Comments (14)
dellaert
commented on August 28, 2024
2
@ProfFan you do not have time for this :-)
@acxz if you're motivated, this particular benchmark might not be the best to benchmark - rather, the other SolverComparer benchmark might.
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dellaert
commented on August 28, 2024
@MandyXie could you try to reproduce?
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MandyXie
commented on August 28, 2024
I ran the example, and got the same issue as you mentioned. I will look into it, and try to figure out what is going on.
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ProfFan
commented on August 28, 2024
Side note: We can try to integrate a flamegraph library into GTSAM possibly replacing the gttic/toc machinery.
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ProfFan
commented on August 28, 2024
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ProfFan
commented on August 28, 2024
My results on macOS 10.14:
numberOfProblems = 1000000
problemSize = 4
With 1 threads:
Without memory allocation, grain size = 1, time = 0.150485
Without memory allocation, grain size = 10, time = 0.15183
Without memory allocation, grain size = 100, time = 0.149489
Without memory allocation, grain size = 1000, time = 0.152419
With memory allocation, grain size = 1, time = 0.351757
With memory allocation, grain size = 10, time = 0.320499
With memory allocation, grain size = 100, time = 0.314284
With memory allocation, grain size = 1000, time = 0.323573
With 4 threads:
Without memory allocation, grain size = 1, time = 0.162687
Without memory allocation, grain size = 10, time = 0.162498
Without memory allocation, grain size = 100, time = 0.146438
Without memory allocation, grain size = 1000, time = 0.150557
With memory allocation, grain size = 1, time = 0.192916
With memory allocation, grain size = 10, time = 0.200336
With memory allocation, grain size = 100, time = 0.196882
With memory allocation, grain size = 1000, time = 0.195918
With 8 threads:
Without memory allocation, grain size = 1, time = 0.160153
Without memory allocation, grain size = 10, time = 0.160778
Without memory allocation, grain size = 100, time = 0.161141
Without memory allocation, grain size = 1000, time = 0.161196
With memory allocation, grain size = 1, time = 0.198829
With memory allocation, grain size = 10, time = 0.199491
With memory allocation, grain size = 100, time = 0.199772
With memory allocation, grain size = 1000, time = 0.201396
Summary of results:
4 threads, without allocation, grain size = 1, speedup = 0.924997
4 threads, without allocation, grain size = 10, speedup = 0.93435
4 threads, without allocation, grain size = 100, speedup = 1.02083
4 threads, without allocation, grain size = 1000, speedup = 1.01237
4 threads, with allocation, grain size = 1, speedup = 1.82337
4 threads, with allocation, grain size = 10, speedup = 1.59981
4 threads, with allocation, grain size = 100, speedup = 1.59631
4 threads, with allocation, grain size = 1000, speedup = 1.65157
8 threads, without allocation, grain size = 1, speedup = 0.939633
8 threads, without allocation, grain size = 10, speedup = 0.944346
8 threads, without allocation, grain size = 100, speedup = 0.927691
8 threads, without allocation, grain size = 1000, speedup = 0.945551
8 threads, with allocation, grain size = 1, speedup = 1.76914
8 threads, with allocation, grain size = 10, speedup = 1.60658
8 threads, with allocation, grain size = 100, speedup = 1.57321
8 threads, with allocation, grain size = 1000, speedup = 1.60665
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dellaert
commented on August 28, 2024
Wondering whether this is something we can fix by looking at where we lose time. Also the amount of parallelism depends on a good ordering, hence we should investigate whether using Metis for example gives us better bang for the buck. Finally, we could share this in the docs and a possible blog post, reminding people about parallelism in the Bayes tree, and possibly providing a flag to try and use the parallel branch or not...
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ProfFan
commented on August 28, 2024
Note that the FindTBB.cmake in GTSAM is also out of date (cannot find TBB 2019.U0). Replacing the file from the VTK repo works flawlessly.
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ProfFan
commented on August 28, 2024
Note that the previous result is wrong. On my mac it is actually working, with max 4 times improvement with TBB. Assuming a bug specific to the environment (Ubuntu 16.04).
