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gtsam/timing/timeMatrixOps.cpp

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/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file timeublas.cpp
* @brief Tests to help determine which way of accomplishing something with Eigen is faster
* @author Richard Roberts
* @date Sep 18, 2010
*/
#include <gtsam/base/timing.h>
#include <gtsam/base/Matrix.h>
#include <iostream>
#include <random>
#include <vector>
#include <utility>
using namespace std;
//namespace ublas = boost::numeric::ublas;
//using namespace Eigen;
static std::mt19937 rng;
static std::uniform_real_distribution<> uniform(-1.0, 0.0);
//typedef ublas::matrix<double> matrix;
//typedef ublas::matrix_range<matrix> matrix_range;
//typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic> matrix;
//typedef Eigen::Block<matrix> matrix_block;
//using ublas::range;
//using ublas::triangular_matrix;
int main(int argc, char* argv[]) {
if(true) {
cout << "\nTiming matrix_block:" << endl;
// We use volatile here to make these appear to the optimizing compiler as
// if their values are only known at run-time.
volatile size_t m=500;
volatile size_t n=300;
volatile size_t nReps = 1000;
assert(m > n);
std::uniform_int_distribution<size_t> uniform_i(0,m-1);
std::uniform_int_distribution<size_t> uniform_j(0,n-1);
gtsam::Matrix mat((int)m,(int)n);
gtsam::SubMatrix full = mat.block(0, 0, m, n);
gtsam::SubMatrix top = mat.block(0, 0, n, n);
gtsam::SubMatrix block = mat.block(m/4, n/4, m-m/2, n-n/2);
cout << " Basic: " << (int)m << "x" << (int)n << endl;
cout << " Full: mat(" << 0 << ":" << (int)m << ", " << 0 << ":" << (int)n << ")" << endl;
cout << " Top: mat(" << 0 << ":" << (int)n << ", " << 0 << ":" << (int)n << ")" << endl;
cout << " Block: mat(" << size_t(m/4) << ":" << size_t(m-m/4) << ", " << size_t(n/4) << ":" << size_t(n-n/4) << ")" << endl;
cout << endl;
{
double basicTime, fullTime, topTime, blockTime;
cout << "Row-major matrix, row-major assignment:" << endl;
// Do a few initial assignments to let any cache effects stabilize
for(size_t rep=0; rep<1000; ++rep)
for(size_t i=0; i<(size_t)mat.rows(); ++i)
for(size_t j=0; j<(size_t)mat.cols(); ++j)
mat(i,j) = uniform(rng);
gttic_(basicTime);
for(size_t rep=0; rep<nReps; ++rep)
for(size_t i=0; i<(size_t)mat.rows(); ++i)
for(size_t j=0; j<(size_t)mat.cols(); ++j)
mat(i,j) = uniform(rng);
gttoc_(basicTime);
tictoc_getNode(basicTimeNode, basicTime);
basicTime = basicTimeNode->secs();
gtsam::tictoc_reset_();
cout << " Basic: " << double(1000000 * basicTime / double(mat.rows()*mat.cols()*nReps)) << " μs/element" << endl;
gttic_(fullTime);
for(size_t rep=0; rep<nReps; ++rep)
for(size_t i=0; i<(size_t)full.rows(); ++i)
for(size_t j=0; j<(size_t)full.cols(); ++j)
full(i,j) = uniform(rng);
gttoc_(fullTime);
tictoc_getNode(fullTimeNode, fullTime);
fullTime = fullTimeNode->secs();
gtsam::tictoc_reset_();
cout << " Full: " << double(1000000 * fullTime / double(full.rows()*full.cols()*nReps)) << " μs/element" << endl;
gttic_(topTime);
for(size_t rep=0; rep<nReps; ++rep)
for(size_t i=0; i<(size_t)top.rows(); ++i)
for(size_t j=0; j<(size_t)top.cols(); ++j)
top(i,j) = uniform(rng);
gttoc_(topTime);
tictoc_getNode(topTimeNode, topTime);
topTime = topTimeNode->secs();
gtsam::tictoc_reset_();
cout << " Top: " << double(1000000 * topTime / double(top.rows()*top.cols()*nReps)) << " μs/element" << endl;
gttic_(blockTime);
for(size_t rep=0; rep<nReps; ++rep)
for(size_t i=0; i<(size_t)block.rows(); ++i)
