Options(int argc, char *argv[]) {
parser = new OptionParser(argc, argv);
this->init_options();
// Personnalisation éventuelle du comportement : que faire si l'utilisateur
// passe une option incorrecte ? Les valeurs possibles sont :
// exit (par défaut), raise, warn, ignore
// Ici, on veut afficher les clés erronées tout en continuant l'analyse.
// parser->on_error("warn");
// Ici, on veut arrêter le programme en cas d'option invalide.
parser->on_error("exit"); // inutile car c'est "exit" par défaut
// Permet des post-traitements (vérification de cohérence d'options,...)
pre_process_options();
// On peut lancer l'analyse ici ou bien le faire depuis le main() de la
// du programme principal.
parser->parse();
// Permet des post-traitements (vérification de cohérence entre options,...)
post_process_options();
// Les attributs options étant affectés, on peut supprimer le parser
// sauf si on souhaite exploiter quelques-unes de ses méthodes ou attributs
// e.g parser->print_values() ou parser->params
// delete parser;
// parser = NULL; // Utile ssi on veut pouvoir tester l'existence de parser !
}
int main(int argc, char **argv)
{
OptionParser op;
op.addOption("verbose", OPT_BOOL, "", "enable verbose output", 'v');
op.addOption("passes", OPT_INT, "10", "specify number of passes", 'n');
op.addOption("size", OPT_INT, "1", "specify problem size", 's');
op.addOption("target", OPT_INT, "0", "specify MIC target device number", 't');
// If benchmark has any specific options, add those
addBenchmarkSpecOptions(op);
if (!op.parse(argc, argv))
{
op.usage();
return -1;
}
ResultDatabase resultDB;
// Run the test
RunBenchmark(op, resultDB);
// Print out results to stdout
resultDB.DumpDetailed(cout);
return 0;
}
int main(int argc, char **argv)
{
OptionParser cmd;
cmd.option("-v", "--verbose", "enable verbose stuff", verbose);
cmd.option("-r", "--required <arg>", "required arg", required);
cmd.option("-o", "--optional [arg]", "optional arg", optional);
cmd.parse(argc, argv);
std::cout << cmd.normalize() << endl;
//cmd.help();
return 0;
}
int
main(int argc, char** argv)
{
OptionParser options;
options.executable("lucb")
.program(DUNE_SHORT_NAME)
.copyright(DUNE_COPYRIGHT)
.email(DUNE_CONTACT)
.version(getFullVersion())
.date(getCompileDate())
.arch(DUNE_SYSTEM_NAME)
.description("Utility to update firmware of LUCL based devices.")
.add("-d", "--sys-device",
"System device", "DEVICE")
.add("-b", "--baud-rate",
"Baud rate", "BAUD")
.add("-i", "--i2c-address",
"I2C slave address", "I2C_ADDR")
.add("-f", "--file",
"iHEX file", "IHEX_FILE");
// Parse command line arguments.
if (!options.parse(argc, argv))
{
if (options.bad())
std::cerr << "ERROR: " << options.error() << std::endl;
options.usage();
return 1;
}
// Get iHEX file.
std::string ihex = options.value("--file");
if (ihex.empty())
{
std::cerr << "ERROR: you must specify one iHEX file." << std::endl;
return 1;
}
// Get system device.
std::string sys_dev = options.value("--sys-device");
if (sys_dev.empty())
{
std::cerr << "ERROR: you must specify one system device." << std::endl;
return 1;
}
// Get specified baud rate.
int baud = 0;
castLexical(options.value("--baud-rate"), baud);
// Get I2C address (if any).
bool is_i2c = false;
uint8_t i2c_addr = 0;
if (castLexical(options.value("--i2c-address"), i2c_addr))
{
if ((i2c_addr < 0x03) || (i2c_addr > 0x77))
{
std::cerr << "ERROR: I2C device address is out of range (0x03 - 0x77)" << std::endl;
return 1;
}
is_i2c = true;
}
LUCL::Protocol proto;
if (is_i2c)
proto.setI2C(sys_dev, i2c_addr);
else
proto.setUART(sys_dev);
try
{
LUCL::BootLoader boot(proto, true, baud);
boot.flash(ihex);
}
catch (std::exception& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
}
return 0;
}
int
main(int argc, char** argv)
{
OptionParser options;
options.executable(argv[0])
.program(DUNE_SHORT_NAME)
.copyright(DUNE_COPYRIGHT)
.email("Renato Caldas <*****@*****.**>")
.version(getFullVersion())
.date(getCompileDate())
.arch(DUNE_SYSTEM_NAME)
.description("Utility to update firmware of LUCL based devices.")