Got no time on this currently.
> $ ninja TimeTBB.run
[2/2] cd /Users/proffan/Projects/Development/VISION/gtsam_...n/Projects/Development/VISION/gtsam_build/examples/TimeTBB
/Users/proffan/Projects/Development/VISION/GTSAM/gtsam/3rdparty/Eigen/Eigen/src/Core/functors/UnaryFunctors.h:576:88: runtime error: division by zero
SUMMARY: UndefinedBehaviorSanitizer: undefined-behavior /Users/proffan/Projects/Development/VISION/GTSAM/gtsam/3rdparty/Eigen/Eigen/src/Core/functors/UnaryFunctors.h:576:88 in
numberOfProblems = 1000000
problemSize = 4
With 1 threads:
/usr/local/include/tbb/internal/../task.h:779:30: runtime error: member call on address 0x000116be3e00 which does not point to an object of type 'tbb::internal::scheduler'
0x000116be3e00: note: object is of type 'tbb::internal::custom_scheduler<tbb::internal::IntelSchedulerTraits>'
00 00 00 00 e8 1e 92 12 01 00 00 00 00 00 00 00 00 00 00 00 60 76 bf 16 01 00 00 00 60 76 bf 16
^~~~~~~~~~~~~~~~~~~~~~~
vptr for 'tbb::internal::custom_scheduler<tbb::internal::IntelSchedulerTraits>'
SUMMARY: UndefinedBehaviorSanitizer: undefined-behavior /usr/local/include/tbb/internal/../task.h:779:30 in
/usr/local/include/tbb/internal/../task.h:1046:23: runtime error: member call on address 0x000116be3e00 which does not point to an object of type 'tbb::internal::scheduler'
0x000116be3e00: note: object is of type 'tbb::internal::custom_scheduler<tbb::internal::IntelSchedulerTraits>'
00 00 00 00 e8 1e 92 12 01 00 00 00 00 00 00 00 00 00 00 00 60 76 bf 16 01 00 00 00 60 76 bf 16
^~~~~~~~~~~~~~~~~~~~~~~
vptr for 'tbb::internal::custom_scheduler<tbb::internal::IntelSchedulerTraits>'
SUMMARY: UndefinedBehaviorSanitizer: undefined-behavior /usr/local/include/tbb/internal/../task.h:1046:23 in
Without memory allocation, grain size = 1, time = 5.46733
Without memory allocation, grain size = 10, time = 5.59286
Without memory allocation, grain size = 100, time = 5.64539
Without memory allocation, grain size = 1000, time = 5.51933
With memory allocation, grain size = 1, time = 8.55949
With memory allocation, grain size = 10, time = 9.07178
With memory allocation, grain size = 100, time = 8.79069
With memory allocation, grain size = 1000, time = 8.66558
With 4 threads:
Without memory allocation, grain size = 1, time = 1.69261
Without memory allocation, grain size = 10, time = 1.68709
Without memory allocation, grain size = 100, time = 1.73469
Without memory allocation, grain size = 1000, time = 1.7691
With memory allocation, grain size = 1, time = 2.58719
With memory allocation, grain size = 10, time = 2.65104
With memory allocation, grain size = 100, time = 2.62247
With memory allocation, grain size = 1000, time = 2.74432
With 8 threads:
Without memory allocation, grain size = 1, time = 1.37712
Without memory allocation, grain size = 10, time = 1.46636
Without memory allocation, grain size = 100, time = 1.46375
Without memory allocation, grain size = 1000, time = 1.45783
With memory allocation, grain size = 1, time = 1.80873
With memory allocation, grain size = 10, time = 1.81393
With memory allocation, grain size = 100, time = 1.8269
With memory allocation, grain size = 1000, time = 1.84683
Summary of results:
4 threads, without allocation, grain size = 1, speedup = 3.23012
4 threads, without allocation, grain size = 10, speedup = 3.31508
4 threads, without allocation, grain size = 100, speedup = 3.25442
4 threads, without allocation, grain size = 1000, speedup = 3.11986
4 threads, with allocation, grain size = 1, speedup = 3.30841
4 threads, with allocation, grain size = 10, speedup = 3.42198
4 threads, with allocation, grain size = 100, speedup = 3.35207
4 threads, with allocation, grain size = 1000, speedup = 3.15765
8 threads, without allocation, grain size = 1, speedup = 3.97013
8 threads, without allocation, grain size = 10, speedup = 3.81411
8 threads, without allocation, grain size = 100, speedup = 3.8568
8 threads, without allocation, grain size = 1000, speedup = 3.78598
8 threads, with allocation, grain size = 1, speedup = 4.73232
8 threads, with allocation, grain size = 10, speedup = 5.00116
8 threads, with allocation, grain size = 100, speedup = 4.81182
8 threads, with allocation, grain size = 1000, speedup = 4.69213
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ProfFan
commented on August 28, 2024
For the UBSAN panic here, it is a problem with TBB, RcppCore/RcppParallel#36
In light of the code quality, I strongly believe it is a issue with the Ubuntu 16.04 supplied TBB.
