155 lines
3.8 KiB
C++
155 lines
3.8 KiB
C++
/**
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* @file timeSchurFactors.cpp
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* @brief Time various Schur-complement Jacobian factors
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* @author Frank Dellaert
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* @date Oct 27, 2013
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*/
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#include "DummyFactor.h"
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#include <gtsam/base/timing.h>
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#include <gtsam/slam/JacobianFactorQ.h>
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#include "gtsam/slam/JacobianFactorQR.h"
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#include <gtsam/slam/RegularImplicitSchurFactor.h>
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#include <gtsam/geometry/Cal3Bundler.h>
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#include <gtsam/geometry/PinholePose.h>
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#include <fstream>
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using namespace std;
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using namespace gtsam;
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#define SLOW
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#define RAW
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#define HESSIAN
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#define NUM_ITERATIONS 1000
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// Create CSV file for results
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ofstream os("timeSchurFactors.csv");
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/*************************************************************************************/
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template<typename CAMERA>
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void timeAll(size_t m, size_t N) {
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cout << m << endl;
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// create F
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static const int D = CAMERA::dimension;
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typedef Eigen::Matrix<double, 2, D> Matrix2D;
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KeyVector keys;
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vector <Matrix2D, Eigen::aligned_allocator<Matrix2D>> Fblocks;
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for (size_t i = 0; i < m; i++) {
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keys.push_back(i);
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Fblocks.push_back((i + 1) * Matrix::Ones(2, D));
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}
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// create E
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Matrix E(2 * m, 3);
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for (size_t i = 0; i < m; i++)
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E.block < 2, 3 > (2 * i, 0) = Matrix::Ones(2, 3);
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// Calculate point covariance
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Matrix P = (E.transpose() * E).inverse();
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// RHS and sigmas
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const Vector b = Vector::Constant(2*m,1);
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const SharedDiagonal model;
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// parameters for multiplyHessianAdd
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double alpha = 0.5;
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VectorValues xvalues, yvalues;
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for (size_t i = 0; i < m; i++)
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xvalues.insert(i, Vector::Constant(D,2));
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// Implicit
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RegularImplicitSchurFactor<CAMERA> implicitFactor(keys, Fblocks, E, P, b);
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// JacobianFactor with same error
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JacobianFactorQ<D, 2> jf(keys, Fblocks, E, P, b, model);
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// JacobianFactorQR with same error
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JacobianFactorQR<D, 2> jqr(keys, Fblocks, E, P, b, model);
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// Hessian
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HessianFactor hessianFactor(jqr);
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#define TIME(label,factor,xx,yy) {\
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for (size_t t = 0; t < N; t++) \
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factor.multiplyHessianAdd(alpha, xx, yy);\
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gttic_(label);\
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for (size_t t = 0; t < N; t++) {\
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factor.multiplyHessianAdd(alpha, xx, yy);\
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}\
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gttoc_(label);\
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tictoc_getNode(timer, label)\
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os << timer->secs()/NUM_ITERATIONS << ", ";\
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}
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#ifdef SLOW
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TIME(Implicit, implicitFactor, xvalues, yvalues)
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TIME(Jacobian, jf, xvalues, yvalues)
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TIME(JacobianQR, jqr, xvalues, yvalues)
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#endif
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#ifdef HESSIAN
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TIME(Hessian, hessianFactor, xvalues, yvalues)
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#endif
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#ifdef OVERHEAD
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DummyFactor<D> dummy(Fblocks, E, P, b);
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TIME(Overhead,dummy,xvalues,yvalues)
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#endif
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#ifdef RAW
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{ // Raw memory Version
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FastVector < Key > keys;
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for (size_t i = 0; i < m; i++)
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keys += i;
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Vector x = xvalues.vector(keys);
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double* xdata = x.data();
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// create a y
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Vector y = Vector::Zero(m * D);
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TIME(RawImplicit, implicitFactor, xdata, y.data())
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TIME(RawJacobianQ, jf, xdata, y.data())
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TIME(RawJacobianQR, jqr, xdata, y.data())
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}
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#endif
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os << m << endl;
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} // timeAll
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/*************************************************************************************/
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int main(void) {
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#ifdef SLOW
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os << "Implicit,";
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os << "JacobianQ,";
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os << "JacobianQR,";
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#endif
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#ifdef HESSIAN
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os << "Hessian,";
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#endif
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#ifdef OVERHEAD
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os << "Overhead,";
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#endif
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#ifdef RAW
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os << "RawImplicit,";
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os << "RawJacobianQ,";
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os << "RawJacobianQR,";
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#endif
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os << "m" << endl;
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// define images
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vector < size_t > ms;
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// ms += 2;
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// ms += 3, 4, 5, 6, 7, 8, 9, 10;
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// ms += 11,12,13,14,15,16,17,18,19;
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// ms += 20, 30, 40, 50;
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// ms += 20,30,40,50,60,70,80,90,100;
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for (size_t m = 2; m <= 50; m += 2)
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ms += m;
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//for (size_t m=10;m<=100;m+=10) ms += m;
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// loop over number of images
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for(size_t m: ms)
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timeAll<PinholePose<Cal3Bundler> >(m, NUM_ITERATIONS);
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}
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//*************************************************************************************
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