add a bench to compare various transformation methods

1 files changed, 121 insertions, 0 deletions

diff --git a/bench/geometry.cpp b/bench/geometry.cpp
new file mode 100644
index 000000000..03294c538
--- /dev/null
+++ b/bench/geometry.cpp
@@ -0,0 +1,121 @@
+
+#include <iostream>
+#include <Eigen/Geometry>
+#include <bench/BenchTimer.h>
+
+using namespace std;
+using namespace Eigen;
+
+#ifndef SCALAR
+#define SCALAR float
+#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,4,100000,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,8>::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;
+  ToRotationMatrixWrapper<Quaternion<Scalar> > quatmat(quat);
+  Matrix<Scalar,3,3> mat33; mat33.setRandom();
+  
+  cout.precision(4);
+  std::cout
+     << "N          ";
+  for(int i=0;i<8;++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);
+}
+