Using boost timer instead of chrono to support older boost versions
Richard Roberts
parent
1b5b4d494e
commit
dacff98f9f
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@ -20,7 +20,6 @@
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#include <stdio.h>
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#include <iostream>
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#include <iomanip>
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#include <sys/time.h>
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#include <stdlib.h>
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#include <boost/foreach.hpp>
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#include <boost/format.hpp>
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@ -48,7 +47,7 @@ void TimingOutline::add(size_t usecs) {
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/* ************************************************************************* */
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TimingOutline::TimingOutline(const std::string& label) :
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t_(0), t2_(0.0), tIt_(0), tMax_(0), tMin_(0), n_(0), label_(label), timerActive_(false) {}
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t_(0), t2_(0.0), tIt_(0), tMax_(0), tMin_(0), n_(0), label_(label) {}
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/* ************************************************************************* */
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size_t TimingOutline::time() const {
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@ -151,18 +150,15 @@ const boost::shared_ptr<TimingOutline>& TimingOutline::child(size_t child, const
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/* ************************************************************************* */
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void TimingOutline::tic() {
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assert(!timerActive_);
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timerActive_ = true;
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gettimeofday(&t0_, NULL);
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assert(timer_.is_stopped());
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timer_.start();
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}
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/* ************************************************************************* */
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void TimingOutline::toc() {
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struct timeval t;
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gettimeofday(&t, NULL);
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assert(timerActive_);
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add(t.tv_sec*1000000 + t.tv_usec - (t0_.tv_sec*1000000 + t0_.tv_usec));
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timerActive_ = false;
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assert(!timer_.is_stopped());
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timer_.stop();
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add((timer_.elapsed().user + timer_.elapsed().system) / 1000);
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}
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/* ************************************************************************* */
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@ -231,6 +227,8 @@ void toc_(size_t id, const std::string& label) {
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toc_(id);
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}
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#ifdef ENABLE_OLD_TIMING
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/* ************************************************************************* */
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// Timing class implementation
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void Timing::print() {
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@ -260,3 +258,5 @@ void ticPop_(const std::string& prefix, const std::string& id) {
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else
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timingPrefix.resize(timingPrefix.size() - prefix.size() - 1);
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}
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#endif
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@ -1,202 +1,204 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file timing.h
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* @brief Timing utilities
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* @author Richard Roberts, Michael Kaess
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* @date Oct 5, 2010
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*/
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#pragma once
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#include <string>
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#include <map>
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#include <vector>
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#include <boost/shared_ptr.hpp>
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#include <boost/weak_ptr.hpp>
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class TimingOutline;
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extern boost::shared_ptr<TimingOutline> timingRoot;
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extern boost::weak_ptr<TimingOutline> timingCurrent;
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class TimingOutline {
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protected:
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size_t t_;
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double t2_ ; /* cache the \sum t_i^2 */
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size_t tIt_;
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size_t tMax_;
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size_t tMin_;
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size_t n_;
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std::string label_;
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boost::weak_ptr<TimingOutline> parent_;
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std::vector<boost::shared_ptr<TimingOutline> > children_;
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struct timeval t0_;
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bool timerActive_;
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void add(size_t usecs);
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public:
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TimingOutline(const std::string& label);
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size_t time() const;
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void print(const std::string& outline = "") const;
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void print2(const std::string& outline = "", const double parentTotal = -1.0) const;
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const boost::shared_ptr<TimingOutline>& child(size_t child, const std::string& label, const boost::weak_ptr<TimingOutline>& thisPtr);
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void tic();
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void toc();
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void finishedIteration();
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friend class AutoTimer;
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friend void toc_(size_t id);
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friend void toc_(size_t id, const std::string& label);
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}; // \TimingOutline
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void tic_(size_t id, const std::string& label);
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void toc_(size_t id);
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void toc_(size_t id, const std::string& label);
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inline void tictoc_finishedIteration_() {
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timingRoot->finishedIteration();
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}
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#ifdef ENABLE_TIMING
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inline void tic(size_t id, const std::string& label) { tic_(id, label); }
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inline void toc(size_t id) { toc_(id); }
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inline void toc(size_t id, const std::string& label) { toc_(id, label); }
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inline void tictoc_finishedIteration() { tictoc_finishedIteration_(); }
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#else
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inline void tic(size_t, const char*) {}
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inline void toc(size_t) {}
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inline void toc(size_t, const char*) {}
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inline void tictoc_finishedIteration() {}
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#endif
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// simple class for accumulating execution timing information by name
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class Timing;
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extern Timing timing;
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extern std::string timingPrefix;
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double _tic();
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double _toc(double t);
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double tic(const std::string& id);
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double toc(const std::string& id);
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void ticPush(const std::string& id);
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void ticPop(const std::string& id);
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void tictoc_print();
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void tictoc_finishedIteration();
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/** These underscore versions work evening when ENABLE_TIMING is not defined */
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double _tic_();
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double _toc_(double t);
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double tic_(const std::string& id);
