All configs

ucb-bar · Oct 31, 2024 · 338adba · 338adba
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Showing 5 changed files with 94 additions and 4 deletions.
diff --git a/scripts/calc_iape.sh b/scripts/calc_iape.sh
@@ -0,0 +1,44 @@
+#!/bin/bash
+
+set -e
+
+SCRIPT_DIR=$(cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd)
+PROJECT_DIR=$SCRIPT_DIR/..
+EVAL_DIR=$PROJECT_DIR/examples/Data/ra_datasets/groundtruths
+
+cd $EVAL_DIR
+
+python3 calc_iape.py --infiles "
+    VIO_sphere2_vio_lag-20-LC_sphere2_ape.out
+    VIOLC_sphere2_vio_lag-20_lc_period-65-LC_sphere2_ape.out
+    LRU_sphere2_num_threads-1_memsize-1M-LC_sphere2_ape.out
+    LRU_sphere2_num_threads-1_memsize-300K-LC_sphere2_ape.out
+    LRU_sphere2_num_threads-1_memsize-400K-LC_sphere2_ape.out
+    LRU_sphere2_num_threads-1_memsize-500K-LC_sphere2_ape.out
+    LRU_sphere2_num_threads-1_cpu_memsize-400K-LC_sphere2_ape.out
+    RA_sphere2_num_threads-1-LC_sphere2_ape.out
+    RA_sphere2_num_threads-2-LC_sphere2_ape.out
+    RA_sphere2_num_threads-4-LC_sphere2_ape.out
+    incremental_sphere2-LC_sphere2_ape.out
+    "
+
+python3 calc_iape.py --infiles "
+    VIO_M3500a_vio_lag-20-LC_M3500a_ape.out
+    VIOLC_M3500a_vio_lag-20_lc_period-65-LC_M3500a_ape.out
+    RA_M3500a_num_threads-1_cpu-LC_M3500a_ape.out
+    RA_M3500a_num_threads-1-LC_M3500a_ape.out
+    RA_M3500a_num_threads-2-LC_M3500a_ape.out
+    RA_M3500a_num_threads-4-LC_M3500a_ape.out
+    incremental_M3500a-LC_M3500a_ape.out
+    "
+
+python3 calc_iape.py --infiles "
+    VIO_CAB1-smallnoise_vio_lag-20-LC_CAB1-smallnoise_ape.out
+    VIOLC_CAB1-smallnoise_vio_lag-20_lc_period-8-LC_CAB1-smallnoise_ape.out
+    RA_CAB1-smallnoise_num_threads-1_cpu-LC_CAB1-smallnoise_ape.out
+    RA_CAB1-smallnoise_num_threads-1-LC_CAB1-smallnoise_ape.out
+    RA_CAB1-smallnoise_num_threads-2-LC_CAB1-smallnoise_ape.out
+    RA_CAB1-smallnoise_num_threads-4-LC_CAB1-smallnoise_ape.out
+    incremental_CAB1-smallnoise-LC_CAB1-smallnoise_ape.out
+    "
+
diff --git a/scripts/run_generate_headers.sh b/scripts/run_generate_headers.sh
@@ -10,7 +10,7 @@ CONFIG_DIR="$PYTHON_DIR/configs"
 cd $PYTHON_DIR
 no_recompile=''
 
-configs=$(ls $CONFIG_DIR/incremental*.yaml)
+configs=$(ls $CONFIG_DIR/*.yaml)
 for config in $configs
 do
     python run_generate_dataset.py --config $config -n $no_recompile