.add("-d", "--sys-device",
"System device", "DEVICE")
.add("-i", "--i2c-address",
"I2C slave address", "I2C_ADDR")
.add("-c", "--command",
"LUCL command", "CMD")
.add("-p", "--data-payload",
"LUCL data", "DATA0[,DATA1 ...]");
// Parse command line arguments.
if (!options.parse(argc, argv))
{
if (options.bad())
std::cerr << "ERROR: " << options.error() << std::endl;
options.usage();
return 1;
}
// Get system device.
std::string sys_dev = options.value("--sys-device");
if (sys_dev.empty())
{
std::cerr << "ERROR: you must specify one system device." << std::endl;
return 1;
}
// Get I2C address (if any).
bool is_i2c = false;
uint8_t i2c_addr = 0;
if (castLexical(options.value("--i2c-address"), i2c_addr))
{
if ((i2c_addr < 0x03) || (i2c_addr > 0x77))
{
std::cerr << "ERROR: I2C device address is out of range (0x03 - 0x77)" << std::endl;
return 1;
}
is_i2c = true;
}
// Open the device
LUCL::Protocol proto;
if (is_i2c)
proto.setI2C(sys_dev, i2c_addr);
else
proto.setUART(sys_dev);
try
{
proto.open();
}
catch (std::exception& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
return 1;
}
// Check for the command token
std::string command = options.value("--command");
if (command.empty())
{
std::cerr << "ERROR: reading from stdio not supported yet." << std::endl;
return 1;
}
// Get the data payload
std::string data_str = options.value("--data-payload");
std::vector<uint8_t> data_lst;
if (!castLexical(data_str, data_lst))
{
std::cerr << "ERROR: failed to parse the data payload argument." << std::endl;
return 1;
}
// Build and send the packet
if (command.compare("Info") == 0)
{
std::cerr << "Requesting device information" << std::endl;
try
{
proto.requestVersion();
}
catch (std::exception& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
return 1;
}
}
else if (command.compare("Reset") == 0)
{
std::cerr << "Requesting reset" << std::endl;
try
{
proto.requestReset();
}
catch (std::exception& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
return 1;
}
}
else
{
// Command string not recognized, attempt to interpret it as an integer
int cmd;
if (!castLexical(command, cmd))
{
std::cerr << "ERROR: bad command \"" << command << "\"" << std::endl;
return 1;
}
// Print the command and the data in a parseable format
std::cout << "Sending packet CMD " << cmd << " DATA";
for (unsigned i = 0; i < data_lst.size(); i++)
{
std::cout << " 0x" << std::hex << (int)data_lst[i];
}
std::cout << std::endl;
try
{
proto.sendCommand(cmd, (uint8_t*)(&data_lst[0]), (int)data_lst.size());
}
catch (std::exception& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
return 1;
}
}
// Handle the results
handleReply(proto);
return 0;
}
// ****************************************************************************
// Method: main()
//
// Purpose:
// serial and parallel main for OpenCL level0 benchmarks
//
// Arguments:
// argc, argv
//
// Programmer: SHOC Team
// Creation: The Epoch
//
// Modifications:
// Jeremy Meredith, Tue Jan 12 15:09:33 EST 2010
// Changed the way device selection works. It now defaults to the device
// index corresponding to the process's rank within a node if no devices
// are specified on the command command line, and otherwise, round-robins
// the list of devices among the tasks.
//
// Gabriel Marin, Tue Jun 01 15:38 EST 2010
// Check that we have valid (not NULL) context and queue objects before
// running the benchmarks. Errors inside CreateContextFromSingleDevice or
// CreateCommandQueueForContextAndDevice were not propagated out to the main
// program.
//
// Jeremy Meredith, Wed Nov 10 14:20:47 EST 2010
// Split timing reports into detailed and summary. For serial code, we
// report all trial values, and for parallel, skip the per-process vals.
// Also detect and print outliers from parallel runs.
//
// ****************************************************************************
int main(int argc, char *argv[])
{
int ret = 0;
try
{
#ifdef PARALLEL
int rank, size;
MPI_Init(&argc,&argv);
MPI_Comm_size(MPI_COMM_WORLD, &size);
MPI_Comm_rank(MPI_COMM_WORLD, &rank);
cout << "MPI Task "<< rank << "/" << size - 1 << " starting....\n";
#endif
OptionParser op;
//Add shared options to the parser
op.addOption("platform", OPT_INT, "0", "specify OpenCL platform to use",
'p');
op.addOption("device", OPT_VECINT, "", "specify device(s) to run on", 'd');
op.addOption("passes", OPT_INT, "10", "specify number of passes", 'n');
op.addOption("size", OPT_VECINT, "1", "specify problem size", 's');
op.addOption("infoDevices", OPT_BOOL, "",
"show info for available platforms and devices", 'i');
op.addOption("verbose", OPT_BOOL, "", "enable verbose output", 'v');
op.addOption("quiet", OPT_BOOL, "", "write minimum necessary to standard output", 'q');
addBenchmarkSpecOptions(op);
if (!op.parse(argc, argv))
{
#ifdef PARALLEL
if (rank == 0)
op.usage();
MPI_Finalize();
#else
op.usage();
#endif
return (op.HelpRequested() ? 0 : 1 );
}
if (op.getOptionBool("infoDevices"))
{
#define DEBUG_DEVICE_CONTAINER 0
#ifdef PARALLEL
// execute following code only if I am the process of lowest
// rank on this node
NodeInfo NI;
int mynoderank = NI.nodeRank();
if (mynoderank==0)
{
int nlrrank, nlrsize;
MPI_Comm nlrcomm = NI.getNLRComm();
MPI_Comm_size(nlrcomm, &nlrsize);
MPI_Comm_rank(nlrcomm, &nlrrank);
OpenCLNodePlatformContainer ndc1;
OpenCLMultiNodeContainer localMnc(ndc1);
localMnc.doMerge (nlrrank, nlrsize, nlrcomm);
if (rank==0) // I am the global rank 0, print all configurations
localMnc.Print (cout);
}
#else
OpenCLNodePlatformContainer ndc1;
ndc1.Print (cout);
#if DEBUG_DEVICE_CONTAINER
OpenCLMultiNodeContainer mnc1(ndc1), mnc2;
mnc1.Print (cout);
ostringstream oss;
mnc1.writeObject (oss);
std::string temp(oss.str());
cout << "Serialized MultiNodeContainer:\n" << temp;
istringstream iss(temp);
mnc2.readObject (iss);
cout << "Unserialized object2:\n";
mnc2.Print (cout);
mnc1.merge (mnc2);
cout << "==============\nObject1 after merging 1:\n";
mnc1.Print (cout);
mnc1.merge (mnc2);
cout << "==============\nObject1 after merging 2:\n";
mnc1.Print (cout);
#endif // DEBUG
#endif // PARALLEL
return (0);
}
bool verbose = op.getOptionBool("verbose");
// The device option supports specifying more than one device
// for now, just choose the first one.
