fix bugs in timing, duplicate graph

examples/SFMExample_bal_COLAMD_METIS.cpp

@@ -40,7 +40,7 @@ int main (int argc, char* argv[]) {
 
   // Find default file, but if an argument is given, try loading a file
   string filename = findExampleDataFile("dubrovnik-3-7-pre");
-  if (argc>1) filename = string(argv[1]);
+  if (argc>1) filename = findExampleDataFile(string(argv[1]));
 
   // Load the SfM data from file
   SfM_data mydata;
@@ -48,7 +48,7 @@ int main (int argc, char* argv[]) {
   cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras();
 
   // Create a factor graph
-  NonlinearFactorGraph graph_for_COLAMD;
+  NonlinearFactorGraph graph;
 
   // We share *one* noiseModel between all projection factors
   noiseModel::Isotropic::shared_ptr noise =
@@ -60,15 +60,15 @@ int main (int argc, char* argv[]) {
     BOOST_FOREACH(const SfM_Measurement& m, track.measurements) {
       size_t i = m.first;
       Point2 uv = m.second;
-      graph_for_COLAMD.push_back(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P
+      graph.push_back(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P
     }
     j += 1;
   }
 
   // Add a prior on pose x1. This indirectly specifies where the origin is.
   // and a prior on the position of the first landmark to fix the scale
-  graph_for_COLAMD.push_back(PriorFactor<SfM_Camera>(C(0), mydata.cameras[0],  noiseModel::Isotropic::Sigma(9, 0.1)));
+  graph.push_back(PriorFactor<SfM_Camera>(C(0), mydata.cameras[0],  noiseModel::Isotropic::Sigma(9, 0.1)));
-  graph_for_COLAMD.push_back(PriorFactor<Point3>    (P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1)));
+  graph.push_back(PriorFactor<Point3>    (P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1)));
 
   // Create initial estimate
   Values initial;
@@ -76,9 +76,6 @@ int main (int argc, char* argv[]) {
   BOOST_FOREACH(const SfM_Camera& camera, mydata.cameras) initial.insert(C(i++), camera);
   BOOST_FOREACH(const SfM_Track& track, mydata.tracks)    initial.insert(P(j++), track.p);
 
-  NonlinearFactorGraph graph_for_METIS = graph_for_COLAMD.clone();
-
-
   /** ---------------  COMPARISON  -----------------------**/
   /** ----------------------------------------------------**/
 
@@ -86,31 +83,28 @@ int main (int argc, char* argv[]) {
   cout << "Optimize with COLAMD..." << endl;
 
   Values result_COLAMD;
+  double t_COLAMD_ordering, t_COLAMD_solving;
   try {
     double tic_t = clock();
 
     LevenbergMarquardtParams params_using_COLAMD;
     params_using_COLAMD.setVerbosity("ERROR");
-    params_using_COLAMD.ordering = Ordering::Create(Ordering::COLAMD, graph_for_COLAMD);
+    params_using_COLAMD.ordering = Ordering::Create(Ordering::COLAMD, graph);
 
-    double toc_t = (clock() - tic_t)/CLOCKS_PER_SEC;
+    t_COLAMD_ordering = (clock() - tic_t)/CLOCKS_PER_SEC;
 
     tic_t = clock();
 
-    LevenbergMarquardtOptimizer lm(graph_for_COLAMD, initial, params_using_COLAMD);
+    LevenbergMarquardtOptimizer lm(graph, initial, params_using_COLAMD);
     result_COLAMD = lm.optimize();
 
-    tic_t = clock();
+    t_COLAMD_solving = (clock() - tic_t)/CLOCKS_PER_SEC;
-
-    cout << "Ordering: " << toc_t << "seconds" << endl;
-    cout << "Solving: "  << (clock() - tic_t)/CLOCKS_PER_SEC << "seconds" << endl;
 
   } catch (exception& e) {
     cout << e.what();
   }
 
   cout << endl << endl;
-
   // To see the error, check SFMExample_bal.cpp file
   //cout << "final error: " << graph.error(result_COLAMD) << endl;
 
@@ -120,30 +114,42 @@ int main (int argc, char* argv[]) {
   cout << "Optimize with METIS" << endl;
 
   Values results_METIS;
+  double t_METIS_ordering, t_METIS_solving;
   try {
     double tic_t = clock();
 
     LevenbergMarquardtParams params_using_METIS;
     params_using_METIS.setVerbosity("ERROR");
-    params_using_METIS.ordering = Ordering::Create(Ordering::METIS, graph_for_METIS);
+    params_using_METIS.ordering = Ordering::Create(Ordering::METIS, graph);
 
-    double toc_t = (clock() - tic_t)/CLOCKS_PER_SEC;
+    t_METIS_ordering = (clock() - tic_t)/CLOCKS_PER_SEC;
 
     tic_t = clock();
 
-    LevenbergMarquardtOptimizer lm(graph_for_METIS, initial, params_using_METIS);
+    LevenbergMarquardtOptimizer lm(graph, initial, params_using_METIS);
     results_METIS = lm.optimize();
 
-    tic_t = clock();
+    t_METIS_solving = (clock() - tic_t)/CLOCKS_PER_SEC;
-
-    cout << "Ordering: " << toc_t << "seconds" << endl;
-    cout << "Solving: "  << (clock() - tic_t)/CLOCKS_PER_SEC << "seconds" << endl;
 
   } catch (exception& e) {
     cout << e.what();
   }
 
+  {
+    // printing the result
+    cout << "Time comparison by solving " << filename << " results:" << endl;
+    cout << boost::format("read %1% tracks on %2% cameras\n") \
+            % mydata.number_tracks() % mydata.number_cameras() \
+         << endl;
 
+    cout << "COLAMD: " << endl;
+    cout << "Ordering: " << t_COLAMD_ordering << "seconds" << endl;
+    cout << "Solving: "  << t_COLAMD_solving << "seconds" << endl;
+
+    cout << "METIS: " << endl;
+    cout << "Ordering: " << t_METIS_ordering << "seconds" << endl;
+    cout << "Solving: "  << t_METIS_solving << "seconds" << endl;
+  }
 
   return 0;
 }