Optimize Eigen block operations #5974
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mvieth
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According to https://eigen.tuxfamily.org/dox/group__TutorialBlockOperations.html , Eigen should receive as much information as possible at compile time, to generate optimal machine code. This means specifying the block size as a template parameter (if fixed size), using topLeftCorner if block starts at (0, 0)
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Looks good. Did you do any benchmark to see how much it changed? |
larshg
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Mar 8, 2024
Not really. I don't expect any orders-of-magnitude speedup to be honest, but the changes were quite easy and straightforward, so even a chance of a speedup seems worth it 😄 And this also sets a better example for future code |
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Apr 21, 2024
Partially revert PointCloudLibrary#5974 and PointCloudLibrary#5988 and PointCloudLibrary#5907 After the 1.14.1 release, we can re-apply these changes. The ABI checker reported: `The parameter file_name became passed in r12 register instead of r13. Applications will read the wrong memory block instead of the parameter value.` and `The parameter cloud_tgt_demean became passed in r12 register instead of r13.` These changes are not super important, so I think it doesn't hurt to temporarily revert them to achieve 100% ABI compatibility between 1.14.0 and 1.14.1.
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According to https://eigen.tuxfamily.org/dox/group__TutorialBlockOperations.html , Eigen should receive as much information as possible at compile time, to generate optimal machine code. This means specifying the block size as a template parameter (if fixed size), using topLeftCorner if block starts at (0, 0)