiB (x2) ---------------------------------------------------------------------------------------------- Benchmark Time CPU Iterations ---------------------------------------------------------------------------------------------- BM_MatrixMatrixMultiplyEigen_Static_2x3x4 10.9 ns 10.9 ns 63960496 BM_MatrixMatrixMultiplyEigen_Static_3x3x3 11.9 ns 11.9 ns 58093785 BM_MatrixMatrixMultiplyEigen_Static_4x4x4 24.9 ns 24.9 ns 28540133 BM_MatrixMatrixMultiplyEigen_Static_8x8x8 258 ns 258 ns 2755921 BM_MatrixMatrixMultiplyEigen_Static_9x9x3 255 ns 255 ns 2778628 BM_MatrixMatrixMultiplyEigen_Static_9x3x3 37.7 ns 37.7 ns 18556359 BM_MatrixMatrixMultiplyEigen_Static_3x9x9 220 ns 220 ns 3195163 BM_MatrixMatrixMultiplyEigen_Dynamic_2x3x4 37.8 ns 37.7 ns 18491162 BM_MatrixMatrixMultiplyEigen_Dynamic_3x3x3 48.8 ns 48.8 ns 13724884 BM_MatrixMatrixMultiplyEigen_Dynamic_4x4x4 74.5 ns 74.5 ns 9313146 BM_MatrixMatrixMultiplyEigen_Dynamic_8x8x8 271 ns 271 ns 2595807 BM_MatrixMatrixMultiplyEigen_Dynamic_9x9x3 259 ns 259 ns 2688515 BM_MatrixMatrixMultiplyEigen_Dynamic_9x3x3 123 ns 123 ns 5792115 BM_MatrixMatrixMultiplyEigen_Dynamic_3x9x9 236 ns 236 ns 2963896 BM_MatrixMatrixMultiplyNaive_Static_2x3x4 12.2 ns 12.2 ns 56472772 BM_MatrixMatrixMultiplyNaive_Static_3x3x3 15.5 ns 15.5 ns 44346456 BM_MatrixMatrixMultiplyNaive_Static_4x4x4 41.5 ns 41.5 ns 17196984 BM_MatrixMatrixMultiplyNaive_Static_8x8x8 199 ns 199 ns 3561730 BM_MatrixMatrixMultiplyNaive_Static_9x9x3 148 ns 148 ns 4764814 BM_MatrixMatrixMultiplyNaive_Static_9x3x3 38.4 ns 38.4 ns 17259019 BM_MatrixMatrixMultiplyNaive_Static_3x9x9 115 ns 115 ns 6104752 BM_MatrixMatrixMultiplyNaive_Dynamic_2x3x4 9.66 ns 9.66 ns 74722971 BM_MatrixMatrixMultiplyNaive_Dynamic_3x3x3 13.0 ns 13.0 ns 53435308 BM_MatrixMatrixMultiplyNaive_Dynamic_4x4x4 47.8 ns 47.8 ns 14358184 BM_MatrixMatrixMultiplyNaive_Dynamic_8x8x8 200 ns 200 ns 3572809 BM_MatrixMatrixMultiplyNaive_Dynamic_9x9x3 104 ns 104 ns 6793797 BM_MatrixMatrixMultiplyNaive_Dynamic_9x3x3 34.0 ns 34.0 ns 20790695 BM_MatrixMatrixMultiplyNaive_Dynamic_3x9x9 130 ns 130 ns 5170402 BM_MatrixTransposeMatrixMultiplyEigen_Static_2x3x4 10.3 ns 10.3 ns 69105234 BM_MatrixTransposeMatrixMultiplyEigen_Static_3x3x3 28.9 ns 28.9 ns 24478934 BM_MatrixTransposeMatrixMultiplyEigen_Static_4x4x4 23.7 ns 23.7 ns 29351926 BM_MatrixTransposeMatrixMultiplyEigen_Static_8x8x8 233 ns 233 ns 2929398 BM_MatrixTransposeMatrixMultiplyEigen_Static_9x9x3 211 ns 211 ns 3287409 BM_MatrixTransposeMatrixMultiplyEigen_Static_9x3x3 26.5 ns 26.5 ns 26515136 BM_MatrixTransposeMatrixMultiplyEigen_Static_3x9x9 196 ns 196 ns 3594314 BM_MatrixTransposeMatrixMultiplyEigen_Dynamic_2x3x4 9.05 ns 9.05 ns 77621001 BM_MatrixTransposeMatrixMultiplyEigen_Dynamic_3x3x3 11.1 ns 11.1 ns 62227812 BM_MatrixTransposeMatrixMultiplyEigen_Dynamic_4x4x4 25.5 ns 25.5 ns 27356089 BM_MatrixTransposeMatrixMultiplyEigen_Dynamic_8x8x8 248 ns 248 ns 2834983 BM_MatrixTransposeMatrixMultiplyEigen_Dynamic_9x9x3 229 ns 229 ns 3082369 BM_MatrixTransposeMatrixMultiplyEigen_Dynamic_9x3x3 28.4 ns 28.4 ns 24318629 BM_MatrixTransposeMatrixMultiplyEigen_Dynamic_3x9x9 229 ns 229 ns 3091288 BM_MatrixTransposeMatrixMultiplyNaive_Static_2x3x4 11.0 ns 11.0 ns 63773538 BM_MatrixTransposeMatrixMultiplyNaive_Static_3x3x3 19.1 ns 19.1 ns 37003139 BM_MatrixTransposeMatrixMultiplyNaive_Static_4x4x4 49.1 ns 49.1 ns 14142301 BM_MatrixTransposeMatrixMultiplyNaive_Static_8x8x8 244 ns 244 ns 2874755 BM_MatrixTransposeMatrixMultiplyNaive_Static_9x9x3 140 ns 140 ns 4992156 BM_MatrixTransposeMatrixMultiplyNaive_Static_9x3x3 46.2 ns 46.2 ns 15068317 BM_MatrixTransposeMatrixMultiplyNaive_Static_3x9x9 112 ns 112 ns 6213574 BM_MatrixTransposeMatrixMultiplyNaive_Dynamic_2x3x4 9.74 ns 9.74 ns 72155001 BM_MatrixTransposeMatrixMultiplyNaive_Dynamic_3x3x3 11.5 ns 11.5 ns 60070577 BM_MatrixTransposeMatrixMultiplyNaive_Dynamic_4x4x4 52.5 ns 52.5 ns 13473642 BM_MatrixTransposeMatrixMultiplyNaive_Dynamic_8x8x8 224 ns 224 ns 3124264 BM_MatrixTransposeMatrixMultiplyNaive_Dynamic_9x9x3 98.0 ns 98.0 ns 7199292 BM_MatrixTransposeMatrixMultiplyNaive_Dynamic_9x3x3 34.7 ns 34.6 ns 20203685 BM_MatrixTransposeMatrixMultiplyNaive_Dynamic_3x9x9 105 ns 105 ns 6653151 Change-Id: Iee403b4d27801d1614ecc1f78a1f8c0011514bd7
204 lines
10 KiB
C++
204 lines
10 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2018 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Authors: sameeragarwal@google.com (Sameer Agarwal)
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#include <iostream>
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#include "Eigen/Dense"
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#include "benchmark/benchmark.h"
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#include "ceres/small_blas.h"
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namespace ceres {
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namespace internal {
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// Benchmarking matrix-matrix multiply routines and optimizing memory
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// access requires that we make sure that they are not just sitting in
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// the cache. So, as the benchmarking routine iterates, we need to
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// multiply new/different matrice. Allocating/creating these objects
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// in the benchmarking loop is too heavy duty, so we create them
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// before hand and cycle through them in the benchmark. This class,
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// given the size of the matrices creates such objects for use in the
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// benchmark.
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class MatrixMatrixMultiplyData {
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public:
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MatrixMatrixMultiplyData(int a_rows, int a_cols, int b_rows, int b_cols,
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int c_rows, int c_cols)
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: num_elements_(1000),
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a_size_(num_elements_ * a_rows * a_cols),
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b_size_(b_rows * b_cols),
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c_size_(c_rows * c_cols),
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a_(num_elements_ * a_size_, 1.00001),
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b_(num_elements_ * b_size_, 0.5),
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c_(num_elements_ * c_size_, -1.1) {}
