Revert changes to MatrixTransposeMatrixMultiply.
This change while algebraically equivalent was causing non-trivial
changes in the numbers being reported by ceres and in some cases
they got worse.
Also fix a small header include in parallel_for_test.cc which
was discovered as part of testing this patch.
Change-Id: I8c8d61538819f0b25af6059fa75ad068fc22f5e4
diff --git a/internal/ceres/benchmarks/macbook-pro-2014-small_blas_gemm_benchmark.json b/internal/ceres/benchmarks/macbook-pro-2014-small_blas_gemm_benchmark.json
index dda3d1f..0c67c43 100644
--- a/internal/ceres/benchmarks/macbook-pro-2014-small_blas_gemm_benchmark.json
+++ b/internal/ceres/benchmarks/macbook-pro-2014-small_blas_gemm_benchmark.json
@@ -1,6 +1,6 @@
{
"context": {
- "date": "2018-02-25 15:01:29",
+ "date": "2018-02-28 19:43:04",
"num_cpus": 8,
"mhz_per_cpu": 2200,
"cpu_scaling_enabled": false,
@@ -9,2158 +9,2158 @@
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- "cpu_time": 1.9739259186620586e+02,
+ "iterations": 3600230,
+ "real_time": 2.0011428214289504e+02,
+ "cpu_time": 2.0009499393093142e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/4/8",
- "iterations": 4200067,
- "real_time": 1.7134937180691117e+02,
- "cpu_time": 1.7126798215361706e+02,
+ "iterations": 2471717,
+ "real_time": 2.7126505825676759e+02,
+ "cpu_time": 2.7118962243654403e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/5/2",
- "iterations": 3795087,
- "real_time": 1.6795350276303446e+02,
- "cpu_time": 1.6785043399533123e+02,
+ "iterations": 7270159,
+ "real_time": 9.4493080275226063e+01,
+ "cpu_time": 9.4463408571934323e+01,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/5/4",
- "iterations": 3927311,
- "real_time": 1.7862383165866763e+02,
- "cpu_time": 1.7855575990798138e+02,
+ "iterations": 4150165,
+ "real_time": 1.6407103741733869e+02,
+ "cpu_time": 1.6404142967810577e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/5/6",
- "iterations": 3291887,
- "real_time": 2.1772611665457177e+02,
- "cpu_time": 2.1768517570622586e+02,
+ "iterations": 2911826,
+ "real_time": 2.4506293164509125e+02,
+ "cpu_time": 2.4500674147426716e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/5/8",
- "iterations": 3392969,
- "real_time": 2.0755736404846601e+02,
- "cpu_time": 2.0703696379189000e+02,
+ "iterations": 2032255,
+ "real_time": 3.4376046313084214e+02,
+ "cpu_time": 3.4369062937475547e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/8/2",
- "iterations": 2791959,
- "real_time": 2.3949916669863933e+02,
- "cpu_time": 2.3945516391894884e+02,
+ "iterations": 4967851,
+ "real_time": 1.4205860199923046e+02,
+ "cpu_time": 1.4200586933867507e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/8/4",
- "iterations": 2434131,
- "real_time": 3.0577923577307126e+02,
- "cpu_time": 3.0552053278975040e+02,
+ "iterations": 2610723,
+ "real_time": 2.6794998895077288e+02,
+ "cpu_time": 2.6778673953534872e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/8/6",
- "iterations": 1967077,
- "real_time": 3.6756307764757895e+02,
- "cpu_time": 3.6740605477060194e+02,
+ "iterations": 1810737,
+ "real_time": 3.8761384066290202e+02,
+ "cpu_time": 3.8755158811025234e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/8/8",
- "iterations": 2025920,
- "real_time": 3.3491070525053374e+02,
- "cpu_time": 3.3465586005372012e+02,
+ "iterations": 1397624,
+ "real_time": 5.1565954290984575e+02,
+ "cpu_time": 5.1543261993213605e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/10/2",
- "iterations": 2461097,
- "real_time": 3.1264561532702294e+02,
- "cpu_time": 3.1207099923328877e+02,
+ "iterations": 4107162,
+ "real_time": 1.7476249001065324e+02,
+ "cpu_time": 1.7469386403556513e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/10/4",
- "iterations": 2026161,
- "real_time": 3.5711660968195963e+02,
- "cpu_time": 3.5638678268904562e+02,
+ "iterations": 2209136,
+ "real_time": 3.2115245824470981e+02,
+ "cpu_time": 3.2110291082124587e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/10/6",
- "iterations": 1376923,
- "real_time": 4.7417879790206104e+02,
- "cpu_time": 4.7359147897156504e+02,
