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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2018 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Authors: sameeragarwal@google.com (Sameer Agarwal)
#include <iostream>
#include "Eigen/Dense"
#include "benchmark/benchmark.h"
#include "ceres/small_blas.h"
namespace ceres {
namespace internal {
// Benchmarking matrix-matrix multiply routines and optimizing memory
// access requires that we make sure that they are not just sitting in
// the cache. So, as the benchmarking routine iterates, we need to
// multiply new/different matrice. Allocating/creating these objects
// in the benchmarking loop is too heavy duty, so we create them
// before hand and cycle through them in the benchmark. This class,
// given the size of the matrices creates such objects for use in the
// benchmark.
class MatrixMatrixMultiplyData {
public:
MatrixMatrixMultiplyData(int a_rows, int a_cols, int b_rows, int b_cols,
int c_rows, int c_cols)
: num_elements_(1000),
a_size_(num_elements_ * a_rows * a_cols),
b_size_(b_rows * b_cols),
c_size_(c_rows * c_cols),
a_(num_elements_ * a_size_, 1.00001),
b_(num_elements_ * b_size_, 0.5),
c_(num_elements_ * c_size_, -1.1) {}
int num_elements() const { return num_elements_; }
double* GetA(int i) { return &a_[i * a_size_]; }
double* GetB(int i) { return &b_[i * b_size_]; }
double* GetC(int i) { return &c_[i * c_size_]; }
private:
int num_elements_;
int a_size_;
int b_size_;
int c_size_;
std::vector<double> a_;
std::vector<double> b_;
std::vector<double> c_;
};
#define GEMM_KIND_EQ 0
#define GEMM_KIND_ADD 1
#define GEMM_KIND_SUB -1
#define BENCHMARK_MM_FN(FN, M, N, K, NAME, MT, NT, KT) \
void static BM_##FN##_##NAME##_##M##x##N##x##K(benchmark::State& state) { \
const int b_rows = M; \
const int b_cols = N; \
const int c_rows = b_cols; \
const int c_cols = K; \
const int a_rows = b_rows; \
const int a_cols = c_cols; \
MatrixMatrixMultiplyData data(a_rows, a_cols, b_rows, b_cols, c_rows, \
c_cols); \
const int num_elements = data.num_elements(); \
int iter = 0; \
for (auto _ : state) { \
FN<MT, KT, KT, NT, GEMM_KIND_ADD>( \
data.GetB(iter), b_rows, b_cols, data.GetC(iter), c_rows, c_cols, \
data.GetA(iter), 512, 512, a_rows, a_cols); \
iter = (iter + 1) % num_elements; \
} \
} \
BENCHMARK(BM_##FN##_##NAME##_##M##x##N##x##K);
#define BENCHMARK_STATIC_MM_FN(FN, M, N, K) \
BENCHMARK_MM_FN(FN, M, N, K, Static, M, N, K)
#define BENCHMARK_DYNAMIC_MM_FN(FN, M, N, K) \
BENCHMARK_MM_FN(FN, M, N, K, Dynamic, Eigen::Dynamic, Eigen::Dynamic, \
Eigen::Dynamic)
#define BENCHMARK_MTM_FN(FN, M, N, K, NAME, MT, NT, KT) \
void static BM_##FN##_##NAME##_##M##x##N##x##K(benchmark::State& state) { \
const int b_rows = M; \
const int b_cols = N; \
const int c_rows = b_rows; \
const int c_cols = K; \
const int a_rows = b_cols; \
const int a_cols = c_cols; \
MatrixMatrixMultiplyData data(a_rows, a_cols, b_rows, b_cols, c_rows, \
c_cols); \
const int num_elements = data.num_elements(); \
int iter = 0; \
for (auto _ : state) { \
FN<KT, MT, KT, NT, GEMM_KIND_ADD>( \
data.GetB(iter), b_rows, b_cols, data.GetC(iter), c_rows, c_cols, \
data.GetA(iter), 0, 0, a_rows, a_cols); \
iter = (iter + 1) % num_elements; \
} \
} \
BENCHMARK(BM_##FN##_##NAME##_##M##x##N##x##K);
#define BENCHMARK_STATIC_MMT_FN(FN, M, N, K) \
BENCHMARK_MTM_FN(FN, M, N, K, Static, M, N, K)
#define BENCHMARK_DYNAMIC_MMT_FN(FN, M, N, K) \
BENCHMARK_MTM_FN(FN, M, N, K, Dynamic, Eigen::Dynamic, Eigen::Dynamic, \
Eigen::Dynamic)
BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyEigen, 2, 3, 4)
BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyEigen, 3, 3, 3)
BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyEigen, 4, 4, 4)
BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyEigen, 8, 8, 8)
BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyEigen, 9, 9, 3)
BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyEigen, 9, 3, 3)
BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyEigen, 3, 9, 9)
BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyEigen, 2, 3, 4)
BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyEigen, 3, 3, 3)
BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyEigen, 4, 4, 4)
BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyEigen, 8, 8, 8)
BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyEigen, 9, 9, 3)
BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyEigen, 9, 3, 3)
BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyEigen, 3, 9, 9)
BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyNaive, 2, 3, 4)
BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyNaive, 3, 3, 3)
BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyNaive, 4, 4, 4)
BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyNaive, 8, 8, 8)
BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyNaive, 9, 9, 3)
BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyNaive, 9, 3, 3)
BENCHMARK_STATIC_MM_FN(MatrixMatrixMultiplyNaive, 3, 9, 9)
BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyNaive, 2, 3, 4)
BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyNaive, 3, 3, 3)
BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyNaive, 4, 4, 4)
BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyNaive, 8, 8, 8)
BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyNaive, 9, 9, 3)
BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyNaive, 9, 3, 3)
BENCHMARK_DYNAMIC_MM_FN(MatrixMatrixMultiplyNaive, 3, 9, 9)
BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 2, 3, 4)
BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 3, 3, 3)
BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 4, 4, 4)
BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 8, 8, 8)
BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 9, 9, 3)
BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 9, 3, 3)
BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 3, 9, 9)
BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 2, 3, 4)
BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 3, 3, 3)
BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 4, 4, 4)
BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 8, 8, 8)
BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 9, 9, 3)
BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 9, 3, 3)
BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyEigen, 3, 9, 9)
BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 2, 3, 4)
BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 3, 3, 3)
BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 4, 4, 4)
BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 8, 8, 8)
BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 9, 9, 3)
BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 9, 3, 3)
BENCHMARK_STATIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 3, 9, 9)
BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 2, 3, 4)
BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 3, 3, 3)
BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 4, 4, 4)
BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 8, 8, 8)
BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 9, 9, 3)
BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 9, 3, 3)
BENCHMARK_DYNAMIC_MMT_FN(MatrixTransposeMatrixMultiplyNaive, 3, 9, 9)
#undef GEMM_KIND_EQ
#undef GEMM_KIND_ADD
#undef GEMM_KIND_SUB
#undef BENCHMARK_MM_FN
#undef BENCHMARK_STATIC_MM_FN
#undef BENCHMARK_DYNAMIC_MM_FN
#undef BENCHMARK_MTM_FN
#undef BENCHMARK_DYNAMIC_MMT_FN
#undef BENCHMARK_STATIC_MMT_FN
} // namespace internal
} // namespace ceres
BENCHMARK_MAIN();
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