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add timing info

release/4.3a0
Varun Agrawal 2024-12-07 18:20:50 -05:00
parent 4dac37ce2b
commit 6c4546779a
2 changed files with 21 additions and 9 deletions
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22
gtsam/discrete/DiscreteFactorGraph.cpp
View File

@ -22,6 +22,7 @@
#include <gtsam/discrete/DiscreteFactorGraph.h> #include <gtsam/discrete/DiscreteFactorGraph.h>
#include <gtsam/discrete/DiscreteJunctionTree.h> #include <gtsam/discrete/DiscreteJunctionTree.h>
#include <gtsam/discrete/DiscreteLookupDAG.h> #include <gtsam/discrete/DiscreteLookupDAG.h>
#include <gtsam/discrete/TableFactor.h>
#include <gtsam/inference/EliminateableFactorGraph-inst.h> #include <gtsam/inference/EliminateableFactorGraph-inst.h>
#include <gtsam/inference/FactorGraph-inst.h> #include <gtsam/inference/FactorGraph-inst.h>
@ -144,12 +145,15 @@ namespace gtsam {
EliminateForMPE(const DiscreteFactorGraph& factors, EliminateForMPE(const DiscreteFactorGraph& factors,
const Ordering& frontalKeys) { const Ordering& frontalKeys) {
// PRODUCT: multiply all factors // PRODUCT: multiply all factors
gttic(product); gttic_(MPEProduct);
DiscreteFactor::shared_ptr product = factors.product(); DiscreteFactor::shared_ptr product = factors.product();
gttoc(product); gttoc_(MPEProduct);
gttic_(Normalize);
// Normalize the product // Normalize the product
product = Normalize(product); product = Normalize(product);
gttoc_(Normalize);
// max out frontals, this is the factor on the separator // max out frontals, this is the factor on the separator
gttic(max); gttic(max);
@ -229,17 +233,19 @@ namespace gtsam {
EliminateDiscrete(const DiscreteFactorGraph& factors, EliminateDiscrete(const DiscreteFactorGraph& factors,
const Ordering& frontalKeys) { const Ordering& frontalKeys) {
// PRODUCT: multiply all factors // PRODUCT: multiply all factors
gttic(product); gttic_(product);
DiscreteFactor::shared_ptr product = factors.product(); DiscreteFactor::shared_ptr product = factors.product();
gttoc(product); gttoc_(product);
gttic_(Normalize);
// Normalize the product // Normalize the product
product = Normalize(product); product = Normalize(product);
gttoc_(Normalize);
// sum out frontals, this is the factor on the separator // sum out frontals, this is the factor on the separator
gttic(sum); gttic_(sum);
DecisionTreeFactor::shared_ptr sum = product->sum(frontalKeys); DecisionTreeFactor::shared_ptr sum = product->sum(frontalKeys);
gttoc(sum); gttoc_(sum);
// Ordering keys for the conditional so that frontalKeys are really in front // Ordering keys for the conditional so that frontalKeys are really in front
Ordering orderedKeys; Ordering orderedKeys;
@ -249,10 +255,10 @@ namespace gtsam {
sum->keys().end()); sum->keys().end());
// now divide product/sum to get conditional // now divide product/sum to get conditional
gttic(divide); gttic_(divide);
auto conditional = auto conditional =
std::make_shared<DiscreteConditional>(product, *sum, orderedKeys); std::make_shared<DiscreteConditional>(product, *sum, orderedKeys);
gttoc(divide); gttoc_(divide);
return {conditional, sum}; return {conditional, sum};
} }

6
gtsam/discrete/TableFactor.cpp
View File

@ -72,7 +72,9 @@ TableFactor::TableFactor(const DiscreteKeys& dkeys,
*/ */
std::vector<double> ComputeLeafOrdering(const DiscreteKeys& dkeys, std::vector<double> ComputeLeafOrdering(const DiscreteKeys& dkeys,
const DecisionTreeFactor& dt) { const DecisionTreeFactor& dt) {
gttic_(ComputeLeafOrdering);
std::vector<double> probs = dt.probabilities(); std::vector<double> probs = dt.probabilities();
gttoc_(ComputeLeafOrdering);
std::vector<double> ordered; std::vector<double> ordered;
size_t n = dkeys[0].second; size_t n = dkeys[0].second;
@ -180,12 +182,16 @@ DiscreteFactor::shared_ptr TableFactor::operator*(
/* ************************************************************************ */ /* ************************************************************************ */
DecisionTreeFactor TableFactor::toDecisionTreeFactor() const { DecisionTreeFactor TableFactor::toDecisionTreeFactor() const {
gttic_(toDecisionTreeFactor);
DiscreteKeys dkeys = discreteKeys(); DiscreteKeys dkeys = discreteKeys();
std::vector<double> table; std::vector<double> table;
for (auto i = 0; i < sparse_table_.size(); i++) { for (auto i = 0; i < sparse_table_.size(); i++) {
table.push_back(sparse_table_.coeff(i)); table.push_back(sparse_table_.coeff(i));
} }
gttoc_(toDecisionTreeFactor);
gttic_(toDecisionTreeFactor_Constructor);
DecisionTreeFactor f(dkeys, table); DecisionTreeFactor f(dkeys, table);
gttoc_(toDecisionTreeFactor_Constructor);
return f; return f;
} }