diff --git a/scripts/run_parallel_ape_eval.sh b/scripts/run_parallel_ape_eval.sh
@@ -0,0 +1,45 @@
+#!/bin/bash
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+PROJECT_DIR=$SCRIPT_DIR/..
+EVAL_DIR=$PROJECT_DIR/examples/Data/ra_datasets/groundtruths
+
+cd $EVAL_DIR
+
+# ./plot_evo_ape_with_ref.sh ../../../../build/incremental_sphere2 ../../../../build/LC_sphere2 &
+# ./plot_evo_ape_with_ref.sh ../../../../build/LRU_sphere2_num_threads-1_memsize-1M ../../../../build/LC_sphere2 &
+# ./plot_evo_ape_with_ref.sh ../../../../build/LRU_sphere2_num_threads-1_memsize-300K ../../../../build/LC_sphere2 &
+# ./plot_evo_ape_with_ref.sh ../../../../build/LRU_sphere2_num_threads-1_memsize-400K ../../../../build/LC_sphere2 &
+# ./plot_evo_ape_with_ref.sh ../../../../build/LRU_sphere2_num_threads-1_memsize-500K ../../../../build/LC_sphere2 &
+# ./plot_evo_ape_with_ref.sh ../../../../build/LRU_sphere2_num_threads-1_cpu_memsize-400K ../../../../build/LC_sphere2 &
+# ./plot_evo_ape_with_ref.sh ../../../../build/RA_sphere2_num_threads-1 ../../../../build/LC_sphere2 &
+# ./plot_evo_ape_with_ref.sh ../../../../build/RA_sphere2_num_threads-2 ../../../../build/LC_sphere2 &
+# ./plot_evo_ape_with_ref.sh ../../../../build/RA_sphere2_num_threads-4 ../../../../build/LC_sphere2 &
+# ./plot_evo_ape_with_ref.sh ../../../../build/VIOLC_sphere2_vio_lag-20_lc_period-65 ../../../../build/LC_sphere2 &
+# ./plot_evo_ape_with_ref.sh ../../../../build/VIO_sphere2_vio_lag-20 ../../../../build/LC_sphere2
+
+# # Start a process for each of the following commands
+# ./plot_evo_ape_with_ref.sh ../../../../build/incremental_CAB1-smallnoise ../../../../build/LC_CAB1-smallnoise &
+# ./plot_evo_ape_with_ref.sh ../../../../build/RA_CAB1-smallnoise_num_threads-1_cpu ../../../../build/LC_CAB1-smallnoise &
+# ./plot_evo_ape_with_ref.sh ../../../../build/RA_CAB1-smallnoise_num_threads-1 ../../../../build/LC_CAB1-smallnoise &
+# ./plot_evo_ape_with_ref.sh ../../../../build/RA_CAB1-smallnoise_num_threads-2 ../../../../build/LC_CAB1-smallnoise &
+# ./plot_evo_ape_with_ref.sh ../../../../build/RA_CAB1-smallnoise_num_threads-4 ../../../../build/LC_CAB1-smallnoise &
+# ./plot_evo_ape_with_ref.sh ../../../../build/VIO_CAB1-smallnoise_vio_lag-20 ../../../../build/LC_CAB1-smallnoise &
+# ./plot_evo_ape_with_ref.sh ../../../../build/VIOLC_CAB1-smallnoise_vio_lag-20_lc_period-8 ../../../../build/LC_CAB1-smallnoise 
+
+# ./plot_evo_ape_with_ref.sh ../../../../build/incremental_M3500a ../../../../build/LC_M3500a &
+# ./plot_evo_ape_with_ref.sh ../../../../build/RA_M3500a_num_threads-1_cpu ../../../../build/LC_M3500a &
+# ./plot_evo_ape_with_ref.sh ../../../../build/RA_M3500a_num_threads-1 ../../../../build/LC_M3500a &
+# ./plot_evo_ape_with_ref.sh ../../../../build/RA_M3500a_num_threads-2 ../../../../build/LC_M3500a &
+# ./plot_evo_ape_with_ref.sh ../../../../build/RA_M3500a_num_threads-4 ../../../../build/LC_M3500a &
+# ./plot_evo_ape_with_ref.sh ../../../../build/VIO_M3500a_vio_lag-20 ../../../../build/LC_M3500a &
+# ./plot_evo_ape_with_ref.sh ../../../../build/VIOLC_M3500a_vio_lag-20_lc_period-65 ../../../../build/LC_M3500a
+