int platform = op.getOptionInt("platform");
#ifdef PARALLEL
NodeInfo ni;
int myNodeRank = ni.nodeRank();
if (verbose)
cout << "Global rank "<<rank<<" is local rank "<<myNodeRank << endl;
#else
int myNodeRank = 0;
#endif
// If they haven't specified any devices, assume they
// want the process with in-node rank N to use device N
int deviceIdx = myNodeRank;
// If they have, then round-robin the list of devices
// among the processes on a node.
vector<long long> deviceVec = op.getOptionVecInt("device");
if (deviceVec.size() > 0)
{
int len = deviceVec.size();
deviceIdx = deviceVec[myNodeRank % len];
}
// Check for an erroneous device
if (deviceIdx >= GetNumOclDevices(platform)) {
cerr << "Warning: device index: " << deviceIdx
<< " out of range, defaulting to device 0.\n";
deviceIdx = 0;
}
// Initialization
if (verbose) cout << ">> initializing\n";
cl_device_id devID = ListDevicesAndGetDevice(platform, deviceIdx);
cl_int clErr;
cl_context ctx = clCreateContext( NULL, // properties
1, // number of devices
&devID, // device
NULL, // notification function
NULL,
&clErr );
CL_CHECK_ERROR(clErr);
cl_command_queue queue = clCreateCommandQueue( ctx,
devID,
CL_QUEUE_PROFILING_ENABLE,
&clErr );
CL_CHECK_ERROR(clErr);
ResultDatabase resultDB;
// Run the benchmark
RunBenchmark(devID, ctx, queue, resultDB, op);
clReleaseCommandQueue( queue );
clReleaseContext( ctx );
#ifndef PARALLEL
resultDB.DumpDetailed(cout);
#else
ParallelResultDatabase pardb;
pardb.MergeSerialDatabases(resultDB,MPI_COMM_WORLD);
if (rank==0)
{
pardb.DumpSummary(cout);
pardb.DumpOutliers(cout);
}
#endif
}
catch( std::exception& e )
{
std::cerr << e.what() << std::endl;
ret = 1;
}
catch( ... )
{
std::cerr << "unrecognized exception caught" << std::endl;
ret = 1;
}
#ifdef PARALLEL
MPI_Finalize();
#endif
return ret;
}
int main(int argc, char **argv) {
OptionParser opts;
string mapFile, evidFile;
int factor;
opts.addOption(new StringOption("map",
"--map <filename> : map file",
"../input/grid.bmp", mapFile, false));
opts.addOption(new StringOption("evidence",
"--evidence <filename> : evidence file",
"", evidFile, true));
opts.addOption(new IntOption("factor",
"--factor <int> : scaling factor",
1, factor, true));
opts.parse(argc,argv);
JetColorMap jet;
RGBTRIPLE black = {0,0,0};
RGBTRIPLE white = {255,255,255};
RGBTRIPLE red;
red.R = 255;
red.G = 0;
red.B = 0;
RGBTRIPLE blue;
blue.R = 0;
blue.G = 0;
blue.B = 255;
RGBTRIPLE green;
green.R = 0;
green.G = 255;
green.B = 0;
RGBTRIPLE initialColor;
initialColor.R = 111;
initialColor.G = 49;
initialColor.B = 152;
// initialColor.G = 152;
// initialColor.B = 49;
RGBTRIPLE currentColor;
currentColor.R = 181;
currentColor.G = 165;
currentColor.B = 213;
// currentColor.G = 213;
// currentColor.B = 165;
RGBTRIPLE magenta;
magenta.R = 255;
magenta.G = 0;
magenta.B = 255;
RGBTRIPLE cyan;
cyan.R = 0;
cyan.G = 255;
cyan.B = 255;
RGBTRIPLE yellow;
yellow.R = 255;
yellow.G = 255;
yellow.B = 0;
BMPFile bmpFile(mapFile);
Grid grid(bmpFile, black);
Evidence testSet(evidFile, grid, factor);
/*
if (1) {
evid.split(trainSet, testSet, 0.8);
}else{
evid.deterministicsplit(trainSet, testSet);
}*/
#if 0
cout << "Creating Markov Model"<<endl;
MarkovModel markmodel(grid, trainSet);
double totalObj = 0.0;
for (int i=0; i < testSet.size(); i++) {
vector<pair<int, int> > path = testSet.at(i);
cout << "Calling eval"<<endl;
double obj = markmodel.eval(path);
cout << "OBJ: "<<i<<" "<<obj<<endl;
totalObj += obj;
}
cout << "TOTAL OBJ: "<<totalObj<<endl;
cout << "AVERAGE OBJ: "<<totalObj/testSet.size()<<endl;
return 0;
#endif
vector<PosFeature> features;
cout << "Constant Feature"<<endl;
ConstantFeature constFeat(grid);
features.push_back(constFeat);
cout << "Obstacle Feature"<<endl;
ObstacleFeature obsFeat(grid);
features.push_back(obsFeat);
for (int i=1; i < 5; i++) {
cout << "Blur Feature "<<i<<endl;
ObstacleBlurFeature blurFeat(grid, 5*i);
features.push_back(blurFeat);
}
cout << "Creating feature array"<<endl;
