217 lines
7.1 KiB
C++
217 lines
7.1 KiB
C++
/* ----------------------------------------------------------------------------
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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 timeGaussianFactorGraph.cpp
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* @brief Time elimination with simple Kalman Smoothing example
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* @author Frank Dellaert
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*/
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#include <time.h>
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#include <boost/assign/std/list.hpp> // for operator += in Ordering
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#include <CppUnitLite/TestHarness.h>
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#include <tests/smallExample.h>
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using namespace std;
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using namespace gtsam;
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using namespace example;
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using namespace boost::assign;
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/* ************************************************************************* */
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// Create a Kalman smoother for t=1:T and optimize
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double timeKalmanSmoother(int T) {
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GaussianFactorGraph smoother = createSmoother(T);
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clock_t start = clock();
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// Keys will come out sorted since keys() returns a set
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smoother.optimize(Ordering(smoother.keys()));
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clock_t end = clock ();
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double dif = (double)(end - start) / CLOCKS_PER_SEC;
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return dif;
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}
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/* ************************************************************************* */
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// Create a planar factor graph and optimize
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double timePlanarSmoother(int N, bool old = true) {
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GaussianFactorGraph fg = planarGraph(N).get<0>();
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clock_t start = clock();
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fg.optimize();
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clock_t end = clock ();
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double dif = (double)(end - start) / CLOCKS_PER_SEC;
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return dif;
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}
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/* ************************************************************************* */
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// Create a planar factor graph and eliminate
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double timePlanarSmootherEliminate(int N, bool old = true) {
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GaussianFactorGraph fg = planarGraph(N).get<0>();
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clock_t start = clock();
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fg.eliminateMultifrontal();
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clock_t end = clock ();
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double dif = (double)(end - start) / CLOCKS_PER_SEC;
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return dif;
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}
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///* ************************************************************************* */
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//// Create a planar factor graph and join factors until matrix formation
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//// This variation uses the original join factors approach
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//double timePlanarSmootherJoinAug(int N, size_t reps) {
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// GaussianFactorGraph fgBase;
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// VectorValues config;
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// boost::tie(fgBase,config) = planarGraph(N);
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// Ordering ordering = fgBase.getOrdering();
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// Symbol key = ordering.front();
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//
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// clock_t start = clock();
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//
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// for (size_t i = 0; i<reps; ++i) {
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// // setup
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// GaussianFactorGraph fg(fgBase);
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//
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// // combine some factors
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// GaussianFactor::shared_ptr joint_factor = removeAndCombineFactors(fg,key);
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//
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// // create an internal ordering to render Ab
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// Ordering render;
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// render += key;
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// for(const Symbol& k: joint_factor->keys())
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// if (k != key) render += k;
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//
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// Matrix Ab = joint_factor->matrix_augmented(render,false);
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// }
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//
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// clock_t end = clock ();
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// double dif = (double)(end - start) / CLOCKS_PER_SEC;
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// return dif;
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//}
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///* ************************************************************************* */
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//// Create a planar factor graph and join factors until matrix formation
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//// This variation uses the single-allocate version to create the matrix
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//double timePlanarSmootherCombined(int N, size_t reps) {
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// GaussianFactorGraph fgBase;
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// VectorValues config;
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// boost::tie(fgBase,config) = planarGraph(N);
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// Ordering ordering = fgBase.getOrdering();
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// Symbol key = ordering.front();
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//
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// clock_t start = clock();
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//
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// for (size_t i = 0; i<reps; ++i) {
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// GaussianFactorGraph fg(fgBase);
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// fg.eliminateOneMatrixJoin(key);
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// }
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//
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// clock_t end = clock ();
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// double dif = (double)(end - start) / CLOCKS_PER_SEC;
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// return dif;
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//}
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/* ************************************************************************* */
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TEST(timeGaussianFactorGraph, linearTime)
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{
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// Original T = 1000;
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// Alex's Results
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// T = 100000
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// 1907 (init) : T - 1.65, 2T = 3.28
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// int->size_t : T - 1.63, 2T = 3.27
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// 2100 : T - 1.52, 2T = 2.96
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int T = 100000;
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double time1 = timeKalmanSmoother( T); cout << "timeKalmanSmoother( T): " << time1;
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double time2 = timeKalmanSmoother(2*T); cout << " (2*T): " << time2 << endl;
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DOUBLES_EQUAL(2*time1,time2,0.2);
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}
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// Timing with N = 30
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// 1741: 8.12, 8.12, 8.12, 8.14, 8.16
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// 1742: 5.97, 5.97, 5.97, 5.99, 6.02
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// 1746: 5.96, 5.96, 5.97, 6.00, 6.04
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// 1748: 5.91, 5.92, 5.93, 5.95, 5.96
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// 1839: 0.206956 0.206939 0.206213 0.206092 0.206780 // colamd !!!!
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// Alex's Machine
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// Initial:
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// 1907 (N = 30) : 0.14
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// (N = 100) : 16.36
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// Improved (int->size_t)
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// (N = 100) : 15.39
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// Using GSL/BLAS for updateAb : 12.87
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// Using NoiseQR : 16.33
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// Using correct system : 10.00
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// Switch to 100*100 grid = 10K poses
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// 1879: 15.6498 15.3851 15.5279
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int size = 100;
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/* ************************************************************************* */
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TEST(timeGaussianFactorGraph, planar_old)
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{
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cout << "Timing planar - original version" << endl;
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double time = timePlanarSmoother(size);
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cout << "timeGaussianFactorGraph : " << time << endl;
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//DOUBLES_EQUAL(5.97,time,0.1);
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}
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/* ************************************************************************* */
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TEST(timeGaussianFactorGraph, planar_new)
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{
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cout << "Timing planar - new version" << endl;
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double time = timePlanarSmoother(size, false);
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cout << "timeGaussianFactorGraph : " << time << endl;
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//DOUBLES_EQUAL(5.97,time,0.1);
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}
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/* ************************************************************************* */
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TEST(timeGaussianFactorGraph, planar_eliminate_old)
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{
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cout << "Timing planar Eliminate - original version" << endl;
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double time = timePlanarSmootherEliminate(size);
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cout << "timeGaussianFactorGraph : " << time << endl;
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//DOUBLES_EQUAL(5.97,time,0.1);
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}
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/* ************************************************************************* */
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TEST(timeGaussianFactorGraph, planar_eliminate_new)
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{
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cout << "Timing planar Eliminate - new version" << endl;
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double time = timePlanarSmootherEliminate(size, false);
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cout << "timeGaussianFactorGraph : " << time << endl;
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//DOUBLES_EQUAL(5.97,time,0.1);
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}
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//size_t reps = 1000;
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///* ************************************************************************* */
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//TEST(timeGaussianFactorGraph, planar_join_old)
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//{
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// cout << "Timing planar join - old" << endl;
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// double time = timePlanarSmootherJoinAug(size, reps);
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// cout << "timePlanarSmootherJoinAug " << size << " : " << time << endl;
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// //DOUBLES_EQUAL(5.97,time,0.1);
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//}
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//
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///* ************************************************************************* */
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//TEST(timeGaussianFactorGraph, planar_join_new)
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//{
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// cout << "Timing planar join - new" << endl;
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// double time = timePlanarSmootherCombined(size, reps);
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// cout << "timePlanarSmootherCombined " << size << " : " << time << endl;
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// //DOUBLES_EQUAL(5.97,time,0.1);
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//}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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