diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp index b4bf61220..3bafe5a9c 100644 --- a/gtsam/hybrid/HybridBayesNet.cpp +++ b/gtsam/hybrid/HybridBayesNet.cpp @@ -129,7 +129,6 @@ std::function &, double)> prunerFunc( DecisionTreeFactor HybridBayesNet::pruneDiscreteConditionals( size_t maxNrLeaves) { // Get the joint distribution of only the discrete keys - gttic_(HybridBayesNet_PruneDiscreteConditionals); // The joint discrete probability. DiscreteConditional discreteProbs; @@ -147,12 +146,11 @@ DecisionTreeFactor HybridBayesNet::pruneDiscreteConditionals( discrete_factor_idxs.push_back(i); } } + const DecisionTreeFactor prunedDiscreteProbs = discreteProbs.prune(maxNrLeaves); - gttoc_(HybridBayesNet_PruneDiscreteConditionals); // Eliminate joint probability back into conditionals - gttic_(HybridBayesNet_UpdateDiscreteConditionals); DiscreteFactorGraph dfg{prunedDiscreteProbs}; DiscreteBayesNet::shared_ptr dbn = dfg.eliminateSequential(discrete_frontals); @@ -161,7 +159,6 @@ DecisionTreeFactor HybridBayesNet::pruneDiscreteConditionals( size_t idx = discrete_factor_idxs.at(i); this->at(idx) = std::make_shared(dbn->at(i)); } - gttoc_(HybridBayesNet_UpdateDiscreteConditionals); return prunedDiscreteProbs; } @@ -180,7 +177,6 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) { HybridBayesNet prunedBayesNetFragment; - gttic_(HybridBayesNet_PruneMixtures); // Go through all the conditionals in the // Bayes Net and prune them as per prunedDiscreteProbs. for (auto &&conditional : *this) { @@ -197,7 +193,6 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) { prunedBayesNetFragment.push_back(conditional); } } - gttoc_(HybridBayesNet_PruneMixtures); return prunedBayesNetFragment; } diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp index 2d4ac83f6..7a7ca0cbf 100644 --- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp +++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp @@ -96,7 +96,6 @@ static GaussianFactorGraphTree addGaussian( // TODO(dellaert): it's probably more efficient to first collect the discrete // keys, and then loop over all assignments to populate a vector. GaussianFactorGraphTree HybridGaussianFactorGraph::assembleGraphTree() const { - gttic_(assembleGraphTree); GaussianFactorGraphTree result; @@ -129,8 +128,6 @@ GaussianFactorGraphTree HybridGaussianFactorGraph::assembleGraphTree() const { } } - gttoc_(assembleGraphTree); - return result; }