@izzys Could you help reproducing this bug on our side? Need your environment, TBB version, compiling command line, etc. Many thanks!
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acxz
commented on August 28, 2024
I can reproduce the issue:
mkdir build && cd build && cmake .. && make TimeTBB
Hardware: Intel i7-7500U (2) @ 3.5GHz (having only two cores prob affects the times at higher thread counts)
OS: Arch Linux
TBB: 2020.2
GCC: 9.3
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ProfFan
commented on August 28, 2024
I'll add this to my todo list, but not sure if I really have time on this.
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zzodo
commented on August 28, 2024
Any updates on this issue?
I still can reproduce this on Ubuntu 22.04 LTS and system-default TBB(2021.5) in both 4.2.0 and develop branches.
The test below was held on develop branch.
$ ./examples/TimeTBB
numberOfProblems = 1000000
problemSize = 4
With 1 threads:
Without memory allocation, grain size = 1, time = 0.332967
Without memory allocation, grain size = 10, time = 0.328845
Without memory allocation, grain size = 100, time = 0.328481
Without memory allocation, grain size = 1000, time = 0.328192
With memory allocation, grain size = 1, time = 0.369558
With memory allocation, grain size = 10, time = 0.369653
With memory allocation, grain size = 100, time = 0.368168
With memory allocation, grain size = 1000, time = 0.368071
With 4 threads:
Without memory allocation, grain size = 1, time = 2.13116
Without memory allocation, grain size = 10, time = 2.10212
Without memory allocation, grain size = 100, time = 2.11296
Without memory allocation, grain size = 1000, time = 2.11572
With memory allocation, grain size = 1, time = 2.39639
With memory allocation, grain size = 10, time = 2.40664
With memory allocation, grain size = 100, time = 2.43013
With memory allocation, grain size = 1000, time = 2.43989
With 8 threads:
Without memory allocation, grain size = 1, time = 3.15854
Without memory allocation, grain size = 10, time = 3.17693
Without memory allocation, grain size = 100, time = 3.17387
Without memory allocation, grain size = 1000, time = 3.17985
With memory allocation, grain size = 1, time = 3.45604
With memory allocation, grain size = 10, time = 3.50903
With memory allocation, grain size = 100, time = 3.51825
With memory allocation, grain size = 1000, time = 3.52622
Summary of results:
4 threads, without allocation, grain size = 1, speedup = 0.156237
4 threads, without allocation, grain size = 10, speedup = 0.156435
4 threads, without allocation, grain size = 100, speedup = 0.15546
4 threads, without allocation, grain size = 1000, speedup = 0.155121
4 threads, with allocation, grain size = 1, speedup = 0.154214
4 threads, with allocation, grain size = 10, speedup = 0.153597
4 threads, with allocation, grain size = 100, speedup = 0.151501
4 threads, with allocation, grain size = 1000, speedup = 0.150855
8 threads, without allocation, grain size = 1, speedup = 0.105418
8 threads, without allocation, grain size = 10, speedup = 0.10351
8 threads, without allocation, grain size = 100, speedup = 0.103496
8 threads, without allocation, grain size = 1000, speedup = 0.10321
8 threads, with allocation, grain size = 1, speedup = 0.106931
8 threads, with allocation, grain size = 10, speedup = 0.105343
8 threads, with allocation, grain size = 100, speedup = 0.104645
8 threads, with allocation, grain size = 1000, speedup = 0.104381GTSAM build information:
$ sudo cmake ..