+ "iterations": 1488427,
+ "real_time": 4.6516813589174319e+02,
+ "cpu_time": 4.6504262553689398e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/10/8",
- "iterations": 1779595,
- "real_time": 3.9611361237767579e+02,
- "cpu_time": 3.9577825291708672e+02,
+ "iterations": 1002420,
+ "real_time": 6.4962396500617695e+02,
+ "cpu_time": 6.4912810997389465e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/12/2",
- "iterations": 2069800,
- "real_time": 3.3508949754339409e+02,
- "cpu_time": 3.3507633587785392e+02,
+ "iterations": 3213117,
+ "real_time": 2.1345386520351926e+02,
+ "cpu_time": 2.1340399369209413e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/12/4",
- "iterations": 1819978,
- "real_time": 3.8383968815841575e+02,
- "cpu_time": 3.8376013336425916e+02,
+ "iterations": 1845354,
+ "real_time": 3.9001585495211839e+02,
+ "cpu_time": 3.8995824107460481e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/12/6",
- "iterations": 1389082,
- "real_time": 5.4213400067237194e+02,
- "cpu_time": 5.4144103803809003e+02,
+ "iterations": 1287806,
+ "real_time": 5.7197617653722898e+02,
+ "cpu_time": 5.7176546778010595e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/12/8",
- "iterations": 1455504,
- "real_time": 5.2323143255664854e+02,
- "cpu_time": 5.2207551473579053e+02,
+ "iterations": 955019,
+ "real_time": 7.4115333516755186e+02,
+ "cpu_time": 7.4100096437872696e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/15/2",
- "iterations": 1486986,
- "real_time": 4.3426104686888721e+02,
- "cpu_time": 4.3341564749095130e+02,
+ "iterations": 2637359,
+ "real_time": 2.6210422661453265e+02,
+ "cpu_time": 2.6202462387563122e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/15/4",
- "iterations": 1374112,
- "real_time": 4.8682727903993663e+02,
- "cpu_time": 4.8551355348035122e+02,
+ "iterations": 1461759,
+ "real_time": 4.7793333716346092e+02,
+ "cpu_time": 4.7779011451273010e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/15/6",
- "iterations": 1079964,
- "real_time": 6.4053175021590130e+02,
- "cpu_time": 6.3993984984682413e+02,
+ "iterations": 949603,
+ "real_time": 6.8780457096420480e+02,
+ "cpu_time": 6.8775161830781997e+02,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeMatrixMultiplyDynamic/8/15/8",
- "iterations": 1148388,
- "real_time": 5.4868444198163991e+02,
- "cpu_time": 5.4819364187018891e+02,
+ "iterations": 765931,
+ "real_time": 9.2770876097494795e+02,
+ "cpu_time": 9.2749477433345874e+02,
"time_unit": "ns"
}
]
diff --git a/internal/ceres/parallel_for_test.cc b/internal/ceres/parallel_for_test.cc
index 2f44460..a3cf2dc 100644
--- a/internal/ceres/parallel_for_test.cc
+++ b/internal/ceres/parallel_for_test.cc
@@ -35,6 +35,7 @@
#include "ceres/parallel_for.h"
+#include <cmath>
#include <vector>
#include "ceres/context_impl.h"
diff --git a/internal/ceres/small_blas.h b/internal/ceres/small_blas.h
index 2d050d3..264ac53 100644
--- a/internal/ceres/small_blas.h
+++ b/internal/ceres/small_blas.h
@@ -221,27 +221,22 @@
DCHECK_LE(start_row_c + NUM_ROW_C, row_stride_c);
DCHECK_LE(start_col_c + NUM_COL_C, col_stride_c);
- if (kOperation == 0) {
- std::fill(C, C + NUM_ROW_C * NUM_COL_C, 0.0);
- }
-
- // Evaluate C op A' * B
- // as the sum of rank one outer products of the rows of A and B.
- for (int r = 0; r < NUM_ROW_A; ++r) {
- double* c_row = C + start_row_c * col_stride_c;
- for (int i = 0; i < NUM_COL_A; ++i) {
- const double a_value = A[i];
- for (int j = 0; j < NUM_COL_B; ++j) {
- if (kOperation >= 0) {
- c_row[start_col_c + j] += a_value * B[j];
- } else {
- c_row[start_col_c + j] -= a_value * B[j];
- }
+ for (int row = 0; row < NUM_ROW_C; ++row) {
+ for (int col = 0; col < NUM_COL_C; ++col) {
+ double tmp = 0.0;
+ for (int k = 0; k < NUM_ROW_A; ++k) {
+ tmp += A[k * NUM_COL_A + row] * B[k * NUM_COL_B + col];
}
- c_row += col_stride_c;
+
+ const int index = (row + start_row_c) * col_stride_c + start_col_c + col;
+ if (kOperation > 0) {
+ C[index]+= tmp;
+ } else if (kOperation < 0) {
+ C[index]-= tmp;
+ } else {
+ C[index]= tmp;
+ }
}
- A += NUM_COL_A;
- B += NUM_COL_B;
}
}
