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I am trying to solve a system of ODEs and my input excitation is a function of time.
I have been using interp1 inside the integration function, but this doesn't seems like a very efficient way to do this. I know it is not, because once I change the input excitation to a sin function, which does not require an interp1 call inside the function, I get much much faster results. But doing interpolation every step takes about 10–20 times longer to converge. So, is there a better way of solving ODEs for arbitrary time dependent excitation, without needing to do interpolation or some other tricks to speed up?
I am just copying a modified version of a simple example from The MathWorks here:
Input Excitation is a gradually increasing sin function, but after some time later it becomes a constant amplitude sin function.
Dt = 0.01; % sampling time step
Amp0 = 2; % Final Amplitude of signal
Dur_G = 10; % Duration of gradually increasing part of signal
Dur_tot = 25; % Duration of total signal
t_G = 0 : Dt : Dur_G; % time of gradual part
A = linspace(0, Amp0, length(t_G));
carrier_1 = sin(5*t_G); % Unit Normal Signal
carrier_A0 = Amp0*sin(5*t_G);
out_G = A.*carrier_1; % Gradually Increasing Signal
% Total Signal with Gradual Constant Amplitude Parts
t_C = Dur_G+Dt:Dt:Dur_tot; % time of constant part
out_C = Amp0*sin(5*t_C); % Signal of constant part
ft = [t_G t_C]; % total time
f = [out_G out_C]; % total signal
figure; plot(ft, f, '-b'); % input excitation
function dydt = myode(t,y,ft,f)
f = interp1(ft,f,t); % Interpolate the data set (ft,f) at time t
g = 2; % a constant
dydt = -f.*y + g; % Evaluate ODE at time t
tspan = [1 5]; ic = 1;
opts = odeset('RelTol',1e-2,'AbsTol',1e-4);
[t,y] = ode45(#(t,y) myode(t,y,ft,f), tspan, ic, opts);
figure;
plot(t,y);
Note that I explained only first part of my problem above, which is solving system for a gradually increasing sin function.
In the second part, I need to solve it for an arbitrary input excitation (e.g., a ground acceleration input).
For this example, you could use griddedInterpolant class to get a bit of a speed-up:
ft = linspace(0,5,25);
f = ft.^2 - ft - 3;
Fp = griddedInterpolant(ft,f);
gt = linspace(1,6,25);
g = 3*sin(gt-0.25);
Gp = griddedInterpolant(gt,g);
tspan = [1 5];
ic = 1;
opts = odeset('RelTol',1e-2,'AbsTol',1e-4);
[t,y] = ode45(#(t,y)myode(t,y,Fp,Gp),tspan,ic,opts);
figure;
plot(t,y);
The ODE function is then:
function dydt = myode(t,y,Fp,Gp)
f = Fp(t); % Interpolate the data set (ft,f) at time t
g = Gp(t); % Interpolate the data set (gt,g) at time t
dydt = -f.*y + g; % Evaluate ODE at time t
On my system with R2015b, the call to ode45 is about three times faster (0.011 sec vs. 0.035 sec) for your example. You could get a bit more speed by switching to ode23. You can read more about the griddedInterpolant class here.
If your actual system, discretely switches between inputs particular points in time, then you should probably solve the problem piecewise by integrating each case separately. See this question and this question. If the system switches based on the value of the state variable(s), then you should use event location (see this question). However, if "solving ODEs for random time dependent excitation" means that you're adding random noise to the system, then you have an SDE rather than an ODE, which is a completely different beast.
Motivation:
In writing out a matrix operation that was to be performed over tens of thousands of vectors I kept coming across the warning:
Requested 200000x200000 (298.0GB) array exceeds maximum array size
preference. Creation of arrays greater than this limit may take a long
time and cause MATLAB to become unresponsive. See array size limit or
preference panel for more information.
The reason for this was my use of diag() to get the values down the diagonal of an matrix inner product. Because MATLAB is generally optimized for vector/matrix operations, when I first write code, I usually go for the vectorized form. In this case, however, MATLAB has to build the entire matrix in order to get the diagonal which causes the memory and speed issues.
Experiment:
I decided to test the use of diag() vs a for loop to see if at any point it was more efficient to use diag():
num = 200000; % Matrix dimension
x = ones(num, 1);
y = 2 * ones(num, 1);
% z = diag(x*y'); % Expression to solve
% Loop approach
tic
z = zeros(num,1);
for i = 1 : num
z(i) = x(i)*y(i);
end
toc
% Dividing the too-large matrix into process-able chunks
fraction = [10, 20, 50, 100, 500, 1000, 5000, 10000, 20000];
time = zeros(size(fraction));
for k = 1 : length(fraction)
f = fraction(k);
% Operation to time
tic
z = zeros(num,1);
for i = 1 : k
first = (i-1) * (num / f);
last = first + (num / f);
z(first + 1 : last) = diag(x(first + 1: last) * y(first + 1 : last)');
end
time(k) = toc;
end
% Plot results
figure;
hold on
plot(log10(fraction), log10(chunkTime));
plot(log10(fraction), repmat(log10(loopTime), 1, length(fraction)));
plot(log10(fraction), log10(chunkTime), 'g*'); % Plot points along time
legend('Partioned Running Time', 'Loop Running Time');
xlabel('Log_{10}(Fractional Size)'), ylabel('Log_{10}(Running Time)'), title('Running Time Comparison');
This is the result of the test:
(NOTE: The red line represents the loop time as a threshold--it's not to say that the total loop time is constant regardless of the number of loops)
From the graph it is clear that it takes breaking the operations down into roughly 200x200 square matrices to be faster to use diag than to perform the same operation using loops.