-- GTSAM is a shared library due to GTSAM_FORCE_SHARED_LIB
-- GTSAM_POSE3_EXPMAP=ON, enabling GTSAM_ROT3_EXPMAP as well
-- Found Eigen version: 3.3.7
-- checking for thread-local storage - found
-- Could NOT find MKL (missing: MKL_INCLUDE_DIR MKL_LIBRARIES)
-- Found Google perftools:
-- Building 3rdparty
-- Could NOT find GeographicLib (missing: GeographicLib_LIBRARY_DIRS GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)
-- Building base
-- Building basis
-- Building geometry
-- Building inference
-- Building symbolic
-- Building discrete
-- Building hybrid
-- Building linear
-- Building nonlinear
-- Building sam
-- Building sfm
-- Building slam
-- Building navigation
-- GTSAM Version: 4.3a0
-- Install prefix: /usr/local
-- Building GTSAM - as a SHARED library
-- Wrote /opt/gtsam/build/GTSAMConfig.cmake
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE)
-- ===============================================================
-- ================ Configuration Options ======================
-- CMAKE_CXX_COMPILER_ID type : GNU
-- CMAKE_CXX_COMPILER_VERSION : 11.4.0
-- CMake version : 3.22.1
-- CMake generator : Unix Makefiles
-- CMake build tool : /usr/bin/gmake
-- Build flags
-- Build Tests : Disabled
-- Build examples with 'make all' : Disabled
-- Build timing scripts with 'make all' : Disabled
-- Build shared GTSAM libraries : Enabled
-- Put build type in library name : Enabled
-- Build libgtsam_unstable : Disabled
-- Build GTSAM unstable Python : Disabled
-- Build MATLAB Toolbox for unstable : Disabled
-- Build for native architecture : Disabled
-- Build type : Release
-- C compilation flags : -O3 -DNDEBUG
-- C++ compilation flags : -O3 -DNDEBUG
-- Enable Boost serialization : ON
-- GTSAM_COMPILE_FEATURES_PUBLIC : cxx_std_17
-- GTSAM_COMPILE_OPTIONS_PUBLIC :
-- GTSAM_COMPILE_DEFINITIONS_PUBLIC :
-- GTSAM_COMPILE_OPTIONS_PUBLIC_RELEASE :
-- GTSAM_COMPILE_DEFINITIONS_PUBLIC_RELEASE :
-- Use System Eigen : ON (Using version: 3.3.7)
-- Use System Metis : OFF
-- Using Boost version : 1.74.0
-- Use Intel TBB : Yes (Version: 2021.5.0)
-- Eigen will use MKL : MKL not found
-- Eigen will use MKL and OpenMP : OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled
-- Default allocator : TBB
-- Cheirality exceptions enabled : YES
-- Build with ccache : No
-- Packaging flags
-- CPack Source Generator : TGZ
-- CPack Generator : TGZ
-- GTSAM flags
-- Quaternions as default Rot3 : Disabled
-- Runtime consistency checking : Disabled
-- Build with Memory Sanitizer : Disabled
-- Rot3 retract is full ExpMap : Enabled
-- Pose3 retract is full ExpMap : Enabled
-- Enable branch merging in DecisionTree : Enabled
-- Allow features deprecated in GTSAM 4.3 : Enabled
-- Metis-based Nested Dissection : Enabled
-- Use tangent-space preintegration : Enabled
-- MATLAB toolbox flags
-- Install MATLAB toolbox : Disabled
-- Python toolbox flags
-- Build Python module with pybind : Disabled
-- ===============================================================
-- Configuring done
-- Generating done
-- Build files have been written to: /opt/gtsam/buildfrom gtsam.
