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change to GTSAM timing

release/4.3a0
zhaoyang 2015-02-23 10:24:34 -05:00
parent 1d81572894
commit 0b9758d88c
1 changed files with 26 additions and 57 deletions
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83
examples/SFMExample_bal_COLAMD_METIS.cpp
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@ -24,6 +24,9 @@
#include <gtsam/slam/PriorFactor.h> #include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/GeneralSFMFactor.h> #include <gtsam/slam/GeneralSFMFactor.h>
#include <gtsam/slam/dataset.h> // for loading BAL datasets ! #include <gtsam/slam/dataset.h> // for loading BAL datasets !
#include <gtsam/base/timing.h>
#include <vector> #include <vector>
using namespace std; using namespace std;
@ -80,24 +83,17 @@ int main (int argc, char* argv[]) {
/** --------------- COMPARISON -----------------------**/ /** --------------- COMPARISON -----------------------**/
/** ----------------------------------------------------**/ /** ----------------------------------------------------**/
double t_COLAMD_ordering, t_METIS_ordering; //, t_NATURAL_ordering; LevenbergMarquardtParams params_using_COLAMD, params_using_METIS;
LevenbergMarquardtParams params_using_COLAMD, params_using_METIS, params_using_NATURAL;
try { try {
double tic_t = clock();
params_using_METIS.setVerbosity("ERROR"); params_using_METIS.setVerbosity("ERROR");
gttic_(METIS_ORDERING);
params_using_METIS.ordering = Ordering::Create(Ordering::METIS, graph); params_using_METIS.ordering = Ordering::Create(Ordering::METIS, graph);
t_METIS_ordering = (clock() - tic_t)/CLOCKS_PER_SEC; gttoc_(METIS_ORDERING);
tic_t = clock();
params_using_COLAMD.setVerbosity("ERROR"); params_using_COLAMD.setVerbosity("ERROR");
gttic_(COLAMD_ORDERING);
params_using_COLAMD.ordering = Ordering::Create(Ordering::COLAMD, graph); params_using_COLAMD.ordering = Ordering::Create(Ordering::COLAMD, graph);
t_COLAMD_ordering = (clock() - tic_t)/CLOCKS_PER_SEC; gttoc_(COLAMD_ORDERING);
// tic_t = clock();
// params_using_NATURAL.setVerbosity("ERROR");
// params_using_NATURAL.ordering = Ordering::Create(Ordering::NATURAL, graph);
// t_NATURAL_ordering = (clock() - tic_t)/CLOCKS_PER_SEC;
} catch (exception& e) { } catch (exception& e) {
cout << e.what(); cout << e.what();
} }
@ -108,49 +104,23 @@ int main (int argc, char* argv[]) {
<< "Problem here!!!" << endl; << "Problem here!!!" << endl;
} }
/* with METIS, optimize the graph and print the results */ /* Optimize the graph with METIS and COLAMD and time the results */
cout << "Optimize with METIS" << endl;
Values result_METIS; Values result_METIS, result_COLAMD;
double t_METIS_solving;
try { try {
double tic_t = clock(); gttic_(OPTIMIZE_WITH_METIS);
LevenbergMarquardtOptimizer lm_METIS(graph, initial, params_using_COLAMD); LevenbergMarquardtOptimizer lm_METIS(graph, initial, params_using_METIS);
result_METIS = lm_METIS.optimize(); result_METIS = lm_METIS.optimize();
t_METIS_solving = (clock() - tic_t)/CLOCKS_PER_SEC; gttoc_(OPTIMIZE_WITH_METIS);
} catch (exception& e) {
cout << e.what();
}
/* With COLAMD, optimize the graph and print the results */ gttic_(OPTIMIZE_WITH_COLAMD);
cout << "Optimize with COLAMD..." << endl;
Values result_COLAMD;
double t_COLAMD_solving;
try {
double tic_t = clock();
LevenbergMarquardtOptimizer lm_COLAMD(graph, initial, params_using_COLAMD); LevenbergMarquardtOptimizer lm_COLAMD(graph, initial, params_using_COLAMD);
result_COLAMD = lm_COLAMD.optimize(); result_COLAMD = lm_COLAMD.optimize();
t_COLAMD_solving = (clock() - tic_t)/CLOCKS_PER_SEC; gttoc_(OPTIMIZE_WITH_COLAMD);
} catch (exception& e) { } catch (exception& e) {
cout << e.what(); cout << e.what();
} }
// disable optimizer with NATURAL since it doesn't converge on large problem
/* Use Natural ordering and solve both respectively */
// cout << "Solving with natural ordering: " << endl;
// Values result_NATURAL;
// double t_NATURAL_solving;
// try {
// double tic_t = clock();
// LevenbergMarquardtOptimizer lm_NATURAL(graph, initial, params_using_NATURAL);
// result_NATURAL = lm_NATURAL.optimize();
// t_NATURAL_solving = (clock() - tic_t)/CLOCKS_PER_SEC;
// } catch (exception& e) {
// cout << e.what();
// }
cout << endl << endl; cout << endl << endl;
{ {
@ -160,22 +130,21 @@ int main (int argc, char* argv[]) {
% mydata.number_tracks() % mydata.number_cameras() \ % mydata.number_tracks() % mydata.number_cameras() \
<< endl; << endl;
cout << "COLAMD: " << endl; cout << "COLAMD final error: " << graph.error(result_COLAMD) << endl;
cout << "Ordering: " << t_COLAMD_ordering << "seconds" << endl; cout << "METIS final error: " << graph.error(result_METIS) << endl;
cout << "Solving: " << t_COLAMD_solving << "seconds" << endl;
cout << "final error: " << graph.error(result_COLAMD) << endl;
cout << "METIS: " << endl; tictoc_print_();
cout << "Ordering: " << t_METIS_ordering << "seconds" << endl;
cout << "Solving: " << t_METIS_solving << "seconds" << endl;
cout << "final error: " << graph.error(result_METIS) << endl;
// cout << "Natural: " << endl; // cout << "COLAMD: " << endl;
// cout << "Ordering: " << t_NATURAL_ordering << "seconds" << endl; // cout << "Ordering: " << t_COLAMD_ordering << "seconds" << endl;
// cout << "Solving: " << t_NATURAL_solving << "seconds" << endl; // cout << "Solving: " << t_COLAMD_solving << "seconds" << endl;
// cout << "final error: " << graph.error(result_NATURAL) << endl;
// cout << "METIS: " << endl;
// cout << "Ordering: " << t_METIS_ordering << "seconds" << endl;
// cout << "Solving: " << t_METIS_solving << "seconds" << endl;
} }
return 0; return 0;
} }
/* ************************************************************************* */ /* ************************************************************************* */