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Added stats mode in SolverComparer

release/4.3a0
Richard Roberts 2013-11-07 21:41:23 +00:00
parent 1a41b9f4a2
commit 431c9b1987
1 changed files with 45 additions and 5 deletions
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50
examples/SolverComparer.cpp
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@ -9,18 +9,22 @@
* -------------------------------------------------------------------------- */
/**
* @file timeIncremental.cpp
* @file SolverComparer.cpp
* @brief Incremental and batch solving, timing, and accuracy comparisons
* @author Richard Roberts
* @date August, 2013
*/
#include <gtsam/base/timing.h>
#include <gtsam/base/treeTraversal-inst.h>
#include <gtsam/slam/dataset.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/BearingRangeFactor.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/linear/GaussianJunctionTree.h>
#include <gtsam/linear/GaussianEliminationTree.h>
#include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/Marginals.h>
@ -94,6 +98,7 @@ bool incremental;
bool batch;
bool compare;
bool perturb;
bool stats;
double perturbationNoise;
string compareFile1, compareFile2;
@ -105,6 +110,7 @@ void runIncremental();
void runBatch();
void runCompare();
void runPerturb();
void runStats();
/* ************************************************************************* */
int main(int argc, char *argv[]) {
@ -123,6 +129,7 @@ int main(int argc, char *argv[]) {
("batch", "Run in batch mode, requires an initialization from --read-solution")
("compare", po::value<vector<string> >()->multitoken(), "Compare two solution files")
("perturb", po::value<double>(&perturbationNoise), "Perturb a solution file with the specified noise")
("stats", "Gather factorization statistics about the dataset, writes text-file histograms")
;
po::variables_map vm;
po::store(po::command_line_parser(argc, argv).options(desc).run(), vm);
@ -131,7 +138,9 @@ int main(int argc, char *argv[]) {
batch = (vm.count("batch") > 0);
compare = (vm.count("compare") > 0);
perturb = (vm.count("perturb") > 0);
incremental = (vm.count("incremental") > 0 || (!batch && !compare && !perturb));
stats = (vm.count("stats") > 0);
const int modesSpecified = int(batch) + int(compare) + int(perturb) + int(stats);
incremental = (vm.count("incremental") > 0 || modesSpecified == 0);
if(compare) {
const vector<string>& compareFiles = vm["compare"].as<vector<string> >();
if(compareFiles.size() != 2) {
@ -142,15 +151,15 @@ int main(int argc, char *argv[]) {
compareFile2 = compareFiles[1];
}
if((batch && incremental) || (batch && compare) || (incremental && compare)) {
cout << "Only one of --incremental, --batch, and --compare may be specified\n" << desc << endl;
if(modesSpecified > 1) {
cout << "Only one of --incremental, --batch, --compare, --perturb, and --stats may be specified\n" << desc << endl;
exit(1);
}
if((incremental || batch) && datasetName.empty()) {
cout << "In incremental and batch modes, a dataset must be specified\n" << desc << endl;
exit(1);
}
if(!(incremental || batch) && !datasetName.empty()) {
if(!(incremental || batch || stats) && !datasetName.empty()) {
cout << "A dataset may only be specified in incremental or batch modes\n" << desc << endl;
exit(1);
}
@ -162,6 +171,10 @@ int main(int argc, char *argv[]) {
cout << "In perturb mode, specify input and output files\n" << desc << endl;
exit(1);
}
if(stats && (datasetName.empty() || inputFile.empty())) {
cout << "In stats mode, specify dataset and input file\n" << desc << endl;
exit(1);
}
// Read input file
if(!inputFile.empty())
@ -210,6 +223,8 @@ int main(int argc, char *argv[]) {
runCompare();
else if(perturb)
runPerturb();
else if(stats)
runStats();
return 0;
}
@ -548,3 +563,28 @@ void runPerturb()
}
/* ************************************************************************* */
void runStats()
{
cout << "Gathering statistics..." << endl;
GaussianFactorGraph linear = *datasetMeasurements.linearize(initial);
GaussianJunctionTree jt(GaussianEliminationTree(linear, Ordering::COLAMD(linear)));
treeTraversal::ForestStatistics statistics = treeTraversal::GatherStatistics(jt);
ofstream file;
cout << "Writing SolverComparer_Stats_problemSizeHistogram.txt..." << endl;
file.open("SolverComparer_Stats_problemSizeHistogram.txt");
treeTraversal::ForestStatistics::Write(file, statistics.problemSizeHistogram);
file.close();
cout << "Writing SolverComparer_Stats_numberOfChildrenHistogram.txt..." << endl;
file.open("SolverComparer_Stats_numberOfChildrenHistogram.txt");
treeTraversal::ForestStatistics::Write(file, statistics.numberOfChildrenHistogram);
file.close();
cout << "Writing SolverComparer_Stats_problemSizeOfSecondLargestChildHistogram.txt..." << endl;
file.open("SolverComparer_Stats_problemSizeOfSecondLargestChildHistogram.txt");
treeTraversal::ForestStatistics::Write(file, statistics.problemSizeOfSecondLargestChildHistogram);
file.close();
}