zzodo
commented on August 28, 2024
Another example with SolverComparer that mentioned above
$ ./examples/SolverComparer --incremental -d w10000 -o w_inc --threads 8
Loading dataset w10000
Using 8 threads
Looking for first measurement from step 0
Looks like 0 is the first time step, so adding a prior on it
Playing forward time steps...
chi2 = -nan
Step 0
-Total: 0 CPU (0 times, 0 wall, 0 children, min: 0 max: 0)
| -Collect measurements: 0 CPU (1 times, 2e-06 wall, 0 children, min: 0 max: 0)
| -Update ISAM2: 0 CPU (1 times, 2e-06 wall, 0 children, min: 0 max: 0)
| -chi2: 0 CPU (1 times, 3.4e-05 wall, 0 children, min: 0 max: 0)
chi2 = 0.00172843
Step 1000
-Total: 0 CPU (0 times, 0 wall, 0.71 children, min: 0 max: 0)
| -Collect measurements: 0.08 CPU (1001 times, 0.030624 wall, 0.08 children, min: 0 max: 0.01)
| -Update ISAM2: 0.63 CPU (1001 times, 0.11614 wall, 0.63 children, min: 0 max: 0.01)
| -chi2: 0 CPU (2 times, 0.000611 wall, 0 children, min: 0 max: 0)
chi2 = 0.00175299
Step 2000
-Total: 0 CPU (0 times, 0 wall, 1.85 children, min: 0 max: 0)
| -Collect measurements: 0.18 CPU (2001 times, 0.093793 wall, 0.18 children, min: 0 max: 0.01)
| -Update ISAM2: 1.67 CPU (2001 times, 0.334617 wall, 1.67 children, min: 0 max: 0.02)
| -chi2: 0 CPU (3 times, 0.001946 wall, 0 children, min: 0 max: 0)
chi2 = 0.00177148
Step 3000
-Total: 0 CPU (0 times, 0 wall, 4.29 children, min: 0 max: 0)
| -Collect measurements: 0.52 CPU (3001 times, 0.358602 wall, 0.52 children, min: 0 max: 0.01)
| -Update ISAM2: 3.77 CPU (3001 times, 0.948901 wall, 3.77 children, min: 0 max: 0.02)
| -chi2: 0 CPU (4 times, 0.005088 wall, 0 children, min: 0 max: 0)
chi2 = 0.00177683
Step 4000
-Total: 0 CPU (0 times, 0 wall, 7.88 children, min: 0 max: 0)
| -Collect measurements: 1.09 CPU (4001 times, 0.882309 wall, 1.09 children, min: 0 max: 0.02)
| -Update ISAM2: 6.78 CPU (4001 times, 1.9246 wall, 6.78 children, min: 0 max: 0.05)
| -chi2: 0.01 CPU (5 times, 0.008837 wall, 0.01 children, min: 0.01 max: 0.01)
chi2 = 0.00177331
Step 5000
-Total: 0 CPU (0 times, 0 wall, 11.41 children, min: 0 max: 0)
| -Collect measurements: 1.47 CPU (5001 times, 1.19369 wall, 1.47 children, min: 0 max: 0.02)
| -Update ISAM2: 9.93 CPU (5001 times, 2.90427 wall, 9.93 children, min: 0.01 max: 0.05)
| -chi2: 0.01 CPU (6 times, 0.014129 wall, 0.01 children, min: 0 max: 0.01)
chi2 = 0.00178298
Step 6000
-Total: 0 CPU (0 times, 0 wall, 16.1 children, min: 0 max: 0)
| -Collect measurements: 2.55 CPU (6001 times, 2.11069 wall, 2.55 children, min: 0 max: 0.02)
| -Update ISAM2: 13.54 CPU (6001 times, 4.45979 wall, 13.54 children, min: 0.01 max: 0.09)
| -chi2: 0.01 CPU (7 times, 0.022692 wall, 0.01 children, min: 0 max: 0.01)
chi2 = 0.00177962
Step 7000
-Total: 0 CPU (0 times, 0 wall, 19.68 children, min: 0 max: 0)
| -Collect measurements: 3.37 CPU (7001 times, 2.9156 wall, 3.37 children, min: 0 max: 0.02)