+./plot_evo_ape_with_ref.sh ../../../../build/incremental_CAB7000-smallnoise ../../../../build/LC_CAB7000-smallnoise &
+./plot_evo_ape_with_ref.sh ../../../../build/LRU_CAB7000-smallnoise_num_threads-1_cpu_memsize-500K ../../../../build/LC_CAB7000-smallnoise &
+./plot_evo_ape_with_ref.sh ../../../../build/LRU_CAB7000-smallnoise_num_threads-1_cpu_memsize-600K ../../../../build/LC_CAB7000-smallnoise &
+./plot_evo_ape_with_ref.sh ../../../../build/RA_CAB7000-smallnoise_num_threads-1 ../../../../build/LC_CAB7000-smallnoise &
+./plot_evo_ape_with_ref.sh ../../../../build/RA_CAB7000-smallnoise_num_threads-2 ../../../../build/LC_CAB7000-smallnoise &
+./plot_evo_ape_with_ref.sh ../../../../build/RA_CAB7000-smallnoise_num_threads-4 ../../../../build/LC_CAB7000-smallnoise &
+./plot_evo_ape_with_ref.sh ../../../../build/VIO_CAB7000-smallnoise_vio_lag-20 ../../../../build/LC_CAB7000-smallnoise &
+./plot_evo_ape_with_ref.sh ../../../../build/VIOLC_CAB7000-smallnoise_vio_lag-20_lc_period-65 ../../../../build/LC_CAB7000-smallnoise
diff --git a/timing/python/configs/RA_CAB7000-smallnoise_num_threads-1_cpu.yaml b/timing/python/configs/RA_CAB7000-smallnoise_num_threads-1_cpu.yaml
@@ -149,8 +149,8 @@ Incremental:
 # LRU:
 LRU:
     # Runs that share the same output_format will use the same dataset run
-    output_format: "LRU_{dataset}_{'num_threads-{}'.format(num_threads) if not num_threads_file else 'var-threads'}_memsize-{memsize}{'_cpu' if cpu_mode else ''}"
-    header_format: "LRU_{dataset}_{'num_threads-{}'.format(num_threads) if not num_threads_file else 'var-threads'}_memsize-{memsize}{'_cpu' if cpu_mode else ''}_steps-{start_step}-{end_step}_period-{period}"
+    output_format: "LRU_{dataset}_{'num_threads-{}'.format(num_threads) if not num_threads_file else 'var-threads'}{'_cpu' if cpu_mode else ''}_memsize-{memsize}"
+    header_format: "LRU_{dataset}_{'num_threads-{}'.format(num_threads) if not num_threads_file else 'var-threads'}{'_cpu' if cpu_mode else ''}_memsize-{memsize}_steps-{start_step}-{end_step}_period-{period}"
     dataset:    # Comment out the datasets that will be skipped
     # - CAB1
     # - CAB1-smallnoise

diff --git a/timing/python/configs/RA_sphere2_num_threads-1_cpu.yaml b/timing/python/configs/RA_sphere2_num_threads-1_cpu.yaml
@@ -149,7 +149,7 @@ Incremental:
 # LRU:
 LRU:
     # Runs that share the same output_format will use the same dataset run
-    output_format: "LRU_{dataset}_{'num_threads-{}'.format(num_threads) if not num_threads_file else 'var-threads'}_memsize-{memsize}"
+    output_format: "LRU_{dataset}_{'num_threads-{}'.format(num_threads) if not num_threads_file else 'var-threads'}{'_cpu' if cpu_mode else ''}_memsize-{memsize}"
     header_format: "LRU_{dataset}_{'num_threads-{}'.format(num_threads) if not num_threads_file else 'var-threads'}_memsize-{memsize}_steps-{start_step}-{end_step}_period-{period}"
     dataset:    # Comment out the datasets that will be skipped
     # - CAB1
@@ -169,6 +169,7 @@ LRU:
         print_values:       false
         print_pred:         false
         print_traj:         true
+        cpu_mode:           true
         gen_header:         false
 
 # LC: