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Initial snapshot: hand motion pipeline (Dyn-HaMR + dex-retargeting + SPIDER)

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Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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liyang
2026-09-15 14:13:49 +08:00
commit 7e4ef6f98b
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third_party/Dyn-HaMR/third-party/DROID-SLAM/thirdparty/eigen/bench/quatmul.cpp
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#include <iostream>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <bench/BenchTimer.h>
using namespace Eigen;
template<typename Quat>
EIGEN_DONT_INLINE void quatmul_default(const Quat& a, const Quat& b, Quat& c)
{
c = a * b;
}
template<typename Quat>
EIGEN_DONT_INLINE void quatmul_novec(const Quat& a, const Quat& b, Quat& c)
{
c = internal::quat_product<0, Quat, Quat, typename Quat::Scalar, Aligned>::run(a,b);
}
template<typename Quat> void bench(const std::string& label)
{
int tries = 10;
int rep = 1000000;
BenchTimer t;
Quat a(4, 1, 2, 3);
Quat b(2, 3, 4, 5);
Quat c;
std::cout.precision(3);
BENCH(t, tries, rep, quatmul_default(a,b,c));
std::cout << label << " default " << 1e3*t.best(CPU_TIMER) << "ms \t" << 1e-6*double(rep)/(t.best(CPU_TIMER)) << " M mul/s\n";
BENCH(t, tries, rep, quatmul_novec(a,b,c));
std::cout << label << " novec " << 1e3*t.best(CPU_TIMER) << "ms \t" << 1e-6*double(rep)/(t.best(CPU_TIMER)) << " M mul/s\n";
}
int main()
{
bench<Quaternionf>("float ");
bench<Quaterniond>("double");
return 0;
}