FeatureArray featArray2(features);
cout << "Creating lower resolution feature array"<<endl;
FeatureArray featArray(featArray2, factor);
pair<int, int> dims = grid.dims();
pair<int, int> lowDims((int)ceil((float)dims.first/factor),
(int)ceil((float)dims.second/factor));
vector<double> weights(features.size(), -0.0);
weights.at(1) = -6.2;
//for (int i=2; i < weights.size(); i++)
// weights.at(i) = -1.0;
weights.at(0) = -2.23;//-2.23
weights.at(2) = -0.35;
weights.at(3) = -2.73;
weights.at(4) = -0.92;
weights.at(5) = -0.26;
Parameters params(weights);
OrderedWaveInferenceEngine engine(InferenceEngine::GRID8);
vector<vector<double> > prior(dims.first,vector<double> (dims.second,0.0));
/*
double divide = 1.0;
vector<double> radiusWeight;
for (int i=0; i < 20; i++) {
radiusWeight.push_back(1.0/divide);
divide*=2;
}
generatePrior(grid, trainSet, priorOrig, radiusWeight, factor);
reducePrior(priorOrig, prior, factor);
*/
vector<vector<vector<double> > > partition, backpartition;
int time0 = time(0);
BMPFile gridView(dims.first, dims.second);
RewardMap rewards(featArray, params);
vector<double> sums(params.size(),0.00001);
vector<vector<double> > occupancy;
Predictor predictor(grid, rewards, engine);
predictor.setPrior(prior);
cout << testSet.size() <<" Examples"<<endl;
for (int i=0; i < testSet.size(); i++) {
int index = 0;
vector<pair<int, int> > traj = testSet.at(i);
vector<double> times = testSet.getTimes(i);
pair<int, int> initial = traj.front();
pair<int,int> & botinGrid = testSet.at_bot(i);
pair<double,double>& botinPoint = testSet.at_rbot(i);
pair<double,double>& end = testSet.at_raw(i).back();
predictor.setStart(initial);
double thresh = -20.0;
double startTime = times.front();
char buf[1024];
sprintf(buf, "../output/pppredict%03d.dat", i);
ofstream file(buf);
for (double tick = startTime; index < traj.size(); tick+=0.4) {
for ( ; index < traj.size() && times.at(index) < tick; index++);
if (index == traj.size() ) break;
cout << "Evidence: "<<i<<" timestep: "<<tick
<<" index: "<<index<<endl;
predictor.predict(traj.at(index), occupancy);
cout << "SIZE: "<<prior.size()<<endl;
vector<vector<double> > pos
= predictor.getPosterior();
gridView.addBelief(pos, -30.0, 0.0,jet);
grid.addObstacles(gridView, black);
gridView.addLabel(botinGrid,green);
vector<pair<int, int> > subTraj;
subTraj.insert(subTraj.end(), traj.begin(), traj.begin()+index);
gridView.addVector(subTraj, red, factor);
sprintf(buf, "../compare/pp%03d-%03f.bmp", i, tick-startTime);
gridView.write(buf);
//pair<double,double> values = predictor.check(traj.back());
double cost = 0.0;
for(int itr = 0;itr<index;itr++)
cost +=rewards.at(traj[itr].first,traj[itr].second);
cout<<i<<" Normalizer: "<<predictor.getNormalizer(traj.back())<<
" path cost: "<<cost<<" Probability: "<<cost+predictor.getNormalizer(traj.back())<<endl;
vector<vector<vector<double> > > timeOcc
= predictor.getTimeOccupancy();
vector<vector<double > > posterior = predictor.getPosterior();
double maxV = -HUGE_VAL;
pair<int,int> predestGrid;
pair<double,double> predestPoint;
for (int ii=0; ii< dims.first; ii++) {
for (int jj=0; jj < dims.second; jj++) {
if(posterior[ii][jj]>maxV){
predestGrid.first = ii;
predestGrid.second = jj;
}
maxV = max(maxV, posterior.at(ii).at(jj));
}
}
predestPoint = grid.grid2Real(predestGrid.first,predestGrid.second);
double dist = sqrt((end.first-predestPoint.first)*(end.first-predestPoint.first)
+(end.second-predestPoint.second)*(end.second-predestPoint.second));
double logloss = entropy(posterior);
cout<<"final belief: "<<posterior.at(traj.back().first).at(traj.back().second)
<<" max: "<<maxV
<<" logloss: "<<logloss<<endl;
cout<<botinGrid.first<<" "<<botinGrid.second
<<" "<<predestGrid.first<<" "<<predestGrid.second<<endl;
file<<tick-startTime
<<" "<<logloss
<<" "<<posterior.at(botinGrid.first).at(botinGrid.second)
<<" "<<posterior.at(traj.back().first).at(traj.back().second)
<<" "<<maxV<<" "<<dist<<endl;
}
file.close();
}
}
int main(int argc, char *argv[])
