timer
kartik arcot
Frank Dellaert
parent
27acf2231b
commit
b02c5ceefa
|
|
@ -30,6 +30,9 @@
|
|||
|
||||
namespace gtsam {
|
||||
namespace internal {
|
||||
|
||||
// a static shared_ptr to TimingOutline with nullptr as the pointer
|
||||
const static std::shared_ptr<TimingOutline> nullTimingOutline;
|
||||
|
||||
GTSAM_EXPORT std::shared_ptr<TimingOutline> gTimingRoot(
|
||||
new TimingOutline("Total", getTicTocID("Total")));
|
||||
|
|
@ -53,13 +56,16 @@ void TimingOutline::add(size_t usecs, size_t usecsWall) {
|
|||
TimingOutline::TimingOutline(const std::string& label, size_t id) :
|
||||
id_(id), t_(0), tWall_(0), t2_(0.0), tIt_(0), tMax_(0), tMin_(0), n_(0), myOrder_(
|
||||
0), lastChildOrder_(0), label_(label) {
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
#ifdef GTSAM_USING_NEW_BOOST_TIMERS
|
||||
timer_.stop();
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
size_t TimingOutline::time() const {
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
size_t time = 0;
|
||||
bool hasChildren = false;
|
||||
for(const ChildMap::value_type& child: children_) {
|
||||
|
|
@ -70,10 +76,14 @@ size_t TimingOutline::time() const {
|
|||
return time;
|
||||
else
|
||||
return t_;
|
||||
#else
|
||||
return 0;
|
||||
#endif
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void TimingOutline::print(const std::string& outline) const {
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
std::string formattedLabel = label_;
|
||||
std::replace(formattedLabel.begin(), formattedLabel.end(), '_', ' ');
|
||||
std::cout << outline << "-" << formattedLabel << ": " << self() << " CPU ("
|
||||
|
|
@ -92,11 +102,12 @@ void TimingOutline::print(const std::string& outline) const {
|
|||
order_child.second->print(childOutline);
|
||||
}
|
||||
std::cout.flush();
|
||||
#endif
|
||||
}
|
||||
|
||||
void TimingOutline::print2(const std::string& outline,
|
||||
const double parentTotal) const {
|
||||
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
const int w1 = 24, w2 = 2, w3 = 6, w4 = 8, precision = 2;
|
||||
const double selfTotal = self(), selfMean = selfTotal / double(n_);
|
||||
const double childTotal = secs();
|
||||
|
|
@ -135,11 +146,13 @@ void TimingOutline::print2(const std::string& outline,
|
|||
child.second->print2(childOutline, selfTotal);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
const std::shared_ptr<TimingOutline>& TimingOutline::child(size_t child,
|
||||
const std::string& label, const std::weak_ptr<TimingOutline>& thisPtr) {
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
assert(thisPtr.lock().get() == this);
|
||||
std::shared_ptr<TimingOutline>& result = children_[child];
|
||||
if (!result) {
|
||||
|
|
@ -150,10 +163,15 @@ const std::shared_ptr<TimingOutline>& TimingOutline::child(size_t child,
|
|||
result->parent_ = thisPtr;
|
||||
}
|
||||
return result;
|
||||
#else
|
||||
return nullTimingOutline;
|
||||
#endif
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void TimingOutline::tic() {
|
||||
// Disable this entire function if we are not using boost
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
#ifdef GTSAM_USING_NEW_BOOST_TIMERS
|
||||
assert(timer_.is_stopped());
|
||||
timer_.start();
|
||||
|
|
@ -166,10 +184,14 @@ void TimingOutline::tic() {
|
|||
#ifdef GTSAM_USE_TBB
|
||||
tbbTimer_ = tbb::tick_count::now();
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void TimingOutline::toc() {
|
||||
// Disable this entire function if we are not using boost
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
|
||||
#ifdef GTSAM_USING_NEW_BOOST_TIMERS
|
||||
|
||||
assert(!timer_.is_stopped());
|
||||
|
|
@ -197,10 +219,12 @@ void TimingOutline::toc() {
|
|||
#endif
|
||||
|
||||