Question:
Can someone explain why I'm seeing these results? Also, I would think that with MATLAB's ever-more optimized design, there would be built-in handling of these massive matrices within a diag() function call. For example, it could just perform the i = j indexed operations. Is there a particular reason why this might be prohibitive?
I also haven't really thought of memory implications for diag using the partition method, although it's clear that as the partition size decreases, memory requirements drop.
Test of speed of diag vs. a loop.
Initialization:
n = 10000;
M = randn(n, n); %create a random matrix.
Test speed of diag:
tic;
d = diag(M);
toc;
Test speed of loop:
tic;
d = zeros(n, 1);
for i=1:n
d(i) = M(i,i);
end;
toc;
This would test diag. Your code is not a clean test of diag...
Comment on where there might be confusion
Diag only extracts the diagonal of a matrix. If x and y are vectors, and you do d = diag(x * y'), MATLAB first constructs the n by n matrix x*y' and calls diag on that. This is why, you get the error, "cannot construct 290GB matrix..." Matlab interpreter does not optimize in a crazy way, realize you only want the diagonal and construct just a vector (rather than full matrix with x*y', that does not happen.
Not sure if you're asking this, but the fastest way to calculate d = diag(x*y') where x and y are n by 1 vectors would simply be: d = x.*y
I've stumbled upon the weird way (in my view) that Matlab is dealing with empty matrices. For example, if two empty matrices are multiplied the result is:
zeros(3,0)*zeros(0,3)
ans =
0 0 0
0 0 0
0 0 0
Now, this already took me by surprise, however, a quick search got me to the link above, and I got an explanation of the somewhat twisted logic of why this is happening.
However, nothing prepared me for the following observation. I asked myself, how efficient is this type of multiplication vs just using zeros(n) function, say for the purpose of initialization? I've used timeit to answer this:
f=#() zeros(1000)
timeit(f)
ans =
0.0033
vs:
g=#() zeros(1000,0)*zeros(0,1000)
timeit(g)
ans =
9.2048e-06
Both have the same outcome of 1000x1000 matrix of zeros of class double, but the empty matrix multiplication one is ~350 times faster! (a similar result happens using tic and toc and a loop)
How can this be? are timeit or tic,toc bluffing or have I found a faster way to initialize matrices?
(this was done with matlab 2012a, on a win7-64 machine, intel-i5 650 3.2Ghz...)
EDIT:
After reading your feedback, I have looked more carefully into this peculiarity, and tested on 2 different computers (same matlab ver though 2012a) a code that examine the run time vs the size of matrix n. This is what I get:
The code to generate this used timeit as before, but a loop with tic and toc will look the same. So, for small sizes, zeros(n) is comparable. However, around n=400 there is a jump in performance for the empty matrix multiplication. The code I've used to generate that plot was:
n=unique(round(logspace(0,4,200)));
for k=1:length(n)
f=#() zeros(n(k));
t1(k)=timeit(f);
g=#() zeros(n(k),0)*zeros(0,n(k));
t2(k)=timeit(g);
end
loglog(n,t1,'b',n,t2,'r');
legend('zeros(n)','zeros(n,0)*zeros(0,n)',2);
xlabel('matrix size (n)'); ylabel('time [sec]');
Are any of you experience this too?
EDIT #2:
Incidentally, empty matrix multiplication is not needed to get this effect. One can simply do:
z(n,n)=0;
where n> some threshold matrix size seen in the previous graph, and get the exact efficiency profile as with empty matrix multiplication (again using timeit).
Here's an example where it improves efficiency of a code:
n = 1e4;
clear z1
tic
z1 = zeros( n );
for cc = 1 : n
z1(:,cc)=cc;
end
toc % Elapsed time is 0.445780 seconds.
%%
clear z0
tic
z0 = zeros(n,0)*zeros(0,n);
for cc = 1 : n
z0(:,cc)=cc;
end
toc % Elapsed time is 0.297953 seconds.
However, using z(n,n)=0; instead yields similar results to the zeros(n) case.
This is strange, I am seeing f being faster while g being slower than what you are seeing. But both of them are identical for me. Perhaps a different version of MATLAB ?
>> g = #() zeros(1000, 0) * zeros(0, 1000);
>> f = #() zeros(1000)
f =
#()zeros(1000)
>> timeit(f)
ans =
8.5019e-04
>> timeit(f)
ans =
8.4627e-04
>> timeit(g)
ans =
8.4627e-04
EDIT can you add + 1 for the end of f and g, and see what times you are getting.
EDIT Jan 6, 2013 7:42 EST
I am using a machine remotely, so sorry about the low quality graphs (had to generate them blind).
Machine config:
i7 920. 2.653 GHz. Linux. 12 GB RAM. 8MB cache.
It looks like even the machine I have access to shows this behavior, except at a larger size (somewhere between 1979 and 2073). There is no reason I can think of right now for the empty matrix multiplication to be faster at larger sizes.
I will be investigating a little bit more before coming back.
EDIT Jan 11, 2013
After #EitanT's post, I wanted to do a little bit more of digging. I wrote some C code to see how matlab may be creating a zeros matrix. Here is the c++ code that I used.
int main(int argc, char **argv)
{
for (int i = 1975; i <= 2100; i+=25) {
timer::start();
double *foo = (double *)malloc(i * i * sizeof(double));
for (int k = 0; k < i * i; k++) foo[k] = 0;
double mftime = timer::stop();
free(foo);
timer::start();
double *bar = (double *)malloc(i * i * sizeof(double));
memset(bar, 0, i * i * sizeof(double));
double mmtime = timer::stop();
free(bar);
timer::start();
double *baz = (double *)calloc(i * i, sizeof(double));
double catime = timer::stop();
free(baz);
printf("%d, %lf, %lf, %lf\n", i, mftime, mmtime, catime);
}
}
Here are the results.
