M3500a threshold

ucb-bar · Nov 9, 2024 · b144884 · b144884
1 parent e170795
commit b144884
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Showing 10 changed files with 30 additions and 29 deletions.
diff --git a/gtsam/linear/CholeskyEliminationTree.cpp b/gtsam/linear/CholeskyEliminationTree.cpp
@@ -531,7 +531,7 @@ void CholeskyEliminationTree::pickRelinKeys(
 
   remainingCycles -= new_factor_cost + backsolve_cost;
 
-  // cout << "backsolve cost = " << backsolve_cost << " new_factor_cost = " << new_factor_cost << " remainingCycles = " << remainingCycles << endl;
+  cout << "backsolve cost = " << backsolve_cost << " new_factor_cost = " << new_factor_cost << " remainingCycles = " << remainingCycles << endl;
 
   if(remainingCycles <= 0) { 
     cout << "no relin possible!" << endl;
@@ -658,14 +658,14 @@ void CholeskyEliminationTree::pickRelinKeys(
     }
   }
 
-  // cout << "Remaining cycles: " << remainingCycles 
-  //      << " Total relin keys: " << newKeyDeltaVec.size() 
-  //      << " num relin: " << newRelinKeys->size() 
-  //      << " relin_cost " << total_relin_cost 
-  //      <<  " highest unpicked delta: " << highestUnpickedDelta 
-  //      << " force_thresh: " << force_thresh 
-  //      << " num_min_force_thresh_keys: " << num_min_force_thresh_keys 
-  //      << " total_cost: " << totalCost << endl;
+  cout << "Remaining cycles: " << remainingCycles 
+       << " Total relin keys: " << newKeyDeltaVec.size() 
+       << " num relin: " << newRelinKeys->size() 
+       << " relin_cost " << total_relin_cost 
+       <<  " highest unpicked delta: " << highestUnpickedDelta 
+       << " force_thresh: " << force_thresh 
+       << " num_min_force_thresh_keys: " << num_min_force_thresh_keys 
+       << " total_cost: " << totalCost << endl;
 
   // cout << "Relin keys: ";
   // for(auto k : *newRelinKeys) {

diff --git a/gtsam/nonlinear/ISAM2-new.bak b/gtsam/nonlinear/ISAM2-new.bak
@@ -468,6 +468,12 @@ ISAM2Result ISAM2::update(const NonlinearFactorGraph& newFactors,
     UpdateImpl::ExpmapMasked(delta_, relinKeys, &theta_);
   }
 
+  // cout << "relinKeys: ";
+  // for(Key key : relinKeys) {
+  //   cout << key << " ";
+  // }
+  // cout << endl;
+
   eTree_.markAffectedKeys(nonlinearFactors_,
                           result.newFactorsIndices,
                           relinKeys,

diff --git a/scripts/calc_iape.sh b/scripts/calc_iape.sh
@@ -10,20 +10,14 @@ 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
+    VIOLC_sphere2_vio_lag-20_lc_period-45-LC_sphere2_ape.out
     LRU_sphere2_num_threads-1_memsize-1M-LC_sphere2_ape.out
-    LRU_sphere2_num_threads-1_cpu_memsize-1M-LC_sphere2_ape.out
+    LRU_sphere2_num_threads-1_cpu_memsize-500K-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
     "
 
-    # 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
-
 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
@@ -47,8 +41,8 @@ python3 calc_iape.py --infiles "
 python3 calc_iape.py --infiles "
     VIO_CAB7000-smallnoise_vio_lag-20-LC_CAB7000-smallnoise_ape.out
     VIOLC_CAB7000-smallnoise_vio_lag-20_lc_period-65-LC_CAB7000-smallnoise_ape.out
-    LRU_CAB7000-smallnoise_num_threads-1_memsize-1M-LC_CAB7000-smallnoise_ape.out
-    LRU_CAB7000-smallnoise_num_threads-1_cpu_memsize-1M-LC_CAB7000-smallnoise_ape.out
+    RA_CAB7000-smallnoise_num_threads-1-LC_CAB7000-smallnoise_ape.out
+    RA_CAB7000-smallnoise_num_threads-1_cpu-LC_CAB7000-smallnoise_ape.out
     RA_CAB7000-smallnoise_num_threads-2-LC_CAB7000-smallnoise_ape.out
     RA_CAB7000-smallnoise_num_threads-4-LC_CAB7000-smallnoise_ape.out
     incremental_CAB7000-smallnoise-LC_CAB7000-smallnoise_ape.out