add(cpuTime, wallTime);
|
||||
#endif
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void TimingOutline::finishedIteration() {
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
if (tIt_ > tMax_)
|
||||
tMax_ = tIt_;
|
||||
if (tMin_ == 0 || tIt_ < tMin_)
|
||||
|
|
@ -209,10 +233,13 @@ void TimingOutline::finishedIteration() {
|
|||
for(ChildMap::value_type& child: children_) {
|
||||
child.second->finishedIteration();
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
size_t getTicTocID(const char *descriptionC) {
|
||||
// disable anything which refers to TimingOutline as well, for good measure
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
const std::string description(descriptionC);
|
||||
// Global (static) map from strings to ID numbers and current next ID number
|
||||
static size_t nextId = 0;
|
||||
|
|
@ -227,19 +254,27 @@ size_t getTicTocID(const char *descriptionC) {
|
|||
|
||||
// Return ID
|
||||
return it->second;
|
||||
#else
|
||||
return 0;
|
||||
#endif
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void tic(size_t id, const char *labelC) {
|
||||
// disable anything which refers to TimingOutline as well, for good measure
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
const std::string label(labelC);
|
||||
std::shared_ptr<TimingOutline> node = //
|
||||
gCurrentTimer.lock()->child(id, label, gCurrentTimer);
|
||||
gCurrentTimer = node;
|
||||
node->tic();
|
||||
#endif
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void toc(size_t id, const char *label) {
|
||||
// disable anything which refers to TimingOutline as well, for good measure
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
std::shared_ptr<TimingOutline> current(gCurrentTimer.lock());
|
||||
if (id != current->id_) {
|
||||
gTimingRoot->print();
|
||||
|
|
@ -255,6 +290,7 @@ void toc(size_t id, const char *label) {
|
|||
}
|
||||
current->toc();
|
||||
gCurrentTimer = current->parent_;
|
||||
#endif
|
||||
}
|
||||
|
||||
} // namespace internal
|
||||
|
|
|
|||
|
|
@ -21,7 +21,9 @@
|
|||
#include <gtsam/dllexport.h>
|
||||
#include <gtsam/config.h> // for GTSAM_USE_TBB
|
||||
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
#include <boost/version.hpp>
|
||||
#endif
|
||||
|
||||
#include <memory>
|
||||
#include <cstddef>
|
||||
|
|
@ -105,6 +107,7 @@
|
|||
// have matching gttic/gttoc statments. You may want to consider reorganizing your timing
|
||||
// outline to match the scope of your code.
|
||||
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
// Automatically use the new Boost timers if version is recent enough.
|
||||
#if BOOST_VERSION >= 104800
|
||||
# ifndef GTSAM_DISABLE_NEW_TIMERS
|
||||
|
|
@ -118,6 +121,7 @@
|
|||
# include <boost/timer.hpp>
|
||||
# include <gtsam/base/types.h>
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef GTSAM_USE_TBB
|
||||
# include <tbb/tick_count.h>
|
||||
|
|
@ -160,6 +164,8 @@ namespace gtsam {
|
|||
typedef FastMap<size_t, std::shared_ptr<TimingOutline> > ChildMap;
|
||||
ChildMap children_; ///< subtrees
|
||||
|
||||
// disable all timers if not using boost
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
#ifdef GTSAM_USING_NEW_BOOST_TIMERS
|
||||
boost::timer::cpu_timer timer_;
|
||||
#else
|
||||
|
|
@ -168,6 +174,7 @@ namespace gtsam {
|
|||
#endif
|
||||
#ifdef GTSAM_USE_TBB
|
||||
tbb::tick_count tbbTimer_;
|
||||
#endif
|
||||
#endif
|
||||
void add(size_t usecs, size_t usecsWall);
|
||||
|
||||
|
|
@ -176,11 +183,20 @@ namespace gtsam {
|
|||
GTSAM_EXPORT TimingOutline(const std::string& label, size_t myId);
|
||||
GTSAM_EXPORT size_t time() const; ///< time taken, including children
|
||||
double secs() const { return double(time()) / 1000000.0;} ///< time taken, in seconds, including children