$ ./test
1975, 0.013812, 0.013578, 0.003321
2000, 0.014144, 0.013879, 0.003408
2025, 0.014396, 0.014219, 0.003490
2050, 0.014732, 0.013784, 0.000043
2075, 0.015022, 0.014122, 0.000045
2100, 0.014606, 0.014480, 0.000045
As you can see calloc (4th column) seems to be the fastest method. It is also getting significantly faster between 2025 and 2050 (I'd assume it would at around 2048 ?).
Now I went back to matlab to check for the same. Here are the results.
>> test
1975, 0.003296, 0.003297
2000, 0.003377, 0.003385
2025, 0.003465, 0.003464
2050, 0.015987, 0.000019
2075, 0.016373, 0.000019
2100, 0.016762, 0.000020
It looks like both f() and g() are using calloc at smaller sizes (<2048 ?). But at larger sizes f() (zeros(m, n)) starts to use malloc + memset, while g() (zeros(m, 0) * zeros(0, n)) keeps using calloc.
So the divergence is explained by the following
zeros(..) begins to use a different (slower ?) scheme at larger sizes.
calloc also behaves somewhat unexpectedly, leading to an improvement in performance.
This is the behavior on Linux. Can someone do the same experiment on a different machine (and perhaps a different OS) and see if the experiment holds ?
The results might be a bit misleading. When you multiply two empty matrices, the resulting matrix is not immediately "allocated" and "initialized", rather this is postponed until you first use it (sort of like a lazy evaluation).
The same applies when indexing out of bounds to grow a variable, which in the case of numeric arrays fills out any missing entries with zeros (I discuss afterwards the non-numeric case). Of course growing the matrix this way does not overwrite existing elements.
So while it may seem faster, you are just delaying the allocation time until you actually first use the matrix. In the end you'll have similar timings as if you did the allocation from the start.
Example to show this behavior, compared to a few other alternatives:
N = 1000;
clear z
tic, z = zeros(N,N); toc
tic, z = z + 1; toc
assert(isequal(z,ones(N)))
clear z
tic, z = zeros(N,0)*zeros(0,N); toc
tic, z = z + 1; toc
assert(isequal(z,ones(N)))
clear z
tic, z(N,N) = 0; toc
tic, z = z + 1; toc
assert(isequal(z,ones(N)))
clear z
tic, z = full(spalloc(N,N,0)); toc
tic, z = z + 1; toc
assert(isequal(z,ones(N)))
clear z
tic, z(1:N,1:N) = 0; toc
tic, z = z + 1; toc
assert(isequal(z,ones(N)))
clear z
val = 0;
tic, z = val(ones(N)); toc
tic, z = z + 1; toc
assert(isequal(z,ones(N)))
clear z
tic, z = repmat(0, [N N]); toc
tic, z = z + 1; toc
assert(isequal(z,ones(N)))
The result shows that if you sum the elapsed time for both instructions in each case, you end up with similar total timings:
// zeros(N,N)
Elapsed time is 0.004525 seconds.
Elapsed time is 0.000792 seconds.
// zeros(N,0)*zeros(0,N)
Elapsed time is 0.000052 seconds.
Elapsed time is 0.004365 seconds.
// z(N,N) = 0
Elapsed time is 0.000053 seconds.
Elapsed time is 0.004119 seconds.
The other timings were:
// full(spalloc(N,N,0))
Elapsed time is 0.001463 seconds.
Elapsed time is 0.003751 seconds.
// z(1:N,1:N) = 0
Elapsed time is 0.006820 seconds.
Elapsed time is 0.000647 seconds.
// val(ones(N))
Elapsed time is 0.034880 seconds.
Elapsed time is 0.000911 seconds.
// repmat(0, [N N])
Elapsed time is 0.001320 seconds.
Elapsed time is 0.003749 seconds.
These measurements are too small in the milliseconds and might not be very accurate, so you might wanna run these commands in a loop a few thousand times and take the average. Also sometimes running saved M-functions is faster than running scripts or on the command prompt, as certain optimizations only happen that way...
Either way allocation is usually done once, so who cares if it takes an extra 30ms :)
A similar behavior can be seen with cell arrays or arrays of structures. Consider the following example:
N = 1000;
tic, a = cell(N,N); toc
tic, b = repmat({[]}, [N,N]); toc
tic, c{N,N} = []; toc
which gives:
Elapsed time is 0.001245 seconds.
Elapsed time is 0.040698 seconds.
Elapsed time is 0.004846 seconds.
Note that even if they are all equal, they occupy different amount of memory:
>> assert(isequal(a,b,c))
>> whos a b c
Name Size Bytes Class Attributes
a 1000x1000 8000000 cell
b 1000x1000 112000000 cell
c 1000x1000 8000104 cell
In fact the situation is a bit more complicated here, since MATLAB is probably sharing the same empty matrix for all the cells, rather than creating multiple copies.
The cell array a is in fact an array of uninitialized cells (an array of NULL pointers), while b is a cell array where each cell is an empty array [] (internally and because of data sharing, only the first cell b{1} points to [] while all the rest have a reference to the first cell). The final array c is similar to a (uninitialized cells), but with the last one containing an empty numeric matrix [].
