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add timing checkpoints

release/4.3a0
Varun Agrawal 2023-07-13 23:47:56 -04:00
parent 50d24ab38e
commit 2b72f75a07
2 changed files with 12 additions and 2 deletions
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8
gtsam/hybrid/HybridBayesNet.cpp
View File

@ -161,12 +161,14 @@ void HybridBayesNet::updateDiscreteConditionals(
DecisionTreeFactor::ADT prunedDiscreteTree =
discreteTree->apply(prunerFunc(prunedDiscreteProbs, *conditional));
gttic_(HybridBayesNet_MakeConditional);
// Create the new (hybrid) conditional
KeyVector frontals(discrete->frontals().begin(),
discrete->frontals().end());
auto prunedDiscrete = std::make_shared<DiscreteLookupTable>(
frontals.size(), conditional->discreteKeys(), prunedDiscreteTree);
conditional = std::make_shared<HybridConditional>(prunedDiscrete);
gttoc_(HybridBayesNet_MakeConditional);
// Add it back to the BayesNet
this->at(i) = conditional;
@ -177,12 +179,16 @@ void HybridBayesNet::updateDiscreteConditionals(
/* ************************************************************************* */
HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
// Get the decision tree of only the discrete keys
gttic_(HybridBayesNet_PruneDiscreteConditionals);
DecisionTreeFactor::shared_ptr discreteConditionals =
this->discreteConditionals();
const DecisionTreeFactor prunedDiscreteProbs =
discreteConditionals->prune(maxNrLeaves);
gttoc_(HybridBayesNet_PruneDiscreteConditionals);
gttic_(HybridBayesNet_UpdateDiscreteConditionals);
this->updateDiscreteConditionals(prunedDiscreteProbs);
gttoc_(HybridBayesNet_UpdateDiscreteConditionals);
/* To Prune, we visitWith every leaf in the GaussianMixture.
* For each leaf, using the assignment we can check the discrete decision tree
@ -193,6 +199,7 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
HybridBayesNet prunedBayesNetFragment;
gttic_(HybridBayesNet_PruneMixtures);
// Go through all the conditionals in the
// Bayes Net and prune them as per prunedDiscreteProbs.
for (auto &&conditional : *this) {
@ -209,6 +216,7 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
prunedBayesNetFragment.push_back(conditional);
}
}
gttoc_(HybridBayesNet_PruneMixtures);
return prunedBayesNetFragment;
}

6
gtsam/hybrid/HybridGaussianFactorGraph.cpp
View File

@ -98,7 +98,7 @@ static GaussianFactorGraphTree addGaussian(
// TODO(dellaert): it's probably more efficient to first collect the discrete
// keys, and then loop over all assignments to populate a vector.
GaussianFactorGraphTree HybridGaussianFactorGraph::assembleGraphTree() const {
gttic(assembleGraphTree);
gttic_(assembleGraphTree);
GaussianFactorGraphTree result;
@ -131,7 +131,7 @@ GaussianFactorGraphTree HybridGaussianFactorGraph::assembleGraphTree() const {
}
}
gttoc(assembleGraphTree);
gttoc_(assembleGraphTree);
return result;
}
@ -235,7 +235,9 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
gttic_(hybrid_eliminate);
#endif
gttic_(hybrid_continuous_eliminate);
auto result = EliminatePreferCholesky(graph, frontalKeys);
gttoc_(hybrid_continuous_eliminate);
#ifdef HYBRID_TIMING
gttoc_(hybrid_eliminate);