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int num_elements() const { return num_elements_; }
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double* GetA(int i) { return &a_[i * a_size_]; }
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double* GetB(int i) { return &b_[i * b_size_]; }
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double* GetC(int i) { return &c_[i * c_size_]; }
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private:
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int num_elements_;
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int a_size_;
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int b_size_;
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int c_size_;
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std::vector<double> a_;
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std::vector<double> b_;
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std::vector<double> c_;
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};
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#define GEMM_KIND_EQ 0
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#define GEMM_KIND_ADD 1
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#define GEMM_KIND_SUB -1
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#define BENCHMARK_MM_FN(FN, M, N, K, NAME, MT, NT, KT) \
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void static BM_##FN##_##NAME##_##M##x##N##x##K(benchmark::State& state) { \
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const int b_rows = M; \
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const int b_cols = N; \
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const int c_rows = b_cols; \
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const int c_cols = K; \
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const int a_rows = b_rows; \
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const int a_cols = c_cols; \
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MatrixMatrixMultiplyData data(a_rows, a_cols, b_rows, b_cols, c_rows, \
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c_cols); \
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const int num_elements = data.num_elements(); \
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int iter = 0; \
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for (auto _ : state) { \
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FN<MT, KT, KT, NT, GEMM_KIND_ADD>( \
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data.GetB(iter), b_rows, b_cols, data.GetC(iter), c_rows, c_cols, \
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data.GetA(iter), 512, 512, a_rows, a_cols); \
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iter = (iter + 1) % num_elements; \
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} \
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} \
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BENCHMARK(BM_##FN##_##NAME##_##M##x##N##x##K);
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#define BENCHMARK_STATIC_MM_FN(FN, M, N, K) \
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BENCHMARK_MM_FN(FN, M, N, K, Static, M, N, K)
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#define BENCHMARK_DYNAMIC_MM_FN(FN, M, N, K) \
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BENCHMARK_MM_FN(FN, M, N, K, Dynamic, Eigen::Dynamic, Eigen::Dynamic, \
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Eigen::Dynamic)
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#define BENCHMARK_MTM_FN(FN, M, N, K, NAME, MT, NT, KT) \
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void static BM_##FN##_##NAME##_##M##x##N##x##K(benchmark::State& state) { \
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const int b_rows = M; \
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const int b_cols = N; \
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const int c_rows = b_rows; \
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const int c_cols = K; \
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const int a_rows = b_cols; \
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const int a_cols = c_cols; \
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MatrixMatrixMultiplyData data(a_rows, a_cols, b_rows, b_cols, c_rows, \
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c_cols); \
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const int num_elements = data.num_elements(); \
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int iter = 0; \
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for (auto _ : state) { \
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FN<KT, MT, KT, NT, GEMM_KIND_ADD>( \
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data.GetB(iter), b_rows, b_cols, data.GetC(iter), c_rows, c_cols, \
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data.GetA(iter), 0, 0, a_rows, a_cols); \
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iter = (iter + 1) % num_elements; \
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} \
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} \
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BENCHMARK(BM_##FN##_##NAME##_##M##x##N##x##K);
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#define BENCHMARK_STATIC_MMT_FN(FN, M, N, K) \
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BENCHMARK_MTM_FN(FN, M, N, K, Static, M, N, K)
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#define BENCHMARK_DYNAMIC_MMT_FN(FN, M, N, K) \
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BENCHMARK_MTM_FN(FN, M, N, K, Dynamic, Eigen::Dynamic, Eigen::Dynamic, \
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Eigen::Dynamic)
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BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyEigen, 2, 3, 4)
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BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyEigen, 3, 3, 3)
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BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyEigen, 4, 4, 4)
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BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyEigen, 8, 8, 8)
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BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyEigen, 9, 9, 3)
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BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyEigen, 9, 3, 3)
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BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyEigen, 3, 9, 9)
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BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyEigen, 2, 3, 4)
