mirror of
https://gitlab.com/libeigen/eigen.git
synced 2024-11-21 03:11:25 +08:00
127 lines
3.2 KiB
C++
127 lines
3.2 KiB
C++
|
|
#include <iostream>
|
|
#include <Eigen/Geometry>
|
|
#include <bench/BenchTimer.h>
|
|
|
|
using namespace std;
|
|
using namespace Eigen;
|
|
|
|
#ifndef SCALAR
|
|
#define SCALAR float
|
|
#endif
|
|
|
|
#ifndef SIZE
|
|
#define SIZE 8
|
|
#endif
|
|
|
|
typedef SCALAR Scalar;
|
|
typedef NumTraits<Scalar>::Real RealScalar;
|
|
typedef Matrix<RealScalar,Dynamic,Dynamic> A;
|
|
typedef Matrix</*Real*/Scalar,Dynamic,Dynamic> B;
|
|
typedef Matrix<Scalar,Dynamic,Dynamic> C;
|
|
typedef Matrix<RealScalar,Dynamic,Dynamic> M;
|
|
|
|
template<typename Transformation, typename Data>
|
|
EIGEN_DONT_INLINE void transform(const Transformation& t, Data& data)
|
|
{
|
|
EIGEN_ASM_COMMENT("begin");
|
|
data = t * data;
|
|
EIGEN_ASM_COMMENT("end");
|
|
}
|
|
|
|
template<typename Scalar, typename Data>
|
|
EIGEN_DONT_INLINE void transform(const Quaternion<Scalar>& t, Data& data)
|
|
{
|
|
EIGEN_ASM_COMMENT("begin quat");
|
|
for(int i=0;i<data.cols();++i)
|
|
data.col(i) = t * data.col(i);
|
|
EIGEN_ASM_COMMENT("end quat");
|
|
}
|
|
|
|
template<typename T> struct ToRotationMatrixWrapper
|
|
{
|
|
enum {Dim = T::Dim};
|
|
typedef typename T::Scalar Scalar;
|
|
ToRotationMatrixWrapper(const T& o) : object(o) {}
|
|
T object;
|
|
};
|
|
|
|
template<typename QType, typename Data>
|
|
EIGEN_DONT_INLINE void transform(const ToRotationMatrixWrapper<QType>& t, Data& data)
|
|
{
|
|
EIGEN_ASM_COMMENT("begin quat via mat");
|
|
data = t.object.toRotationMatrix() * data;
|
|
EIGEN_ASM_COMMENT("end quat via mat");
|
|
}
|
|
|
|
template<typename Scalar, int Dim, typename Data>
|
|
EIGEN_DONT_INLINE void transform(const Transform<Scalar,Dim,Projective>& t, Data& data)
|
|
{
|
|
data = (t * data.colwise().homogeneous()).template block<Dim,Data::ColsAtCompileTime>(0,0);
|
|
}
|
|
|
|
template<typename T> struct get_dim { enum { Dim = T::Dim }; };
|
|
template<typename S, int R, int C, int O, int MR, int MC>
|
|
struct get_dim<Matrix<S,R,C,O,MR,MC> > { enum { Dim = R }; };
|
|
|
|
template<typename Transformation, int N>
|
|
struct bench_impl
|
|
{
|
|
static EIGEN_DONT_INLINE void run(const Transformation& t)
|
|
{
|
|
Matrix<typename Transformation::Scalar,get_dim<Transformation>::Dim,N> data;
|
|
data.setRandom();
|
|
bench_impl<Transformation,N-1>::run(t);
|
|
BenchTimer timer;
|
|
BENCH(timer,10,100000,transform(t,data));
|
|
cout.width(9);
|
|
cout << timer.best() << " ";
|
|
}
|
|
};
|
|
|
|
|
|
template<typename Transformation>
|
|
struct bench_impl<Transformation,0>
|
|
{
|
|
static EIGEN_DONT_INLINE void run(const Transformation&) {}
|
|
};
|
|
|
|
template<typename Transformation>
|
|
EIGEN_DONT_INLINE void bench(const std::string& msg, const Transformation& t)
|
|
{
|
|
cout << msg << " ";
|
|
bench_impl<Transformation,SIZE>::run(t);
|
|
std::cout << "\n";
|
|
}
|
|
|
|
int main(int argc, char ** argv)
|
|
{
|
|
Matrix<Scalar,3,4> mat34; mat34.setRandom();
|
|
Transform<Scalar,3,Isometry> iso3(mat34);
|
|
Transform<Scalar,3,Affine> aff3(mat34);
|
|
Transform<Scalar,3,AffineCompact> caff3(mat34);
|
|
Transform<Scalar,3,Projective> proj3(mat34);
|
|
Quaternion<Scalar> quat;quat.setIdentity();
|
|
ToRotationMatrixWrapper<Quaternion<Scalar> > quatmat(quat);
|
|
Matrix<Scalar,3,3> mat33; mat33.setRandom();
|
|
|
|
cout.precision(4);
|
|
std::cout
|
|
<< "N ";
|
|
for(int i=0;i<SIZE;++i)
|
|
{
|
|
cout.width(9);
|
|
cout << i+1 << " ";
|
|
}
|
|
cout << "\n";
|
|
|
|
bench("matrix 3x3", mat33);
|
|
bench("quaternion", quat);
|
|
bench("quat-mat ", quatmat);
|
|
bench("isometry3 ", iso3);
|
|
bench("affine3 ", aff3);
|
|
bench("c affine3 ", caff3);
|
|
bench("proj3 ", proj3);
|
|
}
|
|
|