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Migrate Eigen benchmarks to the Google benchmark framework

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libeigen/eigen!2132

Closes #3025

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
This commit is contained in:
Rasmus Munk Larsen
2026-02-17 20:51:36 -08:00
parent 740cac97b4
commit 3108f6360e
23 changed files with 1632 additions and 0 deletions
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benchmarks/geometry.cpp Normal file
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#include <benchmark/benchmark.h>
#include <Eigen/Geometry>
using namespace Eigen;
// Helper to get dimension from various transform types
template <typename T>
struct TransformDim {
static constexpr int value = T::Dim;
};
template <typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
struct TransformDim<Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>> {
static constexpr int value = Rows;
};
template <typename Transformation, int N>
static void BM_TransformData(benchmark::State& state) {
typedef typename Transformation::Scalar Scalar;
constexpr int Dim = TransformDim<Transformation>::value;
Transformation t;
if constexpr (std::is_same_v<Transformation, Matrix<Scalar, Dim, Dim>>) {
t.setRandom();
} else {
Matrix<Scalar, Dim, Dim + 1> mat;
mat.setRandom();
t = Transformation(mat);
}
Matrix<Scalar, Dim, N> data;
data.setRandom();
for (auto _ : state) {
data = t * data;
benchmark::DoNotOptimize(data.data());
}
}
// For quaternion: apply per-column
template <typename Scalar, int N>
static void BM_QuatTransform(benchmark::State& state) {
Quaternion<Scalar> q;
q.setIdentity();
Matrix<Scalar, 3, N> data;
data.setRandom();
for (auto _ : state) {
for (int i = 0; i < N; ++i) data.col(i) = q * data.col(i);
benchmark::DoNotOptimize(data.data());
}
}
// Use typedefs to avoid commas in macro arguments
typedef Transform<float, 3, Isometry> Isometry3f_t;
typedef Transform<float, 3, Affine> Affine3f_t;
typedef Transform<float, 3, AffineCompact> AffineCompact3f_t;
typedef Matrix<float, 3, 3> Matrix3f_t;
BENCHMARK(BM_TransformData<Isometry3f_t, 1>);
BENCHMARK(BM_TransformData<Isometry3f_t, 4>);
BENCHMARK(BM_TransformData<Isometry3f_t, 8>);
BENCHMARK(BM_TransformData<Affine3f_t, 1>);
BENCHMARK(BM_TransformData<Affine3f_t, 4>);
BENCHMARK(BM_TransformData<Affine3f_t, 8>);
BENCHMARK(BM_TransformData<AffineCompact3f_t, 1>);
BENCHMARK(BM_TransformData<AffineCompact3f_t, 4>);
BENCHMARK(BM_TransformData<AffineCompact3f_t, 8>);
BENCHMARK(BM_TransformData<Matrix3f_t, 1>);
BENCHMARK(BM_TransformData<Matrix3f_t, 4>);
BENCHMARK(BM_TransformData<Matrix3f_t, 8>);
BENCHMARK(BM_QuatTransform<float, 1>);
BENCHMARK(BM_QuatTransform<float, 4>);
BENCHMARK(BM_QuatTransform<float, 8>);