diff --git a/timing/python/configs/RA_M3500a_num_threads-1.yaml b/timing/python/configs/RA_M3500a_num_threads-1.yaml
@@ -67,7 +67,7 @@ dataset:
     M3500a: 
         is3D:           false
         path:           "ra_datasets/M3500a"
-        relin_thresh:   0.01
+        relin_thresh:   0.001
         start_step:     2
         end_step:       3499    # Inclusive
         period:         25

diff --git a/timing/python/configs/RA_M3500a_num_threads-2.yaml b/timing/python/configs/RA_M3500a_num_threads-2.yaml
@@ -67,7 +67,7 @@ dataset:
     M3500a: 
         is3D:           false
         path:           "ra_datasets/M3500a"
-        relin_thresh:   0.01
+        relin_thresh:   0.001
         start_step:     2
         end_step:       3499    # Inclusive
         period:         25

diff --git a/timing/python/configs/RA_M3500a_num_threads-4.yaml b/timing/python/configs/RA_M3500a_num_threads-4.yaml
@@ -67,7 +67,7 @@ dataset:
     M3500a: 
         is3D:           false
         path:           "ra_datasets/M3500a"
-        relin_thresh:   0.01
+        relin_thresh:   0.001
         start_step:     2
         end_step:       3499    # Inclusive
         period:         25

diff --git a/timing/python/configs/RA_sphere2_num_threads-1.yaml b/timing/python/configs/RA_sphere2_num_threads-1.yaml
@@ -111,7 +111,7 @@ RA:
     # - CAB7000-smallnoise
     # - CSAIL
     # - sphere2500
-    # - sphere2
+    - sphere2
     # - w10000
     # - M3500
     # - M3500c

diff --git a/timing/python/configs/RA_sphere2_num_threads-1_cpu.yaml b/timing/python/configs/RA_sphere2_num_threads-1_cpu.yaml
@@ -164,7 +164,7 @@ LRU:
     params:
         num_threads:        1
         num_threads_file:   ""              # Specify the path to a num threads file or leave empty
-        memsize:            1M             # In bytes.
+        memsize:            500K             # In bytes.
         print_dataset:      true            # Turn this off if not generating header
         print_values:       false
         print_pred:         false

diff --git a/...IOLC_sphere2_vio_lag-20_lc_period-65.yaml → ...IOLC_sphere2_vio_lag-20_lc_period-45.yaml b/...IOLC_sphere2_vio_lag-20_lc_period-65.yaml → ...IOLC_sphere2_vio_lag-20_lc_period-45.yaml
@@ -213,7 +213,7 @@ VIO:
         gen_header:         false
         vio_lag:            20
         run_lc:             true
-        lc_period:          65
+        lc_period:          45
 
 # Legacy output directors
 Legacy:

diff --git a/timing/testGtsamIncremental3D-vio.cpp b/timing/testGtsamIncremental3D-vio.cpp
@@ -241,11 +241,12 @@ int main(int argc, char *argv[]) {
                   vioNewFactors.push_back(measurement);
                 }
                 else {
-                    // cout << "discarding factor " << k1 << " " << k2 << " " << vio_lag << endl;
+                    cout << "discarding factor " << k1 << " " << k2 << " " << vio_lag << endl;
                 }
 
+                // cout << "step = " << step << ", k1 = " << k1 << ", k2 = " << k2 << endl;
                 if(k1 - k2 >= loop_size) {
-                    // cout << "detected loop" << endl;
+                    cout << "detected loop" << endl;
                     if(loop_start_step == 0) {
                         loop_start_step = step;
                     }
@@ -311,9 +312,9 @@ int main(int argc, char *argv[]) {
         }
 
         bool lc_running = false;
-        // cout << "loop_start_step = " << loop_start_step << " " << step << endl;
+        cout << "loop_start_step = " << loop_start_step << " " << step << endl;
         if(run_lc && loop_start_step != 0 && loop_start_step + lc_period <= step) {
-            // cout << "lc_running" << endl;
+          cout << "lc_running" << endl;
           lc_running = true;
           if(new_loop) {
             loop_start_step = step;