I looked around the list of exported C functions from the libmx.dll (using Dependency Walker tool), and I found a few interesting things.
there are undocumented functions for creating uninitialized arrays: mxCreateUninitDoubleMatrix, mxCreateUninitNumericArray, and mxCreateUninitNumericMatrix. In fact there is a submission on the File Exchange makes use of these functions to provide a faster alternative to zeros function.
there exist an undocumented function called mxFastZeros. Googling online, I can see you cross-posted this question on MATLAB Answers as well, with some excellent answers over there. James Tursa (same author of UNINIT from before) gave an example on how to use this undocumented function.
libmx.dll is linked against tbbmalloc.dll shared library. This is Intel TBB scalable memory allocator. This library provides equivalent memory allocation functions (malloc, calloc, free) optimized for parallel applications. Remember that many MATLAB functions are automatically multithreaded, so I wouldn't be surprised if zeros(..) is multithreaded and is using Intel's memory allocator once the matrix size is large enough (here is recent comment by Loren Shure that confirms this fact).
Regarding the last point about the memory allocator, you could write a similar benchmark in C/C++ similar to what #PavanYalamanchili did, and compare the various allocators available. Something like this. Remember that MEX-files have a slightly higher memory management overhead, since MATLAB automatically frees any memory that was allocated in MEX-files using the mxCalloc, mxMalloc, or mxRealloc functions. For what it's worth, it used to be possible to change the internal memory manager in older versions.
EDIT:
Here is a more thorough benchmark to compare the discussed alternatives. It specifically shows that once you stress the use of the entire allocated matrix, all three methods are on equal footing, and the difference is negligible.
function compare_zeros_init()
iter = 100;
for N = 512.*(1:8)
% ZEROS(N,N)
t = zeros(iter,3);
for i=1:iter
clear z
tic, z = zeros(N,N); t(i,1) = toc;
tic, z(:) = 9; t(i,2) = toc;
tic, z = z + 1; t(i,3) = toc;
end
fprintf('N = %4d, ZEROS = %.9f\n', N, mean(sum(t,2)))
% z(N,N)=0
t = zeros(iter,3);
for i=1:iter
clear z
tic, z(N,N) = 0; t(i,1) = toc;
tic, z(:) = 9; t(i,2) = toc;
tic, z = z + 1; t(i,3) = toc;
end
fprintf('N = %4d, GROW = %.9f\n', N, mean(sum(t,2)))
% ZEROS(N,0)*ZEROS(0,N)
t = zeros(iter,3);
for i=1:iter
clear z
tic, z = zeros(N,0)*zeros(0,N); t(i,1) = toc;
tic, z(:) = 9; t(i,2) = toc;
tic, z = z + 1; t(i,3) = toc;
end
fprintf('N = %4d, MULT = %.9f\n\n', N, mean(sum(t,2)))
end
end
Below are the timings averaged over 100 iterations in terms of increasing matrix size. I performed the tests in R2013a.
>> compare_zeros_init
N = 512, ZEROS = 0.001560168
N = 512, GROW = 0.001479991
N = 512, MULT = 0.001457031
N = 1024, ZEROS = 0.005744873
N = 1024, GROW = 0.005352638
N = 1024, MULT = 0.005359236
N = 1536, ZEROS = 0.011950846
N = 1536, GROW = 0.009051589
N = 1536, MULT = 0.008418878
N = 2048, ZEROS = 0.012154002
N = 2048, GROW = 0.010996315
N = 2048, MULT = 0.011002169
N = 2560, ZEROS = 0.017940950
N = 2560, GROW = 0.017641046
N = 2560, MULT = 0.017640323
N = 3072, ZEROS = 0.025657999
N = 3072, GROW = 0.025836506
N = 3072, MULT = 0.051533432
N = 3584, ZEROS = 0.074739924
N = 3584, GROW = 0.070486857
N = 3584, MULT = 0.072822335
N = 4096, ZEROS = 0.098791732
N = 4096, GROW = 0.095849788
N = 4096, MULT = 0.102148452
After doing some research, I've found this article in "Undocumented Matlab", in which Mr. Yair Altman had already come to the conclusion that MathWork's way of preallocating matrices using zeros(M, N) is indeed not the most efficient way.
He timed x = zeros(M,N) vs. clear x, x(M,N) = 0 and found that the latter is ~500 times faster. According to his explanation, the second method simply creates an M-by-N matrix, the elements of which being automatically initialized to 0. The first method however, creates x (with x having automatic zero elements) and then assigns a zero to every element in x again, and that is a redundant operation that takes more time.
In the case of empty matrix multiplication, such as what you've shown in your question, MATLAB expects the product to be an M×N matrix, and therefore it allocates an M×N matrix. Consequently, the output matrix is automatically initialized to zeroes. Since the original matrices are empty, no further calculations are performed, and hence the elements in the output matrix remain unchanged and equal to zero.
Interesting question, apparently there are several ways to 'beat' the built-in zeros function. My only guess as to why this is happening would be that it could be more memory efficient (after all, zeros(LargeNumer) will sooner cause Matlab to hit the memory limit than form a devestating speed bottleneck in most code), or more robust somehow.
Here is another fast allocation method using a sparse matrix, i have added the regular zeros function as a benchmark:
tic; x=zeros(1000,1000); toc
Elapsed time is 0.002863 seconds.
tic; clear x; x(1000,1000)=0; toc
Elapsed time is 0.000282 seconds.
tic; x=full(spalloc(1000,1000,0)); toc
Elapsed time is 0.000273 seconds.
tic; x=spalloc(1000,1000,1000000); toc %Is this the same for practical purposes?
