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More detailed timing in EliminationTree

release/4.3a0
Richard Roberts 2010-11-03 23:07:17 +00:00
parent 898ca38f1c
commit 888b166787
1 changed files with 28 additions and 1 deletions
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29
gtsam/inference/EliminationTree-inl.h
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@ -5,6 +5,7 @@
* @created Oct 13, 2010 * @created Oct 13, 2010
*/ */
#include <gtsam/base/timing.h>
#include <gtsam/inference/EliminationTree.h> #include <gtsam/inference/EliminationTree.h>
#include <gtsam/inference/VariableSlots.h> #include <gtsam/inference/VariableSlots.h>
#include <gtsam/inference/FactorGraph-inl.h> #include <gtsam/inference/FactorGraph-inl.h>
@ -84,8 +85,12 @@ template<class DERIVEDFACTOR>
typename EliminationTree<FACTOR>::shared_ptr typename EliminationTree<FACTOR>::shared_ptr
EliminationTree<FACTOR>::Create(const FactorGraph<DERIVEDFACTOR>& factorGraph, const VariableIndex& structure) { EliminationTree<FACTOR>::Create(const FactorGraph<DERIVEDFACTOR>& factorGraph, const VariableIndex& structure) {
tic("ET 1: Create");
tic("ET 1.1: ComputeParents");
// Compute the tree structure // Compute the tree structure
vector<Index> parents(ComputeParents(structure)); vector<Index> parents(ComputeParents(structure));
toc("ET 1.1: ComputeParents");
// Number of variables // Number of variables
const size_t n = structure.size(); const size_t n = structure.size();
@ -93,6 +98,7 @@ EliminationTree<FACTOR>::Create(const FactorGraph<DERIVEDFACTOR>& factorGraph, c
static const Index none = numeric_limits<Index>::max(); static const Index none = numeric_limits<Index>::max();
// Create tree structure // Create tree structure
tic("ET 1.2: assemble tree");
vector<shared_ptr> trees(n); vector<shared_ptr> trees(n);
for (Index k = 1; k <= n; k++) { for (Index k = 1; k <= n; k++) {
Index j = n - k; Index j = n - k;
@ -100,8 +106,10 @@ EliminationTree<FACTOR>::Create(const FactorGraph<DERIVEDFACTOR>& factorGraph, c
if (parents[j] != none) if (parents[j] != none)
trees[parents[j]]->add(trees[j]); trees[parents[j]]->add(trees[j]);
} }
toc("ET 1.2: assemble tree");
// Hang factors in right places // Hang factors in right places
tic("ET 1.3: hang factors");
BOOST_FOREACH(const typename DERIVEDFACTOR::shared_ptr& derivedFactor, factorGraph) { BOOST_FOREACH(const typename DERIVEDFACTOR::shared_ptr& derivedFactor, factorGraph) {
// Here we static_cast to the factor type of this EliminationTree. This // Here we static_cast to the factor type of this EliminationTree. This
// allows performing symbolic elimination on, for example, GaussianFactors. // allows performing symbolic elimination on, for example, GaussianFactors.
@ -109,6 +117,9 @@ EliminationTree<FACTOR>::Create(const FactorGraph<DERIVEDFACTOR>& factorGraph, c
Index j = factor->front(); Index j = factor->front();
trees[j]->add(factor); trees[j]->add(factor);
} }
toc("ET 1.3: hang factors");
toc("ET 1: Create");
// Assert that all other nodes have parents, i.e. that this is not a forest. // Assert that all other nodes have parents, i.e. that this is not a forest.
#ifndef NDEBUG #ifndef NDEBUG
@ -124,7 +135,14 @@ template<class FACTOR>
template<class DERIVEDFACTOR> template<class DERIVEDFACTOR>
typename EliminationTree<FACTOR>::shared_ptr typename EliminationTree<FACTOR>::shared_ptr
EliminationTree<FACTOR>::Create(const FactorGraph<DERIVEDFACTOR>& factorGraph) { EliminationTree<FACTOR>::Create(const FactorGraph<DERIVEDFACTOR>& factorGraph) {
return Create(factorGraph, VariableIndex(factorGraph));
// Build variable index
tic("ET 0: variable index");
const VariableIndex variableIndex(factorGraph);
toc("ET 0: variable index");
// Build elimination tree
return Create(factorGraph, variableIndex);
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -157,16 +175,25 @@ template<class FACTOR>
typename EliminationTree<FACTOR>::BayesNet::shared_ptr typename EliminationTree<FACTOR>::BayesNet::shared_ptr
EliminationTree<FACTOR>::eliminate() const { EliminationTree<FACTOR>::eliminate() const {
tic("ET 2: eliminate");
// call recursive routine // call recursive routine
tic("ET 2.1: recursive eliminate");
Conditionals conditionals(this->key_ + 1); Conditionals conditionals(this->key_ + 1);
(void)eliminate_(conditionals); (void)eliminate_(conditionals);
toc("ET 2.1: recursive eliminate");
// Add conditionals to BayesNet // Add conditionals to BayesNet
tic("ET 2.1: assemble BayesNet");
typename BayesNet::shared_ptr bayesNet(new BayesNet); typename BayesNet::shared_ptr bayesNet(new BayesNet);
BOOST_FOREACH(const typename BayesNet::sharedConditional& conditional, conditionals) { BOOST_FOREACH(const typename BayesNet::sharedConditional& conditional, conditionals) {
if(conditional) if(conditional)
bayesNet->push_back(conditional); bayesNet->push_back(conditional);
} }
toc("ET 2.1: assemble BayesNet");
toc("ET 2: eliminate");
return bayesNet; return bayesNet;
} }