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BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyEigen, 3, 3, 3)
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BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyEigen, 4, 4, 4)
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BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyEigen, 8, 8, 8)
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BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyEigen, 9, 9, 3)
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BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyEigen, 9, 3, 3)
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BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyEigen, 3, 9, 9)
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BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyNaive, 2, 3, 4)
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BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyNaive, 3, 3, 3)
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BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyNaive, 4, 4, 4)
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BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyNaive, 8, 8, 8)
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BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyNaive, 9, 9, 3)
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BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyNaive, 9, 3, 3)
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BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyNaive, 3, 9, 9)
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BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyNaive, 2, 3, 4)
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BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyNaive, 3, 3, 3)
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BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyNaive, 4, 4, 4)
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BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyNaive, 8, 8, 8)
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BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyNaive, 9, 9, 3)
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BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyNaive, 9, 3, 3)
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BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyNaive, 3, 9, 9)
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BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 2, 3, 4)
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BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 3, 3, 3)
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BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 4, 4, 4)
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BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 8, 8, 8)
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BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 9, 9, 3)
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BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 9, 3, 3)
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BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 3, 9, 9)
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BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 2, 3, 4)
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BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 3, 3, 3)
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BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 4, 4, 4)
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BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 8, 8, 8)
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BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 9, 9, 3)
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BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 9, 3, 3)
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BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 3, 9, 9)
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BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 2, 3, 4)
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BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 3, 3, 3)
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BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 4, 4, 4)
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BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 8, 8, 8)
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BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 9, 9, 3)
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BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 9, 3, 3)
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BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 3, 9, 9)
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BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 2, 3, 4)
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BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 3, 3, 3)
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BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 4, 4, 4)
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BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 8, 8, 8)
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BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 9, 9, 3)
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BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 9, 3, 3)
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BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 3, 9, 9)
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#undef GEMM_KIND_EQ
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#undef GEMM_KIND_ADD
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#undef GEMM_KIND_SUB
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#undef BENCHMARK_MM_FN
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#undef BENCHMARK_STATIC_MM_FN
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#undef BENCHMARK_DYNAMIC_MM_FN
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#undef BENCHMARK_MTM_FN
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#undef BENCHMARK_DYNAMIC_MMT_FN
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#undef BENCHMARK_STATIC_MMT_FN
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} // namespace internal
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} // namespace ceres
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BENCHMARK_MAIN();
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