Revert "Improve the performance of MatrixTransposeVector Multiply."
This reverts commit 6c835f81a7c4315518c0ed766b1eef511335bf0b.
This CL introduced a subtle cancellation error which is causing
some application tests to fail, and is therefore being reverted.
Change-Id: Iaaa8f13a18f0a805b0e70a25ccd1e97efb21f330
diff --git a/internal/ceres/benchmarks/macbook-pro-2014-small_blas_gemv_benchmark.json b/internal/ceres/benchmarks/macbook-pro-2014-small_blas_gemv_benchmark.json
index 1798ccb..3e483a2 100644
--- a/internal/ceres/benchmarks/macbook-pro-2014-small_blas_gemv_benchmark.json
+++ b/internal/ceres/benchmarks/macbook-pro-2014-small_blas_gemv_benchmark.json
@@ -1,6 +1,6 @@
{
"context": {
- "date": "2018-02-25 13:34:34",
+ "date": "2018-02-25 13:20:04",
"num_cpus": 8,
"mhz_per_cpu": 2200,
"cpu_scaling_enabled": false,
@@ -9,506 +9,506 @@
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- "cpu_time": 2.0909078230974622e+01,
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+ "real_time": 1.8768082416320095e+01,
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"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeVectorMultiply/3/4",
- "iterations": 36580841,
- "real_time": 2.2141558800840450e+01,
- "cpu_time": 2.1718254099188123e+01,
+ "iterations": 32392711,
+ "real_time": 2.1793111421538484e+01,
+ "cpu_time": 2.1554787433506387e+01,
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},
{
"name": "BM_MatrixTransposeVectorMultiply/3/6",
- "iterations": 27507181,
- "real_time": 2.5637143914685403e+01,
- "cpu_time": 2.5370575050929215e+01,
+ "iterations": 25449918,
+ "real_time": 2.7307808579096385e+01,
+ "cpu_time": 2.7092071573668875e+01,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeVectorMultiply/3/7",
- "iterations": 25641026,
- "real_time": 2.9056108440940619e+01,
- "cpu_time": 2.8340402603234452e+01,
+ "iterations": 22970703,
+ "real_time": 3.0684889528257191e+01,
+ "cpu_time": 3.0455576392242047e+01,
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},
{
"name": "BM_MatrixTransposeVectorMultiply/3/12",
- "iterations": 21857104,
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{
"name": "BM_MatrixTransposeVectorMultiply/3/16",
- "iterations": 21147525,
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- "cpu_time": 3.3845851937756258e+01,
+ "iterations": 12187690,
+ "real_time": 6.4202213625161093e+01,
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},
{
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- "iterations": 18255885,
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- "cpu_time": 3.7737693899802757e+01,
+ "iterations": 8626958,
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{
"name": "BM_MatrixTransposeVectorMultiply/4/1",
- "iterations": 41598327,
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- "cpu_time": 1.7753334166539762e+01,
+ "iterations": 68685362,
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},
{
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- "iterations": 34202734,
- "real_time": 2.2089604240919805e+01,
- "cpu_time": 2.1759722483003841e+01,
+ "iterations": 41396113,
+ "real_time": 1.6881927031100783e+01,
+ "cpu_time": 1.6629145833088174e+01,
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},
{
"name": "BM_MatrixTransposeVectorMultiply/4/3",
- "iterations": 27249123,
- "real_time": 2.6488586586931632e+01,
- "cpu_time": 2.6050122787437939e+01,
+ "iterations": 35592798,
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},
{
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- "iterations": 30863381,
- "real_time": 2.4542076224741049e+01,
- "cpu_time": 2.4055303597489978e+01,
+ "iterations": 29245508,
+ "real_time": 2.4356611964112989e+01,
+ "cpu_time": 2.4129585986333215e+01,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeVectorMultiply/4/6",
- "iterations": 23214321,
- "real_time": 3.1091653333839805e+01,
- "cpu_time": 3.0791294735693508e+01,
+ "iterations": 20036065,
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+ "cpu_time": 3.3619725230478345e+01,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeVectorMultiply/4/7",
- "iterations": 21214950,
- "real_time": 3.3605207788356317e+01,
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+ "iterations": 18768417,
+ "real_time": 3.6661212077921938e+01,
+ "cpu_time": 3.6314090847405801e+01,
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},
{
"name": "BM_MatrixTransposeVectorMultiply/4/12",
- "iterations": 21109771,
- "real_time": 3.4236321416005268e+01,
- "cpu_time": 3.3933669863117345e+01,
+ "iterations": 11789871,
+ "real_time": 6.1986798330774114e+01,
+ "cpu_time": 6.1171322400389727e+01,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeVectorMultiply/4/16",
- "iterations": 17775521,
- "real_time": 3.9990263516471948e+01,
- "cpu_time": 3.9692563722886177e+01,
+ "iterations": 7869236,
+ "real_time": 8.5527959635890710e+01,
+ "cpu_time": 8.2749964545479799e+01,
"time_unit": "ns"
},
{
"name": "BM_MatrixTransposeVectorMultiply/4/20",
- "iterations": 14255226,
- "real_time": 5.0482404275173749e+01,
- "cpu_time": 4.9507808574903912e+01,
+ "iterations": 7417847,
+ "real_time": 9.9073482499474821e+01,
+ "cpu_time": 9.7701125407411183e+01,
"time_unit": "ns"
}
]
diff --git a/internal/ceres/small_blas.h b/internal/ceres/small_blas.h
index 9e15b5e..2d050d3 100644
--- a/internal/ceres/small_blas.h
+++ b/internal/ceres/small_blas.h
@@ -309,8 +309,8 @@
for (int row = 0; row < NUM_ROW_A; ++row) {
double tmp = 0.0;
- for (int col = 0; col < NUM_COL_A; ++col, ++A) {
- tmp += (*A) * b[col];
+ for (int col = 0; col < NUM_COL_A; ++col) {
+ tmp += A[row * NUM_COL_A + col] * b[col];
}
if (kOperation > 0) {
@@ -358,19 +358,18 @@
const int NUM_ROW_A = (kRowA != Eigen::Dynamic ? kRowA : num_row_a);
const int NUM_COL_A = (kColA != Eigen::Dynamic ? kColA : num_col_a);
+ for (int row = 0; row < NUM_COL_A; ++row) {
+ double tmp = 0.0;
+ for (int col = 0; col < NUM_ROW_A; ++col) {
+ tmp += A[col * NUM_COL_A + row] * b[col];
+ }
- if (kOperation == 0) {
- std::fill(c, c + NUM_COL_A, 0.0);
- }
-
- for (int row = 0; row < NUM_ROW_A; ++row) {
- const double tmp = b[row];
- for (int col = 0; col < NUM_COL_A; ++col, ++A) {
- if (kOperation >= 0) {
- c[col] += (*A) * tmp;
- } else {
- c[col] -= (*A) * tmp;
- }
+ if (kOperation > 0) {
+ c[row] += tmp;
+ } else if (kOperation < 0) {
+ c[row] -= tmp;
+ } else {
+ c[row] = tmp;
}
}
#endif // CERES_NO_CUSTOM_BLAS