| -Update ISAM2: 16.29 CPU (7001 times, 5.65427 wall, 16.29 children, min: 0 max: 0.11)
| -chi2: 0.02 CPU (8 times, 0.029358 wall, 0.02 children, min: 0.01 max: 0.01)
chi2 = 0.00177708
Step 8000
-Total: 0 CPU (0 times, 0 wall, 23.28 children, min: 0 max: 0)
| -Collect measurements: 4.16 CPU (8001 times, 3.72301 wall, 4.16 children, min: 0 max: 0.02)
| -Update ISAM2: 19.09 CPU (8001 times, 6.79453 wall, 19.09 children, min: 0.01 max: 0.11)
| -chi2: 0.03 CPU (9 times, 0.041096 wall, 0.03 children, min: 0.01 max: 0.01)
chi2 = 0.00177835
Step 9000
-Total: 0 CPU (0 times, 0 wall, 29.51 children, min: 0 max: 0)
| -Collect measurements: 6.08 CPU (9001 times, 5.58775 wall, 6.08 children, min: 0 max: 0.02)
| -Update ISAM2: 23.38 CPU (9001 times, 9.15137 wall, 23.38 children, min: 0 max: 0.17)
| -chi2: 0.05 CPU (10 times, 0.055059 wall, 0.05 children, min: 0.02 max: 0.02)
Writing output file w_inc
unregistered class - derived class not registered or exported$ ./examples/SolverComparer --incremental -d w10000 -o w_inc --threads 4
Loading dataset w10000
Using 4 threads
Looking for first measurement from step 0
Looks like 0 is the first time step, so adding a prior on it
Playing forward time steps...
chi2 = -nan
Step 0
-Total: 0 CPU (0 times, 0 wall, 0 children, min: 0 max: 0)
| -Collect measurements: 0 CPU (1 times, 1e-06 wall, 0 children, min: 0 max: 0)
| -Update ISAM2: 0 CPU (1 times, 1e-06 wall, 0 children, min: 0 max: 0)
| -chi2: 0 CPU (1 times, 3.3e-05 wall, 0 children, min: 0 max: 0)
chi2 = 0.00172843
Step 1000
-Total: 0 CPU (0 times, 0 wall, 0.36 children, min: 0 max: 0)
| -Collect measurements: 0.07 CPU (1001 times, 0.030023 wall, 0.07 children, min: 0 max: 0.01)
| -Update ISAM2: 0.29 CPU (1001 times, 0.108681 wall, 0.29 children, min: 0 max: 0.01)
| -chi2: 0 CPU (2 times, 0.00063 wall, 0 children, min: 0 max: 0)
chi2 = 0.00175299
Step 2000
-Total: 0 CPU (0 times, 0 wall, 0.98 children, min: 0 max: 0)
| -Collect measurements: 0.15 CPU (2001 times, 0.091805 wall, 0.15 children, min: 0 max: 0.01)
| -Update ISAM2: 0.82 CPU (2001 times, 0.31337 wall, 0.82 children, min: 0 max: 0.01)
| -chi2: 0.01 CPU (3 times, 0.001879 wall, 0.01 children, min: 0.01 max: 0.01)
chi2 = 0.00177148
Step 3000
-Total: 0 CPU (0 times, 0 wall, 2.5 children, min: 0 max: 0)
| -Collect measurements: 0.37 CPU (3001 times, 0.355865 wall, 0.37 children, min: 0 max: 0.01)
| -Update ISAM2: 2.11 CPU (3001 times, 0.910435 wall, 2.11 children, min: 0 max: 0.02)
| -chi2: 0.02 CPU (4 times, 0.00504 wall, 0.02 children, min: 0.01 max: 0.01)
chi2 = 0.00177683
Step 4000
-Total: 0 CPU (0 times, 0 wall, 4.89 children, min: 0 max: 0)
| -Collect measurements: 0.92 CPU (4001 times, 0.877368 wall, 0.92 children, min: 0 max: 0.01)
| -Update ISAM2: 3.94 CPU (4001 times, 1.85701 wall, 3.94 children, min: 0 max: 0.04)