{
int numdev=0, totalnumdev=0, numtasks, mympirank, dest, source, rc,
mypair=0, count, tag=2, mynoderank,myclusterrank,nodenprocs;
int *grp1, *grp2;
int mygrprank,grpnumtasks;
MPI_Group orig_group,bmgrp;
MPI_Comm bmcomm,nlrcomm;
ResultDatabase resultDB,resultDBWU,resultDB1;
OptionParser op;
ParallelResultDatabase pardb, pardb1;
bool amGPUTask = false;
volatile unsigned long long *mpidone;
int i,shmid;
/* Allocate System V shared memory */
MPI_Init(&argc,&argv);
MPI_Comm_size(MPI_COMM_WORLD, &numtasks);
MPI_Comm_rank(MPI_COMM_WORLD, &mympirank);
MPI_Comm_group(MPI_COMM_WORLD, &orig_group);
//Add shared options to the parser
op.addOption("device", OPT_VECINT, "0", "specify device(s) to run on",
'd');
op.addOption("verbose", OPT_BOOL, "", "enable verbose output", 'v');
op.addOption("quiet", OPT_BOOL, "",
"write minimum necessary to standard output", 'q');
op.addOption("passes", OPT_INT, "10", "specify number of passes", 'z');
op.addOption("size", OPT_VECINT, "1", "specify problem size", 's');
op.addOption("time", OPT_INT, "5", "specify running time in miuntes", 't');
op.addOption("outputFile", OPT_STRING, "output.txt", "specify output file",
'o');
op.addOption("infoDevices", OPT_BOOL, "", "show summary info for available devices",
'i');
op.addOption("fullInfoDevices", OPT_BOOL, "", "show full info for available devices");
op.addOption("MPIminmsg", OPT_INT, "0", "specify minimum MPI message size");
op.addOption("MPImaxmsg", OPT_INT, "16384",
"specify maximum MPI message size");
op.addOption("MPIiter", OPT_INT, "1000",
"specify number of MPI benchmark iterations for each size");
op.addOption("platform", OPT_INT, "0", "specify platform for device selection", 'y');
if (!op.parse(argc, argv))
{
if (mympirank == 0)
op.usage();
MPI_Finalize();
return 0;
}
int npasses = op.getOptionInt("passes");
//our simple mapping
NodeInfo NI;
mynoderank = NI.nodeRank(); // rank of my process within the node
myclusterrank = NI.clusterRank(); // cluster (essentially, node) id
MPI_Comm smpcomm = NI.getSMPComm();
if(mynoderank==0){
shmid = shmget(IPC_PRIVATE,
sizeof(unsigned long long),
(IPC_CREAT | 0600));
}
MPI_Bcast(&shmid, 1, MPI_INT, 0, NI.getSMPComm());
mpidone = ((volatile unsigned long long*) shmat(shmid, 0, 0));
if (mynoderank == 0)
shmctl(shmid, IPC_RMID, 0);
*mpidone = 0;
nlrcomm = NI.getNLRComm(); // communcator of all the lowest rank processes
// on all the nodes
int numnodes = NI.numNodes();
if ( numnodes%2!=0 )
{
if(mympirank==0)
printf("\nThis test needs an even number of nodes\n");
MPI_Finalize();
exit(0);
}
int nodealr = NI.nodeALR();
nodenprocs=NI.nodeNprocs();
// determine how many GPU devices we are to use
int devsPerNode = op.getOptionVecInt( "device" ).size();
//cout<<mympirank<<":numgpus="<<devsPerNode<<endl;
// if there are as many or more devices as the nprocs, only use half of
// the nproc
if ( devsPerNode >= nodenprocs ) devsPerNode = nodenprocs/2;
numdev = (mynoderank == 0) ? devsPerNode : 0;
MPI_Allreduce(&numdev, &totalnumdev, 1, MPI_INT, MPI_SUM,
MPI_COMM_WORLD);
numdev = devsPerNode;
// determine whether I am to be a GPU or a comm task
if( mynoderank < numdev )
{
amGPUTask = true;
}
//Divide tasks into two distinct groups based upon noderank
grp1=(int *)calloc(totalnumdev, sizeof(int));
grp2=(int *)calloc((numtasks-totalnumdev),sizeof(int));
if (grp1==NULL || grp2==NULL)
{
printf("\n%d:calloc failed in %s",mympirank,__FUNCTION__);
exit(1);
}
/*compute the groups*/
int beginoffset[2]={0,0};
if(mynoderank == 0)
{
int tmp[2];
tmp[0]=numdev;
tmp[1]=nodenprocs-numdev;
if (mympirank ==0)
MPI_Send(tmp, 2*sizeof(int), MPI_CHAR, 1, 112, nlrcomm);
else
{
MPI_Status reqstat;
MPI_Recv(beginoffset, 2*sizeof(int), MPI_CHAR, myclusterrank-1,
112, nlrcomm ,&reqstat);
if (myclusterrank < numnodes-1)
{
beginoffset[0]+=numdev;
beginoffset[1]+=(nodenprocs-numdev);
MPI_Send(beginoffset,2*sizeof(int), MPI_CHAR, myclusterrank+1,
112, nlrcomm);
beginoffset[0]-=numdev;
beginoffset[1]-=(nodenprocs-numdev);
