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Merge branch 'develop' into hybrid-timing

release/4.3a0
Varun Agrawal 2025-01-02 15:36:53 -05:00
parent 022ed50824 6c516cc404
commit 0518b60c4d
9 changed files with 38 additions and 36 deletions
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10
cmake/HandleGeneralOptions.cmake
View File

@ -21,12 +21,13 @@ if (NOT MSVC)
endif()
# Configurable Options
option(BUILD_SHARED_LIBS "Build shared libraries" ON)
if(GTSAM_UNSTABLE_AVAILABLE)
option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON)
option(GTSAM_UNSTABLE_BUILD_PYTHON "Enable/Disable Python wrapper for libgtsam_unstable" ON)
option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF)
endif()
option(GTSAM_FORCE_SHARED_LIB "Force gtsam to be a shared library, overriding BUILD_SHARED_LIBS" ON)
option(GTSAM_FORCE_SHARED_LIB "Force gtsam to be a shared library, overriding BUILD_SHARED_LIBS" OFF)
option(GTSAM_FORCE_STATIC_LIB "Force gtsam to be a static library, overriding BUILD_SHARED_LIBS" OFF)
option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON)
@ -48,7 +49,9 @@ option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration
option(GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR "Use the slower but correct version of BetweenFactor" OFF)
option(GTSAM_SLOW_BUT_CORRECT_EXPMAP "Use slower but correct expmap for Pose2" OFF)
if (GTSAM_FORCE_SHARED_LIB)
if (GTSAM_FORCE_SHARED_LIB AND GTSAM_FORCE_STATIC_LIB)
message(FATAL_ERROR "GTSAM_FORCE_SHARED_LIB and GTSAM_FORCE_STATIC_LIB are both true. Please, to unambiguously select the desired library type to use to build GTSAM, set one of GTSAM_FORCE_SHARED_LIB=ON, GTSAM_FORCE_STATIC_LIB=ON, or BUILD_SHARED_LIBS={ON/OFF}")
elseif (GTSAM_FORCE_SHARED_LIB)
message(STATUS "GTSAM is a shared library due to GTSAM_FORCE_SHARED_LIB")
set(GTSAM_LIBRARY_TYPE SHARED CACHE STRING "" FORCE)
set(GTSAM_SHARED_LIB 1 CACHE BOOL "" FORCE)
@ -57,10 +60,9 @@ elseif (GTSAM_FORCE_STATIC_LIB)
set(GTSAM_LIBRARY_TYPE STATIC CACHE STRING "" FORCE)
set(GTSAM_SHARED_LIB 0 CACHE BOOL "" FORCE)
elseif (BUILD_SHARED_LIBS)
message(STATUS "GTSAM is a shared library due to BUILD_SHARED_LIBS is ON")
set(GTSAM_LIBRARY_TYPE SHARED CACHE STRING "" FORCE)
set(GTSAM_SHARED_LIB 1 CACHE BOOL "" FORCE)
elseif((DEFINED BUILD_SHARED_LIBS) AND (NOT BUILD_SHARED_LIBS))
elseif(NOT BUILD_SHARED_LIBS)
message(STATUS "GTSAM is a static library due to BUILD_SHARED_LIBS is OFF")
set(GTSAM_LIBRARY_TYPE STATIC CACHE STRING "" FORCE)
set(GTSAM_SHARED_LIB 0 CACHE BOOL "" FORCE)

3
gtsam/3rdparty/metis/libmetis/CMakeLists.txt vendored
View File

@ -13,7 +13,8 @@ if(WIN32)
set_target_properties(metis-gtsam PROPERTIES
PREFIX ""
COMPILE_FLAGS /w
RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/../../../bin")
RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/../../../bin"
WINDOWS_EXPORT_ALL_SYMBOLS ON)
endif()
if (APPLE)

2
gtsam/base/concepts.h
View File

@ -8,7 +8,7 @@
#pragma once
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
#include <boost/concept_check.hpp>
#include <boost/concept/assert.hpp>
#include <boost/concept/requires.hpp>

4
gtsam/base/tests/testMatrix.cpp
View File

@ -1151,7 +1151,7 @@ TEST(Matrix, Matrix24IsVectorSpace) {
}
TEST(Matrix, RowMajorIsVectorSpace) {
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
typedef Eigen::Matrix<double, 2, 3, Eigen::RowMajor> RowMajor;
GTSAM_CONCEPT_ASSERT(IsVectorSpace<RowMajor>);
#endif
@ -1166,7 +1166,7 @@ TEST(Matrix, VectorIsVectorSpace) {
}
TEST(Matrix, RowVectorIsVectorSpace) {
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
typedef Eigen::Matrix<double, 1, -1> RowVector;
GTSAM_CONCEPT_ASSERT(IsVectorSpace<RowVector>);
GTSAM_CONCEPT_ASSERT(IsVectorSpace<Vector5>);

