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Added threads option to SolverComparer

release/4.3a0
Richard Roberts 2013-08-14 19:47:30 +00:00
parent b0659da607
commit 4099c04dcd
1 changed files with 11 additions and 0 deletions
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11
examples/SolverComparer.cpp
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@ -34,6 +34,10 @@
#include <boost/range/algorithm/set_algorithm.hpp> #include <boost/range/algorithm/set_algorithm.hpp>
#include <boost/random.hpp> #include <boost/random.hpp>
#include <tbb/tbb.h>
#undef max // TBB seems to include windows.h and we don't want these macros
#undef min
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
using namespace gtsam::symbol_shorthand; using namespace gtsam::symbol_shorthand;
@ -82,6 +86,7 @@ string inputFile;
string datasetName; string datasetName;
int firstStep; int firstStep;
int lastStep; int lastStep;
int nThreads;
bool incremental; bool incremental;
bool batch; bool batch;
bool compare; bool compare;
@ -109,6 +114,7 @@ int main(int argc, char *argv[]) {
("dataset,d", po::value<string>(&datasetName)->default_value(""), "Read a dataset file (if and only if --incremental is used)") ("dataset,d", po::value<string>(&datasetName)->default_value(""), "Read a dataset file (if and only if --incremental is used)")
("first-step,f", po::value<int>(&firstStep)->default_value(0), "First step to process from the dataset file") ("first-step,f", po::value<int>(&firstStep)->default_value(0), "First step to process from the dataset file")
("last-step,l", po::value<int>(&lastStep)->default_value(-1), "Last step to process, or -1 to process until the end of the dataset") ("last-step,l", po::value<int>(&lastStep)->default_value(-1), "Last step to process, or -1 to process until the end of the dataset")
("threads", po::value<int>(&nThreads)->default_value(-1), "Number of threads, or -1 to use all processors")
("incremental", "Run in incremental mode using ISAM2 (default)") ("incremental", "Run in incremental mode using ISAM2 (default)")
("batch", "Run in batch mode, requires an initialization from --read-solution") ("batch", "Run in batch mode, requires an initialization from --read-solution")
("compare", po::value<vector<string> >()->multitoken(), "Compare two solution files") ("compare", po::value<vector<string> >()->multitoken(), "Compare two solution files")
@ -177,6 +183,9 @@ int main(int argc, char *argv[]) {
} }
} }
std::auto_ptr<tbb::task_scheduler_init> init;
if(nThreads > 0)
init.reset(new tbb::task_scheduler_init(nThreads));
// Run mode // Run mode
if(incremental) if(incremental)
@ -322,7 +331,9 @@ void runIncremental()
gttoc_(Collect_measurements); gttoc_(Collect_measurements);
// Update iSAM2 // Update iSAM2
gttic_(Update_ISAM2);
isam2.update(newFactors, newVariables); isam2.update(newFactors, newVariables);
gttoc_(Update_ISAM2);
if((step - firstPose) % 100 == 0) { if((step - firstPose) % 100 == 0) {
gttic_(chi2); gttic_(chi2);