}
}
}
MPI_Bcast(beginoffset,2,MPI_INT,0,smpcomm);
if ( amGPUTask )
{
// I am to do GPU work
grp1[beginoffset[0]+mynoderank]=mympirank;
grpnumtasks=totalnumdev;
}
else
{
// I am to do MPI communication work
grp2[beginoffset[1]+(mynoderank-numdev)]=mympirank;
grpnumtasks=numtasks-totalnumdev;
}
MPI_Allreduce(MPI_IN_PLACE, grp1, totalnumdev, MPI_INT, MPI_SUM,
MPI_COMM_WORLD);
MPI_Allreduce(MPI_IN_PLACE, grp2, (numtasks-totalnumdev), MPI_INT,
MPI_SUM, MPI_COMM_WORLD);
if ( amGPUTask )
{
// I am to do GPU work, so will be part of GPU communicator
MPI_Group_incl(orig_group, totalnumdev, grp1, &bmgrp);
}
else
{
// I am to do MPI communication work, so will be part of MPI
// messaging traffic communicator
MPI_Group_incl(orig_group, (numtasks-totalnumdev), grp2,
&bmgrp);
}
MPI_Comm_create(MPI_COMM_WORLD, bmgrp, &bmcomm);
MPI_Comm_rank(bmcomm, &mygrprank);
NodeInfo *GRPNI = new NodeInfo(bmcomm);
int mygrpnoderank=GRPNI->nodeRank();
int grpnodealr = GRPNI->nodeALR();
int grpnodenprocs = GRPNI->nodeNprocs();
MPI_Comm grpnlrcomm = GRPNI->getNLRComm();
//note that clusterrank and number of nodes don't change for this child
//group/comm
//form node-random pairs (see README) among communication tasks
if( amGPUTask )
{
//setup GPU in GPU tasks
GPUSetup(op, mympirank, mynoderank);
}
else
{
int * pairlist = new int[numnodes];
for (i=0;i<numnodes;i++) pairlist[i]=0;
if ( mygrpnoderank==0 )
{
pairlist[myclusterrank]=grpnodealr;
MPI_Allreduce(MPI_IN_PLACE,pairlist,numnodes,MPI_INT,MPI_SUM,
grpnlrcomm);
mypair = RandomPairs(myclusterrank, numnodes, grpnlrcomm);
mypair = pairlist[mypair];
}
for (i=0;i<numnodes;i++) pairlist[i]=0;
if ( mygrpnoderank==0 )
pairlist[myclusterrank]=mypair;
MPI_Allreduce(MPI_IN_PLACE,pairlist,numnodes,MPI_INT,MPI_SUM,
bmcomm);
mypair = pairlist[myclusterrank]+mygrpnoderank;
}
// ensure we are all synchronized before starting test
MPI_Barrier(MPI_COMM_WORLD);
//warmup run
if ( amGPUTask )
{
GPUDriver(op, resultDBWU);
}
//first, individual runs for device benchmark
for(i=0;i<npasses;i++){
if ( amGPUTask )
{
GPUDriver(op, resultDB);
}
}
MPI_Barrier(MPI_COMM_WORLD);
//warmup run
if ( !amGPUTask )
{
MPITest(op, resultDBWU, grpnumtasks, mygrprank, mypair, bmcomm);
}
//next, individual run for MPI Benchmark
for(i=0;i<npasses;i++){
if ( !amGPUTask )
{
MPITest(op, resultDB, grpnumtasks, mygrprank, mypair, bmcomm);
}
}
MPI_Barrier(MPI_COMM_WORLD);
//merge and print
pardb.MergeSerialDatabases(resultDB, bmcomm);
if (mympirank==0)
cout<<endl<<"*****************************Sequential GPU and MPI runs****************************"<<endl;
DumpInSequence(pardb, mygrprank, mympirank);
// Simultaneous runs for observing impact of contention
MPI_Barrier(MPI_COMM_WORLD);
if ( amGPUTask )
{
do {
if (mympirank == 0 ) cout<<".";
GPUDriver(op, resultDB1);flush(cout);
} while(*mpidone==0);
if (mympirank == 0 ) cout<<"*"<<endl;
}
else
{
for ( i=0;i<npasses;i++ )
{
MPITest(op, resultDB1, grpnumtasks, mygrprank, mypair, bmcomm);
}
*mpidone=1;
}
MPI_Barrier(MPI_COMM_WORLD);
//merge and print
pardb1.MergeSerialDatabases(resultDB1,bmcomm);
if (mympirank==0)
cout<<endl<<"*****************************Simultaneous GPU and MPI runs****************************"<<endl;
DumpInSequence(pardb1, mygrprank, mympirank);
//print summary
if ( !amGPUTask && mygrprank==0)
{
vector<ResultDatabase::Result> prelatency = pardb.GetResultsForTest("MPI Latency(mean)");
vector<ResultDatabase::Result> postlatency = pardb1.GetResultsForTest("MPI Latency(mean)");
cout<<endl<<"Summarized Mean(Mean) MPI Baseline Latency vs. Latency with Contention";
cout<<endl<<"MSG SIZE(B)\t";
int msgsize=0;
for (i=0; i<prelatency.size(); i++)
{
cout<<msgsize<<"\t";
msgsize = (msgsize ? msgsize * 2 : msgsize + 1);
}
cout << endl <<"BASELATENCY\t";
for (i=0; i<prelatency.size(); i++)
cout<<setiosflags(ios::fixed) << setprecision(2)<<prelatency[i].GetMean() << "\t";
cout << endl <<"CONTLATENCY\t";
for (i=0; i<postlatency.size(); i++)