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
double self() const { return double(t_) / 1000000.0;} ///< self time only, in seconds
|
||||
double wall() const { return double(tWall_) / 1000000.0;} ///< wall time, in seconds
|
||||
double min() const { return double(tMin_) / 1000000.0;} ///< min time, in seconds
|
||||
double max() const { return double(tMax_) / 1000000.0;} ///< max time, in seconds
|
||||
double mean() const { return self() / double(n_); } ///< mean self time, in seconds
|
||||
#else
|
||||
// make them no-ops if not using boost
|
||||
double self() const { return -1.; } ///< self time only, in seconds
|
||||
double wall() const { return -1.; } ///< wall time, in seconds
|
||||
double min() const { return -1.; } ///< min time, in seconds
|
||||
double max() const { return -1.; } ///< max time, in seconds
|
||||
double mean() const { return -1.; } ///< mean self time, in seconds
|
||||
#endif
|
||||
GTSAM_EXPORT void print(const std::string& outline = "") const;
|
||||
GTSAM_EXPORT void print2(const std::string& outline = "", const double parentTotal = -1.0) const;
|
||||
GTSAM_EXPORT const std::shared_ptr<TimingOutline>&
|
||||
|
|
|
|||
|
|
@ -26,7 +26,9 @@
|
|||
#include <gtsam/linear/linearExceptions.h>
|
||||
#include <gtsam/inference/Ordering.h>
|
||||
#include <gtsam/base/Vector.h>
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
#include <gtsam/base/timing.h>
|
||||
#endif
|
||||
|
||||
#include <cmath>
|
||||
#include <fstream>
|
||||
|
|
@ -121,6 +123,7 @@ bool LevenbergMarquardtOptimizer::tryLambda(const GaussianFactorGraph& linear,
|
|||
auto currentState = static_cast<const State*>(state_.get());
|
||||
bool verbose = (params_.verbosityLM >= LevenbergMarquardtParams::TRYLAMBDA);
|
||||
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
#ifdef GTSAM_USING_NEW_BOOST_TIMERS
|
||||
boost::timer::cpu_timer lamda_iteration_timer;
|
||||
lamda_iteration_timer.start();
|
||||
|
|
@ -128,6 +131,9 @@ bool LevenbergMarquardtOptimizer::tryLambda(const GaussianFactorGraph& linear,
|
|||
boost::timer lamda_iteration_timer;
|
||||
lamda_iteration_timer.restart();
|
||||
#endif
|
||||
#else
|
||||
auto start = std::chrono::high_resolution_clock::now();
|
||||
#endif
|
||||
|
||||
if (verbose)
|
||||
cout << "trying lambda = " << currentState->lambda << endl;
|
||||
|
|
@ -215,11 +221,16 @@ bool LevenbergMarquardtOptimizer::tryLambda(const GaussianFactorGraph& linear,
|
|||
} // if (systemSolvedSuccessfully)
|
||||
|
||||
if (params_.verbosityLM == LevenbergMarquardtParams::SUMMARY) {
|
||||
#ifdef GTSAM_USE_BOOST
|
||||
// do timing
|
||||
#ifdef GTSAM_USING_NEW_BOOST_TIMERS
|
||||
double iterationTime = 1e-9 * lamda_iteration_timer.elapsed().wall;
|
||||
#else
|
||||
double iterationTime = lamda_iteration_timer.elapsed();
|
||||
#endif
|
||||
#else
|
||||
auto end = std::chrono::high_resolution_clock::now();
|
||||
double iterationTime = std::chrono::duration_cast<std::chrono::microseconds>(end - start).count() / 1e6;
|
||||
#endif
|
||||
if (currentState->iterations == 0) {
|
||||
cout << "iter cost cost_change lambda success iter_time" << endl;
|
||||
|
|
@ -228,7 +239,6 @@ bool LevenbergMarquardtOptimizer::tryLambda(const GaussianFactorGraph& linear,
|
|||
<< costChange << " " << setw(3) << setprecision(2) << currentState->lambda << " " << setw(4)
|
||||
<< systemSolvedSuccessfully << " " << setw(3) << setprecision(2) << iterationTime << endl;
|
||||
}
|
||||
|
||||
if (step_is_successful) {
|
||||
// we have successfully decreased the cost and we have good modelFidelity
|
||||
// NOTE(frank): As we return immediately after this, we move the newValues
|
||||
|
|
|
|||
Loading…
Reference in New Issue