// Ceres Solver - A fast non-linear least squares minimizer // Copyright 2023 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 #include "Eigen/Dense" #include "benchmark/benchmark.h" #include "ceres/small_blas.h" namespace ceres::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 a_; std::vector b_; std::vector 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(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(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 ceres::internal BENCHMARK_MAIN();