Elapsed time is 0.000281 seconds.
I've stumbled upon the weird way (in my view) that Matlab is dealing with empty matrices. For example, if two empty matrices are multiplied the result is:
zeros(3,0)*zeros(0,3)
ans =
0 0 0
0 0 0
0 0 0
Now, this already took me by surprise, however, a quick search got me to the link above, and I got an explanation of the somewhat twisted logic of why this is happening.
However, nothing prepared me for the following observation. I asked myself, how efficient is this type of multiplication vs just using zeros(n) function, say for the purpose of initialization? I've used timeit to answer this:
f=#() zeros(1000)
timeit(f)
ans =
0.0033
vs:
g=#() zeros(1000,0)*zeros(0,1000)
timeit(g)
ans =
9.2048e-06
Both have the same outcome of 1000x1000 matrix of zeros of class double, but the empty matrix multiplication one is ~350 times faster! (a similar result happens using tic and toc and a loop)
How can this be? are timeit or tic,toc bluffing or have I found a faster way to initialize matrices?
(this was done with matlab 2012a, on a win7-64 machine, intel-i5 650 3.2Ghz...)
EDIT:
After reading your feedback, I have looked more carefully into this peculiarity, and tested on 2 different computers (same matlab ver though 2012a) a code that examine the run time vs the size of matrix n. This is what I get:
The code to generate this used timeit as before, but a loop with tic and toc will look the same. So, for small sizes, zeros(n) is comparable. However, around n=400 there is a jump in performance for the empty matrix multiplication. The code I've used to generate that plot was:
n=unique(round(logspace(0,4,200)));
for k=1:length(n)
f=#() zeros(n(k));
t1(k)=timeit(f);
g=#() zeros(n(k),0)*zeros(0,n(k));
t2(k)=timeit(g);
end
loglog(n,t1,'b',n,t2,'r');
legend('zeros(n)','zeros(n,0)*zeros(0,n)',2);
xlabel('matrix size (n)'); ylabel('time [sec]');
Are any of you experience this too?
EDIT #2:
Incidentally, empty matrix multiplication is not needed to get this effect. One can simply do:
z(n,n)=0;
where n> some threshold matrix size seen in the previous graph, and get the exact efficiency profile as with empty matrix multiplication (again using timeit).
Here's an example where it improves efficiency of a code:
n = 1e4;
clear z1
tic
z1 = zeros( n );
for cc = 1 : n
z1(:,cc)=cc;
end
toc % Elapsed time is 0.445780 seconds.
%%
clear z0
tic
z0 = zeros(n,0)*zeros(0,n);
for cc = 1 : n
z0(:,cc)=cc;
end
toc % Elapsed time is 0.297953 seconds.
However, using z(n,n)=0; instead yields similar results to the zeros(n) case.
This is strange, I am seeing f being faster while g being slower than what you are seeing. But both of them are identical for me. Perhaps a different version of MATLAB ?
>> g = #() zeros(1000, 0) * zeros(0, 1000);
>> f = #() zeros(1000)
f =
#()zeros(1000)
>> timeit(f)
ans =
8.5019e-04
>> timeit(f)
ans =
8.4627e-04
>> timeit(g)
ans =
8.4627e-04
EDIT can you add + 1 for the end of f and g, and see what times you are getting.
EDIT Jan 6, 2013 7:42 EST
I am using a machine remotely, so sorry about the low quality graphs (had to generate them blind).
Machine config:
i7 920. 2.653 GHz. Linux. 12 GB RAM. 8MB cache.
It looks like even the machine I have access to shows this behavior, except at a larger size (somewhere between 1979 and 2073). There is no reason I can think of right now for the empty matrix multiplication to be faster at larger sizes.
I will be investigating a little bit more before coming back.
EDIT Jan 11, 2013
After #EitanT's post, I wanted to do a little bit more of digging. I wrote some C code to see how matlab may be creating a zeros matrix. Here is the c++ code that I used.
int main(int argc, char **argv)
{
for (int i = 1975; i <= 2100; i+=25) {
timer::start();
double *foo = (double *)malloc(i * i * sizeof(double));
for (int k = 0; k < i * i; k++) foo[k] = 0;
double mftime = timer::stop();
free(foo);
timer::start();
double *bar = (double *)malloc(i * i * sizeof(double));
memset(bar, 0, i * i * sizeof(double));
double mmtime = timer::stop();
free(bar);
timer::start();
double *baz = (double *)calloc(i * i, sizeof(double));
double catime = timer::stop();
free(baz);
printf("%d, %lf, %lf, %lf\n", i, mftime, mmtime, catime);
}
}
Here are the results.
$ ./test
1975, 0.013812, 0.013578, 0.003321
2000, 0.014144, 0.013879, 0.003408
2025, 0.014396, 0.014219, 0.003490
2050, 0.014732, 0.013784, 0.000043
2075, 0.015022, 0.014122, 0.000045
2100, 0.014606, 0.014480, 0.000045
As you can see calloc (4th column) seems to be the fastest method. It is also getting significantly faster between 2025 and 2050 (I'd assume it would at around 2048 ?).
Now I went back to matlab to check for the same. Here are the results.