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double toc_(const std::string& id);
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void ticPush_(const std::string& id);
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void ticPop_(const std::string& id);
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void tictoc_print_();
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void tictoc_finishedIteration_();
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// simple class for accumulating execution timing information by name
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class Timing {
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class Stats {
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public:
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std::string label;
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double t0;
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double t;
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double t_max;
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double t_min;
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int n;
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};
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std::map<std::string, Stats> stats;
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public:
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void add_t0(const std::string& id, double t0) {
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stats[id].t0 = t0;
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}
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double get_t0(const std::string& id) {
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return stats[id].t0;
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}
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void add_dt(const std::string& id, double dt) {
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Stats& s = stats[id];
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s.t += dt;
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s.n++;
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if (s.n==1 || s.t_max < dt) s.t_max = dt;
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if (s.n==1 || s.t_min > dt) s.t_min = dt;
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}
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void print();
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double time(const std::string& id) {
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Stats& s = stats[id];
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return s.t;
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}
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};
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double _tic_();
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inline double _toc_(double t) {
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double s = _tic_();
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return (std::max(0., s-t));
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}
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inline double tic_(const std::string& id) {
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double t0 = _tic_();
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timing.add_t0(timingPrefix + " " + id, t0);
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return t0;
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}
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inline double toc_(const std::string& id) {
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std::string comb(timingPrefix + " " + id);
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double dt = _toc_(timing.get_t0(comb));
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timing.add_dt(comb, dt);
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return dt;
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}
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inline void ticPush_(const std::string& prefix, const std::string& id) {
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if(timingPrefix.size() > 0)
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timingPrefix += ".";
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timingPrefix += prefix;
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tic_(id);
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}
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void ticPop_(const std::string& prefix, const std::string& id);
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inline void tictoc_print_() {
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timing.print();
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timingRoot->print();
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}
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/* print mean and standard deviation */
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inline void tictoc_print2_() {
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timingRoot->print2();
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}
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#ifdef ENABLE_TIMING
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inline double _tic() { return _tic_(); }
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inline double _toc(double t) { return _toc_(t); }
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inline double tic(const std::string& id) { return tic_(id); }
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inline double toc(const std::string& id) { return toc_(id); }
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inline void ticPush(const std::string& prefix, const std::string& id) { ticPush_(prefix, id); }
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inline void ticPop(const std::string& prefix, const std::string& id) { ticPop_(prefix, id); }
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inline void tictoc_print() { tictoc_print_(); }
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#else
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inline double _tic() {return 0.;}
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inline double _toc(double) {return 0.;}
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inline double tic(const std::string&) {return 0.;}
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inline double toc(const std::string&) {return 0.;}
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inline void ticPush(const std::string&, const std::string&) {}
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inline void ticPop(const std::string&, const std::string&) {}
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inline void tictoc_print() {}
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#endif
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file timing.h
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* @brief Timing utilities
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* @author Richard Roberts, Michael Kaess
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* @date Oct 5, 2010
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*/
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#pragma once
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#include <string>
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#include <map>
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#include <vector>
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#include <boost/shared_ptr.hpp>
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#include <boost/weak_ptr.hpp>
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#include <boost/timer/timer.hpp>
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class TimingOutline;
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extern boost::shared_ptr<TimingOutline> timingRoot;
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extern boost::weak_ptr<TimingOutline> timingCurrent;
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class TimingOutline {
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protected:
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size_t t_;
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double t2_ ; /* cache the \sum t_i^2 */
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size_t tIt_;
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size_t tMax_;
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size_t tMin_;
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size_t n_;
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std::string label_;
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boost::weak_ptr<TimingOutline> parent_;
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std::vector<boost::shared_ptr<TimingOutline> > children_;
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boost::timer::cpu_timer timer_;
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void add(size_t usecs);
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public:
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TimingOutline(const std::string& label);
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size_t time() const;
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void print(const std::string& outline = "") const;
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void print2(const std::string& outline = "", const double parentTotal = -1.0) const;
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const boost::shared_ptr<TimingOutline>& child(size_t child, const std::string& label, const boost::weak_ptr<TimingOutline>& thisPtr);
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void tic();
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void toc();
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void finishedIteration();
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friend class AutoTimer;
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friend void toc_(size_t id);
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friend void toc_(size_t id, const std::string& label);
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}; // \TimingOutline
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void tic_(size_t id, const std::string& label);
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void toc_(size_t id);
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void toc_(size_t id, const std::string& label);
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inline void tictoc_finishedIteration_() {
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timingRoot->finishedIteration();
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}
