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Move eigen to third party (#282)

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* remove useless statement

* Add eigen to third_party dir

* remove reducdant lines
This commit is contained in:
Jack Zhou
2022-09-26 19:24:02 +08:00
committed by GitHub
parent 36eb6fbba6
commit 355382ad63
1781 changed files with 420576 additions and 71 deletions
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121
third_party/eigen/bench/benchGeometry.cpp vendored Normal file
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#include <bench/BenchTimer.h>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <iomanip>
#include <iostream>
using namespace Eigen;
using namespace std;
#ifndef REPEAT
#define REPEAT 1000000
#endif
enum func_opt {
TV,
TMATV,
TMATVMAT,
};
template <class res, class arg1, class arg2, int opt>
struct func;
template <class res, class arg1, class arg2>
struct func<res, arg1, arg2, TV> {
static EIGEN_DONT_INLINE res run(arg1& a1, arg2& a2) {
asm("");
return a1 * a2;
}
};
template <class res, class arg1, class arg2>
struct func<res, arg1, arg2, TMATV> {
static EIGEN_DONT_INLINE res run(arg1& a1, arg2& a2) {
asm("");
return a1.matrix() * a2;
}
};
template <class res, class arg1, class arg2>
struct func<res, arg1, arg2, TMATVMAT> {
static EIGEN_DONT_INLINE res run(arg1& a1, arg2& a2) {
asm("");
return res(a1.matrix() * a2.matrix());
}
};
template <class func, class arg1, class arg2>
struct test_transform {
static void run() {
arg1 a1;
a1.setIdentity();
arg2 a2;
a2.setIdentity();
BenchTimer timer;
timer.reset();
for (int k = 0; k < 10; ++k) {
timer.start();
for (int k = 0; k < REPEAT; ++k) a2 = func::run(a1, a2);
timer.stop();
}
cout << setprecision(4) << fixed << timer.value() << "s " << endl;
;
}
};
#define run_vec(op, scalar, mode, option, vsize) \
std::cout << #scalar << "\t " << #mode << "\t " << #option << " " \
<< #vsize " "; \
{ \
typedef Transform<scalar, 3, mode, option> Trans; \
typedef Matrix<scalar, vsize, 1, option> Vec; \
typedef func<Vec, Trans, Vec, op> Func; \
test_transform<Func, Trans, Vec>::run(); \
}
#define run_trans(op, scalar, mode, option) \
std::cout << #scalar << "\t " << #mode << "\t " << #option << " "; \
{ \
typedef Transform<scalar, 3, mode, option> Trans; \
typedef func<Trans, Trans, Trans, op> Func; \
test_transform<Func, Trans, Trans>::run(); \
}
int main(int argc, char* argv[]) {
cout << "vec = trans * vec" << endl;
run_vec(TV, float, Isometry, AutoAlign, 3);
run_vec(TV, float, Isometry, DontAlign, 3);
run_vec(TV, float, Isometry, AutoAlign, 4);
run_vec(TV, float, Isometry, DontAlign, 4);
run_vec(TV, float, Projective, AutoAlign, 4);
run_vec(TV, float, Projective, DontAlign, 4);
run_vec(TV, double, Isometry, AutoAlign, 3);
run_vec(TV, double, Isometry, DontAlign, 3);
run_vec(TV, double, Isometry, AutoAlign, 4);
run_vec(TV, double, Isometry, DontAlign, 4);
run_vec(TV, double, Projective, AutoAlign, 4);
run_vec(TV, double, Projective, DontAlign, 4);
cout << "vec = trans.matrix() * vec" << endl;
run_vec(TMATV, float, Isometry, AutoAlign, 4);
run_vec(TMATV, float, Isometry, DontAlign, 4);
run_vec(TMATV, double, Isometry, AutoAlign, 4);
run_vec(TMATV, double, Isometry, DontAlign, 4);
cout << "trans = trans1 * trans" << endl;
run_trans(TV, float, Isometry, AutoAlign);
run_trans(TV, float, Isometry, DontAlign);
run_trans(TV, double, Isometry, AutoAlign);
run_trans(TV, double, Isometry, DontAlign);
run_trans(TV, float, Projective, AutoAlign);
run_trans(TV, float, Projective, DontAlign);
run_trans(TV, double, Projective, AutoAlign);
run_trans(TV, double, Projective, DontAlign);
cout << "trans = trans1.matrix() * trans.matrix()" << endl;
run_trans(TMATVMAT, float, Isometry, AutoAlign);
run_trans(TMATVMAT, float, Isometry, DontAlign);
run_trans(TMATVMAT, double, Isometry, AutoAlign);
run_trans(TMATVMAT, double, Isometry, DontAlign);
}