>> test
1975, 0.003296, 0.003297
2000, 0.003377, 0.003385
2025, 0.003465, 0.003464
2050, 0.015987, 0.000019
2075, 0.016373, 0.000019
2100, 0.016762, 0.000020
It looks like both f() and g() are using calloc at smaller sizes (<2048 ?). But at larger sizes f() (zeros(m, n)) starts to use malloc + memset, while g() (zeros(m, 0) * zeros(0, n)) keeps using calloc.
So the divergence is explained by the following
zeros(..) begins to use a different (slower ?) scheme at larger sizes.
calloc also behaves somewhat unexpectedly, leading to an improvement in performance.
This is the behavior on Linux. Can someone do the same experiment on a different machine (and perhaps a different OS) and see if the experiment holds ?
The results might be a bit misleading. When you multiply two empty matrices, the resulting matrix is not immediately "allocated" and "initialized", rather this is postponed until you first use it (sort of like a lazy evaluation).
The same applies when indexing out of bounds to grow a variable, which in the case of numeric arrays fills out any missing entries with zeros (I discuss afterwards the non-numeric case). Of course growing the matrix this way does not overwrite existing elements.
So while it may seem faster, you are just delaying the allocation time until you actually first use the matrix. In the end you'll have similar timings as if you did the allocation from the start.
Example to show this behavior, compared to a few other alternatives:
N = 1000;
clear z
tic, z = zeros(N,N); toc
tic, z = z + 1; toc
assert(isequal(z,ones(N)))
clear z
tic, z = zeros(N,0)*zeros(0,N); toc
tic, z = z + 1; toc
assert(isequal(z,ones(N)))
clear z
tic, z(N,N) = 0; toc
tic, z = z + 1; toc
assert(isequal(z,ones(N)))
clear z
tic, z = full(spalloc(N,N,0)); toc
tic, z = z + 1; toc
assert(isequal(z,ones(N)))
clear z
tic, z(1:N,1:N) = 0; toc
tic, z = z + 1; toc
assert(isequal(z,ones(N)))
clear z
val = 0;
tic, z = val(ones(N)); toc
tic, z = z + 1; toc
assert(isequal(z,ones(N)))
clear z
tic, z = repmat(0, [N N]); toc
tic, z = z + 1; toc
assert(isequal(z,ones(N)))
The result shows that if you sum the elapsed time for both instructions in each case, you end up with similar total timings:
// zeros(N,N)
Elapsed time is 0.004525 seconds.
Elapsed time is 0.000792 seconds.
// zeros(N,0)*zeros(0,N)
Elapsed time is 0.000052 seconds.
Elapsed time is 0.004365 seconds.
// z(N,N) = 0
Elapsed time is 0.000053 seconds.
Elapsed time is 0.004119 seconds.
The other timings were:
// full(spalloc(N,N,0))
Elapsed time is 0.001463 seconds.
Elapsed time is 0.003751 seconds.
// z(1:N,1:N) = 0
Elapsed time is 0.006820 seconds.
Elapsed time is 0.000647 seconds.
// val(ones(N))
Elapsed time is 0.034880 seconds.
Elapsed time is 0.000911 seconds.
// repmat(0, [N N])
Elapsed time is 0.001320 seconds.
Elapsed time is 0.003749 seconds.
These measurements are too small in the milliseconds and might not be very accurate, so you might wanna run these commands in a loop a few thousand times and take the average. Also sometimes running saved M-functions is faster than running scripts or on the command prompt, as certain optimizations only happen that way...
Either way allocation is usually done once, so who cares if it takes an extra 30ms :)
A similar behavior can be seen with cell arrays or arrays of structures. Consider the following example:
N = 1000;
tic, a = cell(N,N); toc
tic, b = repmat({[]}, [N,N]); toc
tic, c{N,N} = []; toc
which gives:
Elapsed time is 0.001245 seconds.
Elapsed time is 0.040698 seconds.
Elapsed time is 0.004846 seconds.
Note that even if they are all equal, they occupy different amount of memory:
>> assert(isequal(a,b,c))
>> whos a b c
Name Size Bytes Class Attributes
a 1000x1000 8000000 cell
b 1000x1000 112000000 cell
c 1000x1000 8000104 cell
In fact the situation is a bit more complicated here, since MATLAB is probably sharing the same empty matrix for all the cells, rather than creating multiple copies.
The cell array a is in fact an array of uninitialized cells (an array of NULL pointers), while b is a cell array where each cell is an empty array [] (internally and because of data sharing, only the first cell b{1} points to [] while all the rest have a reference to the first cell). The final array c is similar to a (uninitialized cells), but with the last one containing an empty numeric matrix [].
I looked around the list of exported C functions from the libmx.dll (using Dependency Walker tool), and I found a few interesting things.
there are undocumented functions for creating uninitialized arrays: mxCreateUninitDoubleMatrix, mxCreateUninitNumericArray, and mxCreateUninitNumericMatrix. In fact there is a submission on the File Exchange makes use of these functions to provide a faster alternative to zeros function.
there exist an undocumented function called mxFastZeros. Googling online, I can see you cross-posted this question on MATLAB Answers as well, with some excellent answers over there. James Tursa (same author of UNINIT from before) gave an example on how to use this undocumented function.
libmx.dll is linked against tbbmalloc.dll shared library. This is Intel TBB scalable memory allocator. This library provides equivalent memory allocation functions (malloc, calloc, free) optimized for parallel applications. Remember that many MATLAB functions are automatically multithreaded, so I wouldn't be surprised if zeros(..) is multithreaded and is using Intel's memory allocator once the matrix size is large enough (here is recent comment by Loren Shure that confirms this fact).