for(size_t j=0; j<(size_t)block.cols(); ++j)
block(i,j) = uniform(rng);
gttoc_(blockTime);
tictoc_getNode(blockTimeNode, blockTime);
blockTime = blockTimeNode->secs();
gtsam::tictoc_reset_();
cout << " Block: " << double(1000000 * blockTime / double(block.rows()*block.cols()*nReps)) << " μs/element" << endl;
cout << endl;
}
{
double basicTime, fullTime, topTime, blockTime;
cout << "Row-major matrix, column-major assignment:" << endl;
// Do a few initial assignments to let any cache effects stabilize
for(size_t rep=0; rep<1000; ++rep)
for(size_t j=0; j<(size_t)mat.cols(); ++j)
for(size_t i=0; i<(size_t)mat.rows(); ++i)
mat(i,j) = uniform(rng);
gttic_(basicTime);
for(size_t rep=0; rep<nReps; ++rep)
for(size_t j=0; j<(size_t)mat.cols(); ++j)
for(size_t i=0; i<(size_t)mat.rows(); ++i)
mat(i,j) = uniform(rng);
gttoc_(basicTime);
tictoc_getNode(basicTimeNode, basicTime);
basicTime = basicTimeNode->secs();
gtsam::tictoc_reset_();
cout << " Basic: " << double(1000000 * basicTime / double(mat.rows()*mat.cols()*nReps)) << " μs/element" << endl;
gttic_(fullTime);
for(size_t rep=0; rep<nReps; ++rep)
for(size_t j=0; j<(size_t)full.cols(); ++j)
for(size_t i=0; i<(size_t)full.rows(); ++i)
full(i,j) = uniform(rng);
gttoc_(fullTime);
tictoc_getNode(fullTimeNode, fullTime);
fullTime = fullTimeNode->secs();
gtsam::tictoc_reset_();
cout << " Full: " << double(1000000 * fullTime / double(full.rows()*full.cols()*nReps)) << " μs/element" << endl;
gttic_(topTime);
for(size_t rep=0; rep<nReps; ++rep)
for(size_t j=0; j<(size_t)top.cols(); ++j)
for(size_t i=0; i<(size_t)top.rows(); ++i)
top(i,j) = uniform(rng);
gttoc_(topTime);
tictoc_getNode(topTimeNode, topTime);
topTime = topTimeNode->secs();
gtsam::tictoc_reset_();
cout << " Top: " << double(1000000 * topTime / double(top.rows()*top.cols()*nReps)) << " μs/element" << endl;
gttic_(blockTime);
for(size_t rep=0; rep<nReps; ++rep)
for(size_t j=0; j<(size_t)block.cols(); ++j)
for(size_t i=0; i<(size_t)block.rows(); ++i)
block(i,j) = uniform(rng);
gttoc_(blockTime);
tictoc_getNode(blockTimeNode, blockTime);
blockTime = blockTimeNode->secs();
gtsam::tictoc_reset_();
cout << " Block: " << double(1000000 * blockTime / double(block.rows()*block.cols()*nReps)) << " μs/element" << endl;
cout << endl;
}
{
double basicTime, fullTime, topTime, blockTime;
typedef std::pair<size_t,size_t> ij_t;
std::vector<ij_t> ijs(100000);
cout << "Row-major matrix, random assignment:" << endl;
// Do a few initial assignments to let any cache effects stabilize
for (auto& ij : ijs) ij = {uniform_i(rng), uniform_j(rng)};
for(size_t rep=0; rep<1000; ++rep)
for(const auto& [i, j]: ijs) { mat(i, j) = uniform(rng); }
gttic_(basicTime);
for (auto& ij : ijs) ij = {uniform_i(rng), uniform_j(rng)};
for(size_t rep=0; rep<1000; ++rep)
for(const auto& [i, j]: ijs) { mat(i, j) = uniform(rng); }
gttoc_(basicTime);
tictoc_getNode(basicTimeNode, basicTime);
basicTime = basicTimeNode->secs();
gtsam::tictoc_reset_();
cout << " Basic: " << double(1000000 * basicTime / double(ijs.size()*nReps)) << " μs/element" << endl;
gttic_(fullTime);
for (auto& ij : ijs) ij = {uniform_i(rng), uniform_j(rng)};
for(size_t rep=0; rep<1000; ++rep)
for(const auto& [i, j]: ijs) { full(i, j) = uniform(rng); }
gttoc_(fullTime);
tictoc_getNode(fullTimeNode, fullTime);
fullTime = fullTimeNode->secs();
gtsam::tictoc_reset_();
cout << " Full: " << double(1000000 * fullTime / double(ijs.size()*nReps)) << " μs/element" << endl;
gttic_(topTime);
