mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
5a30cae583
1. Add a version history 2. Update copyright years across the code base 3. Run format_all.sh 4. Update version strings from 2.1.0 to 2.2.0 in the docs and elsewhere. Change-Id: I46d8d479d54bd6002d532785e67342106e73c9ac
218 lines
12 KiB
C++
218 lines
12 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2023 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::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(
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int a_rows, int a_cols, int b_rows, int b_cols, 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( \
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a_rows, a_cols, b_rows, b_cols, c_rows, 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>(data.GetB(iter), \
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b_rows, \
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b_cols, \
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data.GetC(iter), \
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c_rows, \
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c_cols, \
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data.GetA(iter), \
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512, \
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512, \
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a_rows, \
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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( \
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FN, M, N, K, Dynamic, Eigen::Dynamic, Eigen::Dynamic, 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( \
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a_rows, a_cols, b_rows, b_cols, c_rows, 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>(data.GetB(iter), \
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b_rows, \
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b_cols, \
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data.GetC(iter), \
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c_rows, \
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c_cols, \
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data.GetA(iter), \
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0, \
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0, \
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a_rows, \
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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( \
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FN, M, N, K, Dynamic, Eigen::Dynamic, Eigen::Dynamic, 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 ceres::internal
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BENCHMARK_MAIN();
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