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More detailed timing in UnorderedLinear script

release/4.3a0
Richard Roberts 2013-07-26 18:00:38 +00:00
parent da10417cfc
commit 5d0629c91a
1 changed files with 30 additions and 19 deletions
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49
examples/UnorderedLinear.cpp
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@ -218,28 +218,35 @@ int main(int argc, char *argv[])
// Get linear graph // Get linear graph
cout << "Converting to unordered linear graph" << endl; cout << "Converting to unordered linear graph" << endl;
Ordering ordering = *isamsoln.orderingArbitrary(); Ordering ordering = *isamsoln.orderingArbitrary();
Ordering orderingCOLAMD = *nlfg.orderingCOLAMD(isamsoln);
GaussianFactorGraph gfg = *nlfg.linearize(isamsoln, ordering); GaussianFactorGraph gfg = *nlfg.linearize(isamsoln, ordering);
GaussianFactorGraphUnordered gfgu = convertToUnordered(gfg, ordering); GaussianFactorGraphUnordered gfgu = convertToUnordered(gfg, ordering);
OrderingUnordered orderingUnordered; //OrderingUnordered orderingUnordered;
for(Index j = 0; j < ordering.size(); ++j) //for(Index j = 0; j < ordering.size(); ++j)
orderingUnordered.push_back(ordering.key(j)); // orderingUnordered.push_back(ordering.key(j));
// Solve linear graph // Solve linear graph
cout << "Optimizing unordered graph" << endl; cout << "Optimizing unordered graph" << endl;
VectorValuesUnordered unorderedSolnFinal; VectorValuesUnordered unorderedSolnFinal;
{ {
boost::timer::cpu_timer timer;
gttic_(Solve_unordered); gttic_(Solve_unordered);
VectorValuesUnordered unorderedSoln; VectorValuesUnordered unorderedSoln;
for(size_t i = 0; i < 1; ++i) { for(size_t i = 0; i < 1; ++i) {
unorderedSoln = gfgu.optimize(); gttic_(VariableIndex);
VariableIndexUnordered vi(gfgu);
gttoc_(VariableIndex);
gttic_(COLAMD);
OrderingUnordered orderingUnordered = OrderingUnordered::COLAMD(vi);
gttoc_(COLAMD);
gttic_(eliminate);
GaussianBayesTreeUnordered::shared_ptr bt = gfgu.eliminateMultifrontal(orderingUnordered);
gttoc_(eliminate);
gttic_(optimize);
unorderedSoln = bt->optimize();
gttoc_(optimize);
} }
gttoc_(Solve_unordered); gttoc_(Solve_unordered);
timer.stop();
boost::timer::cpu_times times = timer.elapsed();
std::cout << "Total CPU time: " << double(times.system + times.user) / 1e9
<< ", wall time: " << double(times.wall) / 1e9 << std::endl;
unorderedSolnFinal = unorderedSoln; unorderedSolnFinal = unorderedSoln;
} }
@ -248,26 +255,30 @@ int main(int argc, char *argv[])
VectorValues orderedSolnFinal; VectorValues orderedSolnFinal;
{ {
Ordering orderingToUse = ordering; Ordering orderingToUse = ordering;
GaussianFactorGraph orderedGraph = *nlfg.linearize(isamsoln, *nlfg.orderingCOLAMD(isamsoln)); GaussianFactorGraph::shared_ptr orderedGraph = nlfg.linearize(isamsoln, *nlfg.orderingCOLAMD(isamsoln));
boost::timer::cpu_timer timer;
gttic_(Solve_ordered); gttic_(Solve_ordered);
VectorValues orderedSoln; VectorValues orderedSoln;
for(size_t i = 0; i < 1; ++i) { for(size_t i = 0; i < 1; ++i) {
VariableIndex vi(nlfg); gttic_(VariableIndex);
boost::shared_ptr<Permutation> permutation = inference::PermutationCOLAMD(vi); boost::shared_ptr<VariableIndex> vi = boost::make_shared<VariableIndex>(gfg);
gttoc_(VariableIndex);
gttic_(COLAMD);
boost::shared_ptr<Permutation> permutation = inference::PermutationCOLAMD(*vi);
orderingToUse.permuteInPlace(*permutation); orderingToUse.permuteInPlace(*permutation);
orderedSoln = *GaussianMultifrontalSolver(orderedGraph, true).optimize(); gttoc_(COLAMD);
gttic_(eliminate);
boost::shared_ptr<GaussianBayesTree> bt = GaussianMultifrontalSolver(*orderedGraph, true).eliminate();
gttoc_(eliminate);
gttic_(optimize);
orderedSoln = optimize(*bt);
gttoc_(optimize);
} }
gttoc_(Solve_ordered); gttoc_(Solve_ordered);
timer.stop();
boost::timer::cpu_times times = timer.elapsed();
std::cout << "Total CPU time: " << double(times.system + times.user) / 1e9
<< ", wall time: " << double(times.wall) / 1e9 << std::endl;
orderedSolnFinal = orderedSoln; orderedSolnFinal = orderedSoln;
} }
// Compare results // Compare results
compareSolutions(orderedSolnFinal, ordering, unorderedSolnFinal); compareSolutions(orderedSolnFinal, orderingCOLAMD, unorderedSolnFinal);
//GaussianEliminationTreeUnordered(gfgu, orderingUnordered).print("ETree: "); //GaussianEliminationTreeUnordered(gfgu, orderingUnordered).print("ETree: ");
//GaussianJunctionTreeUnordered(GaussianEliminationTreeUnordered(gfgu, orderingUnordered)).print("JTree: "); //GaussianJunctionTreeUnordered(GaussianEliminationTreeUnordered(gfgu, orderingUnordered)).print("JTree: ");