Regarding the last point about the memory allocator, you could write a similar benchmark in C/C++ similar to what #PavanYalamanchili did, and compare the various allocators available. Something like this. Remember that MEX-files have a slightly higher memory management overhead, since MATLAB automatically frees any memory that was allocated in MEX-files using the mxCalloc, mxMalloc, or mxRealloc functions. For what it's worth, it used to be possible to change the internal memory manager in older versions.
EDIT:
Here is a more thorough benchmark to compare the discussed alternatives. It specifically shows that once you stress the use of the entire allocated matrix, all three methods are on equal footing, and the difference is negligible.
function compare_zeros_init()
iter = 100;
for N = 512.*(1:8)
% ZEROS(N,N)
t = zeros(iter,3);
for i=1:iter
clear z
tic, z = zeros(N,N); t(i,1) = toc;
tic, z(:) = 9; t(i,2) = toc;
tic, z = z + 1; t(i,3) = toc;
end
fprintf('N = %4d, ZEROS = %.9f\n', N, mean(sum(t,2)))
% z(N,N)=0
t = zeros(iter,3);
for i=1:iter
clear z
tic, z(N,N) = 0; t(i,1) = toc;
tic, z(:) = 9; t(i,2) = toc;
tic, z = z + 1; t(i,3) = toc;
end
fprintf('N = %4d, GROW = %.9f\n', N, mean(sum(t,2)))
% ZEROS(N,0)*ZEROS(0,N)
t = zeros(iter,3);
for i=1:iter
clear z
tic, z = zeros(N,0)*zeros(0,N); t(i,1) = toc;
tic, z(:) = 9; t(i,2) = toc;
tic, z = z + 1; t(i,3) = toc;
end
fprintf('N = %4d, MULT = %.9f\n\n', N, mean(sum(t,2)))
end
end
Below are the timings averaged over 100 iterations in terms of increasing matrix size. I performed the tests in R2013a.
>> compare_zeros_init
N = 512, ZEROS = 0.001560168
N = 512, GROW = 0.001479991
N = 512, MULT = 0.001457031
N = 1024, ZEROS = 0.005744873
N = 1024, GROW = 0.005352638
N = 1024, MULT = 0.005359236
N = 1536, ZEROS = 0.011950846
N = 1536, GROW = 0.009051589
N = 1536, MULT = 0.008418878
N = 2048, ZEROS = 0.012154002
N = 2048, GROW = 0.010996315
N = 2048, MULT = 0.011002169
N = 2560, ZEROS = 0.017940950
N = 2560, GROW = 0.017641046
N = 2560, MULT = 0.017640323
N = 3072, ZEROS = 0.025657999
N = 3072, GROW = 0.025836506
N = 3072, MULT = 0.051533432
N = 3584, ZEROS = 0.074739924
N = 3584, GROW = 0.070486857
N = 3584, MULT = 0.072822335
N = 4096, ZEROS = 0.098791732
N = 4096, GROW = 0.095849788
N = 4096, MULT = 0.102148452
After doing some research, I've found this article in "Undocumented Matlab", in which Mr. Yair Altman had already come to the conclusion that MathWork's way of preallocating matrices using zeros(M, N) is indeed not the most efficient way.
He timed x = zeros(M,N) vs. clear x, x(M,N) = 0 and found that the latter is ~500 times faster. According to his explanation, the second method simply creates an M-by-N matrix, the elements of which being automatically initialized to 0. The first method however, creates x (with x having automatic zero elements) and then assigns a zero to every element in x again, and that is a redundant operation that takes more time.
In the case of empty matrix multiplication, such as what you've shown in your question, MATLAB expects the product to be an M×N matrix, and therefore it allocates an M×N matrix. Consequently, the output matrix is automatically initialized to zeroes. Since the original matrices are empty, no further calculations are performed, and hence the elements in the output matrix remain unchanged and equal to zero.
Interesting question, apparently there are several ways to 'beat' the built-in zeros function. My only guess as to why this is happening would be that it could be more memory efficient (after all, zeros(LargeNumer) will sooner cause Matlab to hit the memory limit than form a devestating speed bottleneck in most code), or more robust somehow.
Here is another fast allocation method using a sparse matrix, i have added the regular zeros function as a benchmark:
tic; x=zeros(1000,1000); toc
Elapsed time is 0.002863 seconds.
tic; clear x; x(1000,1000)=0; toc
Elapsed time is 0.000282 seconds.
tic; x=full(spalloc(1000,1000,0)); toc
Elapsed time is 0.000273 seconds.
tic; x=spalloc(1000,1000,1000000); toc %Is this the same for practical purposes?
Elapsed time is 0.000281 seconds.
I have 2 input variables:
a vector of p-values (p) with N elements (unsorted)
and N x M matrix with p-values obtained by random permutations (pr) with M iterations. N is quite large, 10K to 100K or more. M let's say 100.
I'm estimating the False Discovery Rate (FDR) for each element of p representing how many p-values from random permutations will pass if the current p-value (from p) will be the threshold.
I wrote the function with ARRAYFUN, but it takes lot of time for large N (2 min for N=20K), comparable to for-loop.
function pfdr = fdr_from_random_permutations(p, pr)
%# ... skipping arguments checks
pfdr = arrayfun( #(x) mean(sum(pr<=x))./sum(p<=x), p);
Any ideas how to make it faster?
Comments about statistical issues here are also welcome.
The test data can be generated as p = rand(N,1); pr = rand(N,M);.
Well, the trick was indeed sorting the vectors. I give credit to #EgonGeerardyn for that. Also, there is no need to use mean. You can just divide everything afterwards by M. When p is sorted, finding the amount of values that are less than current x, is just a running index. pr is a more interesting case - I used a running index called place to discover how many elements are less than x.