2
gtsam/base/tests/testVector.cpp
View File

@ -272,7 +272,7 @@ TEST(Vector, VectorIsVectorSpace) {
}
TEST(Vector, RowVectorIsVectorSpace) {
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
typedef Eigen::Matrix<double,1,-1> RowVector;
GTSAM_CONCEPT_ASSERT(IsVectorSpace<RowVector>);
#endif

22
gtsam/base/timing.cpp
View File

@ -59,7 +59,7 @@ void TimingOutline::add(size_t usecs, size_t usecsWall) {
TimingOutline::TimingOutline(const std::string& label, size_t id) :
id_(id), t_(0), tWall_(0), t2_(0.0), tIt_(0), tMax_(0), tMin_(0), n_(0), myOrder_(
0), lastChildOrder_(0), label_(label) {
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
#ifdef GTSAM_USING_NEW_BOOST_TIMERS
timer_.stop();
#endif
@ -68,7 +68,7 @@ TimingOutline::TimingOutline(const std::string& label, size_t id) :
/* ************************************************************************* */
size_t TimingOutline::time() const {
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
size_t time = 0;
bool hasChildren = false;
for(const ChildMap::value_type& child: children_) {
@ -86,7 +86,7 @@ size_t TimingOutline::time() const {
/* ************************************************************************* */
void TimingOutline::print(const std::string& outline) const {
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
std::string formattedLabel = label_;
std::replace(formattedLabel.begin(), formattedLabel.end(), '_', ' ');
std::cout << outline << "-" << formattedLabel << ": " << self() << " CPU ("
@ -157,7 +157,7 @@ void TimingOutline::printCsv(bool addLineBreak) const {
void TimingOutline::print2(const std::string& outline,
const double parentTotal) const {
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
const int w1 = 24, w2 = 2, w3 = 6, w4 = 8, precision = 2;
const double selfTotal = self(), selfMean = selfTotal / double(n_);
const double childTotal = secs();
@ -202,7 +202,7 @@ void TimingOutline::print2(const std::string& outline,
/* ************************************************************************* */
const std::shared_ptr<TimingOutline>& TimingOutline::child(size_t child,
const std::string& label, const std::weak_ptr<TimingOutline>& thisPtr) {
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
assert(thisPtr.lock().get() == this);
std::shared_ptr<TimingOutline>& result = children_[child];
if (!result) {
@ -221,7 +221,7 @@ const std::shared_ptr<TimingOutline>& TimingOutline::child(size_t child,
/* ************************************************************************* */
void TimingOutline::tic() {
// Disable this entire function if we are not using boost
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
#ifdef GTSAM_USING_NEW_BOOST_TIMERS
assert(timer_.is_stopped());
timer_.start();
@ -240,7 +240,7 @@ void TimingOutline::tic() {
/* ************************************************************************* */
void TimingOutline::toc() {
// Disable this entire function if we are not using boost
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
#ifdef GTSAM_USING_NEW_BOOST_TIMERS
@ -274,7 +274,7 @@ void TimingOutline::toc() {
/* ************************************************************************* */
void TimingOutline::finishedIteration() {
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
if (tIt_ > tMax_)
tMax_ = tIt_;
if (tMin_ == 0 || tIt_ < tMin_)
@ -289,7 +289,7 @@ void TimingOutline::finishedIteration() {
/* ************************************************************************* */
size_t getTicTocID(const char *descriptionC) {
// disable anything which refers to TimingOutline as well, for good measure
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
const std::string description(descriptionC);
// Global (static) map from strings to ID numbers and current next ID number
static size_t nextId = 0;
@ -312,7 +312,7 @@ size_t getTicTocID(const char *descriptionC) {
/* ************************************************************************* */
void tic(size_t id, const char *labelC) {
// disable anything which refers to TimingOutline as well, for good measure
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
const std::string label(labelC);
std::shared_ptr<TimingOutline> node = //
gCurrentTimer.lock()->child(id, label, gCurrentTimer);
@ -324,7 +324,7 @@ void tic(size_t id, const char *labelC) {
/* ************************************************************************* */
void toc(size_t id, const char *labelC) {
// disable anything which refers to TimingOutline as well, for good measure
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
const std::string label(labelC);
std::shared_ptr<TimingOutline> current(gCurrentTimer.lock());
if (id != current->id_) {