cout<<setiosflags(ios::fixed) << setprecision(2)<<postlatency[i].GetMean() << "\t";
flush(cout);
cout<<endl;
}
MPI_Barrier(MPI_COMM_WORLD);
if ( amGPUTask && mympirank==0)
{
vector<ResultDatabase::Result> prespeed = pardb.GetResultsForTest("DownloadSpeed(mean)");
vector<ResultDatabase::Result> postspeed = pardb1.GetResultsForTest("DownloadSpeed(mean)");
cout<<endl<<"Summarized Mean(Mean) GPU Baseline Download Speed vs. Download Speed with Contention";
cout<<endl<<"MSG SIZE(KB)\t";
int msgsize=1;
for (i=0; i<prespeed.size(); ++i)
{
cout<<msgsize<<"\t";
msgsize = (msgsize ? msgsize * 2 : msgsize + 1);
}
cout << endl <<"BASESPEED\t";
for (i=0; i<prespeed.size(); ++i)
cout<<setiosflags(ios::fixed) << setprecision(4)<<prespeed[i].GetMean() << "\t";
cout << endl <<"CONTSPEED\t";
for (i=0; i<postspeed.size(); ++i)
cout<<setiosflags(ios::fixed) << setprecision(4)<<postspeed[i].GetMean() << "\t";
cout<<endl;
}
if ( amGPUTask && mympirank==0)
{
vector<ResultDatabase::Result> pregpulat = pardb.GetResultsForTest("DownloadLatencyEstimate(mean)");
vector<ResultDatabase::Result> postgpulat = pardb1.GetResultsForTest("DownloadLatencyEstimate(mean)");
cout<<endl<<"Summarized Mean(Mean) GPU Baseline Download Latency vs. Download Latency with Contention";
cout<<endl<<"MSG SIZE\t";
for (i=0; i<pregpulat.size(); ++i)
{
cout<<pregpulat[i].atts<<"\t";
}
cout << endl <<"BASEGPULAT\t";
for (i=0; i<pregpulat.size(); ++i)
cout<<setiosflags(ios::fixed) << setprecision(7)<<pregpulat[i].GetMean() << "\t";
cout << endl <<"CONTGPULAT\t";
for (i=0; i<postgpulat.size(); ++i)
cout<<setiosflags(ios::fixed) << setprecision(7)<<postgpulat[i].GetMean() << "\t";
cout<<endl;
}
//cleanup GPU
if( amGPUTask )
{
GPUCleanup(op);
}
MPI_Finalize();
}
int
main(int argc, const char **argv) {
try {
string prb_file;
string seqfile;
string outfile;
size_t n_reads = 1000;
size_t read_width = 25;
size_t max_errors = 0;
double meth_rate = 0.0;
double bs_rate = 1.0;
size_t random_number_seed = numeric_limits<size_t>::max();
bool VERBOSE = false;
bool FASTQ_OUTPUT = false;
bool AG_WILDCARD = false;
/****************** COMMAND LINE OPTIONS ********************/
static OptionParser
opt_parse("simreadsbs",
"program for generating simulated bisulfite treated reads with "
"simulated quality scores",
"<fasta-chrom-files>");
opt_parse.add_opt("output", 'o', "Name of output file (default: stdout)", false , outfile);
opt_parse.add_opt("reads", 'n', "number of reads to simulate", false , n_reads);
opt_parse.add_opt("width", 'w', "width of reads to simulate", false, read_width);
opt_parse.add_opt("err", 'e', "maximum number of simulated sequencing errors",
false, max_errors);
opt_parse.add_opt("verbose", 'v', "print more run info",
false, VERBOSE);
opt_parse.add_opt("fastq", 'q', "write FASTQ format reads",
false, FASTQ_OUTPUT);
opt_parse.add_opt("prob", 'p', "prb output file", false, prb_file);
opt_parse.add_opt("meth", 'm', "rate of CpG methylation",
false, meth_rate);
opt_parse.add_opt("bs", 'b', "rate of bisulfite conversion",
false, bs_rate);
opt_parse.add_opt("ag", 'A', "generate A/G wildcard reads",
false, AG_WILDCARD);
opt_parse.add_opt("seed", 'S', "random number seed",
false, random_number_seed);
vector<string> leftover_args;
opt_parse.parse(argc, argv, leftover_args);
if (argc == 1 || opt_parse.help_requested()) {
cerr << opt_parse.help_message() << endl;
return EXIT_SUCCESS;
}
if (opt_parse.about_requested()) {
cerr << opt_parse.about_message() << endl;
return EXIT_SUCCESS;
}
if (opt_parse.option_missing()) {
cerr << opt_parse.option_missing_message() << endl;
return EXIT_SUCCESS;
}
if (leftover_args.empty()) {
cerr << opt_parse.help_message() << endl;
return EXIT_SUCCESS;
}
vector<string> filenames(leftover_args);
/****************** END COMMAND LINE OPTIONS *****************/
if (FASTQ_OUTPUT && !prb_file.empty())
throw SMITHLABException("fastq output is incompatible "
"with specifying a prb file");
const Runif rng(random_number_seed);
vector<string> reads, read_names;