Edit(2): Here is the fastest version I come up with:
function Speedup2()
N = 10000/4 ;
M = 100/4 ;
p = rand(N,1); pr = rand(N,M);
tic
pfdr = arrayfun( #(x) mean(sum(pr<=x))./sum(p<=x), p);
toc
tic
out = zeros(numel(p),1);
[p,sortIndex] = sort(p);
pr = sort(pr(:));
pr(end+1) = Inf;
place = 1;
N = numel(pr);
for i=1:numel(p)
x = p(i);
while pr(place)<=x
place = place+1;
end
exp1a = place-1;
exp2 = i;
out(i) = exp1a/exp2;
end
out(sortIndex) = out/ M;
toc
disp(max(abs(pfdr-out)));
end
And the benchmark results for N = 10000/4 ; M = 100/4 :
Elapsed time is 0.898689 seconds.
Elapsed time is 0.007697 seconds.
2.220446049250313e-016
and for N = 10000 ; M = 100 ;
Elapsed time is 39.730695 seconds.
Elapsed time is 0.088870 seconds.
2.220446049250313e-016
First of all, tr to analyze this using the profiler. Profiling should ALWAYS be the first step when trying to improve performance. We can all guess at what is causing your performance drop, but the only way to be sure and focus on the right part is to inspect the profiler report.
I didn't run the profiler on your code, as I don't want to generate test data to do so; but I have some ideas about what work is being carried out in vain. In your function mean(sum(pr<=x))./sum(p<=x), you are repeatedly summing over p<=x. All in all, one call includes N comparisons and N-1 summations. So for both, you have behavior that is quadratic in N when all N values of p are calculated.
If you step through a sorted version of p, you need less calculations and comparisons, as you can keep track of a running sum (i.e. behavior that is linear in N). I guess a similar method could be applied to the other part of the calculation.
edit:
The implementation of my idea as expressed above:
function pfdr = fdr(p,pr)
[N, M] = size(pr);
[p, idxP] = sort(p);
[pr] = sort(pr(:));
pfdr = NaN(N,1);
parfor iP = 1:N
x = p(iP);
m = sum(pr<=x)/M;
pfdr(iP) = m/iP;
end
pfdr(idxP) = pfdr;
If you have access to the parallel computing toolbox, the parfor loop will allow you to gain some performance. I used two basic ideas: mean(sum(pr<=x)) is actually equal to sum(pr(:)<=x)/M. On the other hand, since p is sorted, this allows you to just take the index as the number of elements (in the assumption that every element is unique, otherwise you'll have to work with unique to do the full rigorous analysis).
As you should already know very well by running the profiler yourself, the line m = sum(pr<=x)/M; is the main resource hog. This can be tackled similarly to p by making use of the sorted nature of pr.
I tested my code (both for identical results and for time consumption) against yours. For N=20e3; M=100, I get about 63 seconds to run your code and 43 seconds to run mine on my main computer (MATLAB 2011a on 64 bit Arch Linux, 8 GiB RAM, Core i7 860). For smaller values of M the gain is larger. But this gain is in part due to parallelization.
edit2: Apparently, I came to very similar results as Andrey, my result would have been very similar had I pursued the same approach.
However, I realised that there are some built-in functions that do more or less what you need, i.e. quite similar to determining the empirical cumulative density function. And this can be done by constructing the histogram:
function pfdr = fdr(p,pr)
[N, M] = size(pr);
[p, idxP] = sort(p);
count = histc(pr(:), [0; p]);
count = cumsum(count(1:N));
pfdr = count./(1:N).';
pfdr(idxP) = pfdr/M;
For the same M and N as above, this code takes 228 milliseconds on my computer. It takes 104 milliseconds for Andrey's parameters, so on my computer it turns out a bit slower, but I think this code is far more readable than intricate for loops (as was the case in both our examples).
Following the discussion between me and Andrey in this question, this very late answer is just to prove to Andrey that vectorized solutions are still faster than JIT'ed loops, they sometimes just aren't as easy to find.
I am more than willing to remove this answer if it is deemed inappropriate by the OP.
Now, on to business, here's the original arrayfun, looped version by Andrey, and vectorized version by Egon:
function test
clc
N = 10000/4 ;
M = 100/4 ;
p = rand(N,1);
pr = rand(N,M);
%% first option
tic
pfdr = arrayfun( #(x) mean(sum(pr<=x))./sum(p<=x), p);
toc
%% second option
tic
out = zeros(numel(p),1);
[p2,sortIndex] = sort(p);
pr2 = sort(pr(:));
pr2(end+1) = Inf;
place = 1;
for i=1:numel(p2)
x = p2(i);
while pr2(place)<=x
place = place+1;
end
exp1a = place-1;
exp2 = i;
out(i) = exp1a/exp2;
end
out(sortIndex) = out/ M;
toc
%% third option
tic
[p2,sortIndex] = sort(p);
count = histc(pr2(:), [0; p2]);
count = cumsum(count(1:N));
out = count./(1:N).';
out(sortIndex) = out/M;
toc
end
Results on my laptop:
Elapsed time is 0.916196 seconds.
Elapsed time is 0.011429 seconds.
Elapsed time is 0.007328 seconds.
and for N=1000; M = 100; :
Elapsed time is 38.082718 seconds.
Elapsed time is 0.127052 seconds.
Elapsed time is 0.042686 seconds.
So: vectorized is 2-3 times faster.