| -chi2: 0.03 CPU (5 times, 0.008958 wall, 0.03 children, min: 0.01 max: 0.01)
chi2 = 0.00177331
Step 5000
-Total: 0 CPU (0 times, 0 wall, 7.08 children, min: 0 max: 0)
| -Collect measurements: 1.16 CPU (5001 times, 1.18555 wall, 1.16 children, min: 0 max: 0.01)
| -Update ISAM2: 5.88 CPU (5001 times, 2.80783 wall, 5.88 children, min: 0 max: 0.04)
| -chi2: 0.04 CPU (6 times, 0.014088 wall, 0.04 children, min: 0.01 max: 0.01)
chi2 = 0.00178298
Step 6000
-Total: 0 CPU (0 times, 0 wall, 10.64 children, min: 0 max: 0)
| -Collect measurements: 2.02 CPU (6001 times, 2.10637 wall, 2.02 children, min: 0 max: 0.01)
| -Update ISAM2: 8.57 CPU (6001 times, 4.3782 wall, 8.57 children, min: 0.01 max: 0.09)
| -chi2: 0.05 CPU (7 times, 0.023237 wall, 0.05 children, min: 0.01 max: 0.01)
chi2 = 0.00177962
Step 7000
-Total: 0 CPU (0 times, 0 wall, 13.63 children, min: 0 max: 0)
| -Collect measurements: 2.9 CPU (7001 times, 2.91521 wall, 2.9 children, min: 0 max: 0.01)
| -Update ISAM2: 10.67 CPU (7001 times, 5.61952 wall, 10.67 children, min: 0 max: 0.09)
| -chi2: 0.06 CPU (8 times, 0.030003 wall, 0.06 children, min: 0.01 max: 0.01)
chi2 = 0.00177708
Step 8000
-Total: 0 CPU (0 times, 0 wall, 16.33 children, min: 0 max: 0)
| -Collect measurements: 3.77 CPU (8001 times, 3.71799 wall, 3.77 children, min: 0 max: 0.02)
| -Update ISAM2: 12.49 CPU (8001 times, 6.74208 wall, 12.49 children, min: 0.01 max: 0.09)
| -chi2: 0.07 CPU (9 times, 0.041187 wall, 0.07 children, min: 0.01 max: 0.01)
chi2 = 0.00177835
Step 9000
-Total: 0 CPU (0 times, 0 wall, 21.79 children, min: 0 max: 0)
| -Collect measurements: 5.86 CPU (9001 times, 5.61159 wall, 5.86 children, min: 0 max: 0.02)
| -Update ISAM2: 15.85 CPU (9001 times, 9.07511 wall, 15.85 children, min: 0.01 max: 0.11)
| -chi2: 0.08 CPU (10 times, 0.055581 wall, 0.08 children, min: 0.01 max: 0.01)
Writing output file w_inc
unregistered class - derived class not registered or exportedMy laptop has hybrid CPU Intel Core i7-13700H and I also tried TBB version 2021.12, which is newer than v2021.9.0 that is announced to be compatible with the hybrid CPUs.
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Related Issues (20)
- localCoordinates gives incorret Jacobian matrix? HOT 1
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- Convergence analysis of factor graph HOT 1
- ROS2 Lookup error HOT 2
- Cannot build with msvc and C++20
- Boostless GTSAM built requires Boost as dependency HOT 1
- Fail to install MATLAB wrapper HOT 1
- Covariance definition in test_Pose3SLAMExample.py HOT 2
- Local mapping
- Matlab wrapper not compiling HOT 5
- Unit Test IMUFactor: Inconsistent covariance matrices
- Integrate compass heading or magnetometer constrain from 9 axis IMU using the GTSAM Factor graph framework HOT 2
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