for (auto& ij : ijs) ij = {uniform_i(rng) % top.rows(), uniform_j(rng)};
for(size_t rep=0; rep<1000; ++rep)
for(const auto& [i, j]: ijs) { top(i, j) = uniform(rng); }
gttoc_(topTime);
tictoc_getNode(topTimeNode, topTime);
topTime = topTimeNode->secs();
gtsam::tictoc_reset_();
cout << " Top: " << double(1000000 * topTime / double(ijs.size()*nReps)) << " μs/element" << endl;
gttic_(blockTime);
for (auto& ij : ijs)
ij = {uniform_i(rng) % block.rows(), uniform_j(rng) % block.cols()};
for(size_t rep=0; rep<1000; ++rep)
for(const auto& [i, j]: ijs) { block(i, j) = uniform(rng); }
gttoc_(blockTime);
tictoc_getNode(blockTimeNode, blockTime);
blockTime = blockTimeNode->secs();
gtsam::tictoc_reset_();
cout << " Block: " << double(1000000 * blockTime / double(ijs.size()*nReps)) << " μs/element" << endl;
cout << endl;
}
}
// if(true) {
// cout << "\nTesting square triangular matrices:" << endl;
//
//// typedef triangular_matrix<double, ublas::upper, ublas::column_major> triangular;
//// typedef ublas::matrix<double, ublas::column_major> matrix;
// typedef MatrixXd matrix; // default col major
//
//// triangular tri(5,5);
//
// matrix mat(5,5);
// for(size_t j=0; j<(size_t)mat.cols(); ++j)
// for(size_t i=0; i<(size_t)mat.rows(); ++i)
// mat(i,j) = uniform(rng);
//
// tri = ublas::triangular_adaptor<matrix, ublas::upper>(mat);
// cout << " Assigned from triangular adapter: " << tri << endl;
//
// cout << " Triangular adapter of mat: " << ublas::triangular_adaptor<matrix, ublas::upper>(mat) << endl;
//
// for(size_t j=0; j<(size_t)mat.cols(); ++j)
// for(size_t i=0; i<(size_t)mat.rows(); ++i)
// mat(i,j) = uniform(rng);
// mat = tri;
// cout << " Assign matrix from triangular: " << mat << endl;
//
// for(size_t j=0; j<(size_t)mat.cols(); ++j)
// for(size_t i=0; i<(size_t)mat.rows(); ++i)
// mat(i,j) = uniform(rng);
// (ublas::triangular_adaptor<matrix, ublas::upper>(mat)) = tri;
// cout << " Assign triangular adaptor from triangular: " << mat << endl;
// }
// {
// cout << "\nTesting wide triangular matrices:" << endl;
//
// typedef triangular_matrix<double, ublas::upper, ublas::column_major> triangular;
// typedef ublas::matrix<double, ublas::column_major> matrix;
//
// triangular tri(5,7);
//
// matrix mat(5,7);
// for(size_t j=0; j<(size_t)mat.cols(); ++j)
// for(size_t i=0; i<(size_t)mat.rows(); ++i)
// mat(i,j) = uniform(rng);
//
// tri = ublas::triangular_adaptor<matrix, ublas::upper>(mat);
// cout << " Assigned from triangular adapter: " << tri << endl;
//
// cout << " Triangular adapter of mat: " << ublas::triangular_adaptor<matrix, ublas::upper>(mat) << endl;
//
// for(size_t j=0; j<(size_t)mat.cols(); ++j)
// for(size_t i=0; i<(size_t)mat.rows(); ++i)
// mat(i,j) = uniform(rng);
// mat = tri;
// cout << " Assign matrix from triangular: " << mat << endl;
//
// for(size_t j=0; j<(size_t)mat.cols(); ++j)
// for(size_t i=0; i<(size_t)mat.rows(); ++i)
// mat(i,j) = uniform(rng);
// mat = ublas::triangular_adaptor<matrix, ublas::upper>(mat);
// cout << " Assign matrix from triangular adaptor of self: " << mat << endl;
// }
// {
// cout << "\nTesting subvectors:" << endl;
//
// typedef MatrixXd matrix;
// matrix mat(4,4);
//
// for(size_t j=0; j<(size_t)mat.cols(); ++j)
// for(size_t i=0; i<(size_t)mat.rows(); ++i)
// mat(i,j) = i*mat.rows() + j;
// cout << " mat = " << mat;
//
// cout << " vec(1:4, 2:2) = " << mat.block(1,2, ), ublas::range(1,4), ublas::range(2,2));
//
// }
return 0;
}
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