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#ifdef ENABLE_TIMING
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inline void tic(size_t id, const std::string& label) { tic_(id, label); }
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inline void toc(size_t id) { toc_(id); }
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inline void toc(size_t id, const std::string& label) { toc_(id, label); }
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inline void tictoc_finishedIteration() { tictoc_finishedIteration_(); }
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#else
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inline void tic(size_t, const char*) {}
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inline void toc(size_t) {}
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inline void toc(size_t, const char*) {}
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inline void tictoc_finishedIteration() {}
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#endif
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inline void tictoc_print_() {
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timingRoot->print();
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}
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/* print mean and standard deviation */
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inline void tictoc_print2_() {
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timingRoot->print2();
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}
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#ifdef ENABLE_OLD_TIMING
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// simple class for accumulating execution timing information by name
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class Timing;
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extern Timing timing;
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extern std::string timingPrefix;
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double _tic();
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double _toc(double t);
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double tic(const std::string& id);
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double toc(const std::string& id);
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void ticPush(const std::string& id);
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void ticPop(const std::string& id);
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void tictoc_finishedIteration();
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/** These underscore versions work evening when ENABLE_TIMING is not defined */
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double _tic_();
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double _toc_(double t);
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double tic_(const std::string& id);
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double toc_(const std::string& id);
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void ticPush_(const std::string& id);
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void ticPop_(const std::string& id);
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void tictoc_finishedIteration_();
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// simple class for accumulating execution timing information by name
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class Timing {
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class Stats {
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public:
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std::string label;
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double t0;
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double t;
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double t_max;
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double t_min;
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int n;
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};
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std::map<std::string, Stats> stats;
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public:
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void add_t0(const std::string& id, double t0) {
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stats[id].t0 = t0;
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}
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double get_t0(const std::string& id) {
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return stats[id].t0;
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}
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void add_dt(const std::string& id, double dt) {
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Stats& s = stats[id];
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s.t += dt;
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s.n++;
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if (s.n==1 || s.t_max < dt) s.t_max = dt;
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if (s.n==1 || s.t_min > dt) s.t_min = dt;
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}
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void print();
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double time(const std::string& id) {
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Stats& s = stats[id];
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return s.t;
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}
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};
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double _tic_();
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inline double _toc_(double t) {
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double s = _tic_();
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return (std::max(0., s-t));
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}
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inline double tic_(const std::string& id) {
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double t0 = _tic_();
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timing.add_t0(timingPrefix + " " + id, t0);
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return t0;
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}
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inline double toc_(const std::string& id) {
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std::string comb(timingPrefix + " " + id);
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double dt = _toc_(timing.get_t0(comb));
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timing.add_dt(comb, dt);
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return dt;
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}
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inline void ticPush_(const std::string& prefix, const std::string& id) {
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if(timingPrefix.size() > 0)
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timingPrefix += ".";
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timingPrefix += prefix;
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tic_(id);
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}
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void ticPop_(const std::string& prefix, const std::string& id);
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#ifdef ENABLE_TIMING
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inline double _tic() { return _tic_(); }
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inline double _toc(double t) { return _toc_(t); }
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inline double tic(const std::string& id) { return tic_(id); }
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inline double toc(const std::string& id) { return toc_(id); }
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inline void ticPush(const std::string& prefix, const std::string& id) { ticPush_(prefix, id); }
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inline void ticPop(const std::string& prefix, const std::string& id) { ticPop_(prefix, id); }
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inline void tictoc_print() { tictoc_print_(); }
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#else
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inline double _tic() {return 0.;}
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inline double _toc(double) {return 0.;}
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inline double tic(const std::string&) {return 0.;}
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inline double toc(const std::string&) {return 0.;}
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inline void ticPush(const std::string&, const std::string&) {}
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inline void ticPop(const std::string&, const std::string&) {}
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inline void tictoc_print() {}
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#endif
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#endif
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@ -140,19 +140,13 @@ SharedDiagonal Gaussian::Cholesky(Matrix& Ab, size_t nFrontals) const {
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// TODO: really no rank problems ?
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// pre-whiten everything (cheaply if possible)
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tic("Cholesky: 1 whiten");
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WhitenInPlace(Ab);
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toc("Cholesky: 1 whiten");
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// Form A'*A (todo: this is probably less efficient than possible)
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tic("Cholesky: 2 A' * A");
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Ab = Ab.transpose() * Ab;
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toc("Cholesky: 2 A' * A");
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// Use Cholesky to factor Ab
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tic("Cholesky: 3 careful");
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size_t maxrank = choleskyCareful(Ab).first;
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toc("Cholesky: 3 careful");
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// Due to numerical error the rank could appear to be more than the number
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// of variables. The important part is that it does not includes the
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