8
gtsam/base/timing.h
View File

@ -21,7 +21,7 @@
#include <gtsam/dllexport.h>
#include <gtsam/config.h> // for GTSAM_USE_TBB
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
#include <boost/version.hpp>
#endif
@ -107,7 +107,7 @@
// have matching gttic/gttoc statments. You may want to consider reorganizing your timing
// outline to match the scope of your code.
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
// Automatically use the new Boost timers if version is recent enough.
#if BOOST_VERSION >= 104800
# ifndef GTSAM_DISABLE_NEW_TIMERS
@ -165,7 +165,7 @@ namespace gtsam {
ChildMap children_; ///< subtrees
// disable all timers if not using boost
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
#ifdef GTSAM_USING_NEW_BOOST_TIMERS
boost::timer::cpu_timer timer_;
#else
@ -183,7 +183,7 @@ namespace gtsam {
GTSAM_EXPORT TimingOutline(const std::string& label, size_t myId);
GTSAM_EXPORT size_t time() const; ///< time taken, including children
double secs() const { return double(time()) / 1000000.0;} ///< time taken, in seconds, including children
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
double self() const { return double(t_) / 1000000.0;} ///< self time only, in seconds
double wall() const { return double(tWall_) / 1000000.0;} ///< wall time, in seconds
double min() const { return double(tMin_) / 1000000.0;} ///< min time, in seconds

17
gtsam/discrete/DiscreteFactorGraph.cpp
View File

@ -112,13 +112,12 @@ namespace gtsam {
// }
/**
* @brief Multiply all the `factors` and normalize the
* product to prevent underflow.
* @brief Multiply all the `factors`.
*
* @param factors The factors to multiply as a DiscreteFactorGraph.
* @return DecisionTreeFactor
*/
static DecisionTreeFactor ProductAndNormalize(
static DecisionTreeFactor DiscreteProduct(
const DiscreteFactorGraph& factors) {
// PRODUCT: multiply all factors
#if GTSAM_HYBRID_TIMING
@ -129,14 +128,14 @@ namespace gtsam {
gttoc_(DiscreteProduct);
#endif
// Max over all the potentials by pretending all keys are frontal:
auto normalizer = product.max(product.size());
#if GTSAM_HYBRID_TIMING
gttic_(DiscreteNormalize);
#endif
// Max over all the potentials by pretending all keys are frontal:
auto denominator = product.max(product.size());
// Normalize the product factor to prevent underflow.
product = product / (*normalizer);
product = product / (*denominator);
#if GTSAM_HYBRID_TIMING
gttoc_(DiscreteNormalize);
#endif
@ -149,7 +148,7 @@ namespace gtsam {
std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr> //
EliminateForMPE(const DiscreteFactorGraph& factors,
const Ordering& frontalKeys) {
DecisionTreeFactor product = ProductAndNormalize(factors);
DecisionTreeFactor product = DiscreteProduct(factors);
// max out frontals, this is the factor on the separator
gttic(max);
@ -227,7 +226,7 @@ namespace gtsam {
std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr> //
EliminateDiscrete(const DiscreteFactorGraph& factors,
const Ordering& frontalKeys) {
DecisionTreeFactor product = ProductAndNormalize(factors);
DecisionTreeFactor product = DiscreteProduct(factors);
// sum out frontals, this is the factor on the separator
#if GTSAM_HYBRID_TIMING

6
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
View File

@ -26,7 +26,7 @@
#include <gtsam/linear/linearExceptions.h>
#include <gtsam/inference/Ordering.h>
#include <gtsam/base/Vector.h>
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
#include <gtsam/base/timing.h>
#endif
@ -123,7 +123,7 @@ bool LevenbergMarquardtOptimizer::tryLambda(const GaussianFactorGraph& linear,
auto currentState = static_cast<const State*>(state_.get());
bool verbose = (params_.verbosityLM >= LevenbergMarquardtParams::TRYLAMBDA);
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
#ifdef GTSAM_USING_NEW_BOOST_TIMERS
boost::timer::cpu_timer lamda_iteration_timer;
lamda_iteration_timer.start();
@ -222,7 +222,7 @@ bool LevenbergMarquardtOptimizer::tryLambda(const GaussianFactorGraph& linear,
} // if (systemSolvedSuccessfully)
if (params_.verbosityLM == LevenbergMarquardtParams::SUMMARY) {
#ifdef GTSAM_USE_BOOST_FEATURES
#if GTSAM_USE_BOOST_FEATURES
// do timing
#ifdef GTSAM_USING_NEW_BOOST_TIMERS
double iterationTime = 1e-9 * lamda_iteration_timer.elapsed().wall;