vector<vector<vector<double> > > probs;
vector<size_t> filesizes;
double total = 0;
for (size_t i = 0; i < filenames.size(); ++i) {
filesizes.push_back(get_filesize(filenames[i]));
total += filesizes.back();
}
vector<size_t> samples;
for (size_t i = 0; i < filesizes.size(); ++i)
samples.push_back(n_reads*filesizes[i]/total);
if (!outfile.empty())
ofstream out(outfile.c_str());
if (!prb_file.empty())
ofstream prb(prb_file.c_str());
for (size_t i = 0; i < filenames.size(); ++i) {
if (VERBOSE)
cerr << filenames[i] << endl;
vector<string> names, sequences;
read_fasta_file(filenames[i].c_str(), names, sequences);
for (size_t j = 0; j < names.size(); ++j) {
const size_t offset = names[j].find(':');
const string name(names[j].substr(0, offset));
simreads_bs(FASTQ_OUTPUT, AG_WILDCARD,
outfile, prb_file,
rng, samples[i], read_width, max_errors,
bs_rate, meth_rate, name, sequences[j],
read_names, reads, probs);
}
}
}
catch (std::bad_alloc &ba) {
cerr << "ERROR: could not allocate memory" << endl;
return EXIT_FAILURE;
}
catch (SMITHLABException &e) {
cerr << e.what() << endl;
return EXIT_FAILURE;
}
catch (std::exception &e) {
cerr << "ERROR: " << e.what() << endl;
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
int
main(int argc, char** argv)
{
OptionParser options;
options.executable(argv[0])
.program("DUNE UCTK Flash Programmer")
.copyright(DUNE_COPYRIGHT)
.email("Ricardo Martins <*****@*****.**>")
.version(getFullVersion())
.date(getCompileDate())
.arch(DUNE_SYSTEM_NAME)
.description("Utility to update the firmware of UCTK based devices.")
.add("-d", "--dev",
"System device", "DEVICE")
.add("-t", "--dev-type",
"System device type", "TYPE")
.add("-f", "--file",
"iHEX file", "IHEX_FILE");
// Parse command line arguments.
if (!options.parse(argc, argv))
{
if (options.bad())
std::cerr << "ERROR: " << options.error() << std::endl;
options.usage();
return 1;
}
// Get iHEX file.
std::string ihex = options.value("--file");
if (ihex.empty())
{
std::cerr << "ERROR: you must specify one iHEX file." << std::endl;
return 1;
}
if (Path(ihex).type() != Path::PT_FILE)
{
std::cerr << "ERROR: no such file: '" << ihex << "'" << std::endl;
return 1;
}
// Get system device.
std::string sys_dev = options.value("--dev");
if (sys_dev.empty())
{
std::cerr << "ERROR: you must specify one system device." << std::endl;
return 1;
}
// Get device type.
IO::Handle* handle = NULL;
std::string dev_type = options.value("--dev-type");
if (dev_type == "escc")
handle = new ESCC(sys_dev);
else
handle = new SerialPort(sys_dev, c_baud_rate);
UCTK::Interface itf(handle);
UCTK::Bootloader* boot = new UCTK::Bootloader(&itf, true);
boot->program(ihex);
delete boot;
delete handle;
return 0;
}
int
main(int argc, char** argv)
{
OptionParser options;
options.executable("dune-test-tail")
.program(DUNE_SHORT_NAME)
.copyright(DUNE_COPYRIGHT)
.email(DUNE_CONTACT)
.version(getFullVersion())
.date(getCompileDate())
.arch(DUNE_SYSTEM_NAME)
.add("-i", "--address",
"Vehicle's IP address", "ADDRESS")
.add("-w", "--wait",
"Wait DELAY seconds before starting test", "DELAY")
.add("-d", "--duration",
"Test duration in seconds", "DURATION")
.add("-s", "--speed",
"Speed in percentage", "SPEED")
.add("-t", "--angle",
"Angle in degrees", "ANGLE");
// Parse command line arguments.
if (!options.parse(argc, argv))
{
if (options.bad())
std::cerr << "ERROR: " << options.error() << std::endl;
options.usage();
return 1;
}
// Set destination address.
if (options.value("--address") == "")
g_addr = "127.0.0.1";
else
g_addr = options.value("--address").c_str();
// Set start delay.
double sdelay = 0;
if (options.value("--wait") == "")
sdelay = 0;
else
sdelay = castLexical<double>(options.value("--wait"));
// Set duration.
double duration = 0;
if (options.value("--duration") == "")
duration = 0;
else
duration = castLexical<double>(options.value("--duration"));
// Set speed.
double speed = 0;
if (options.value("--speed") == "")
speed = 0;
else
{
speed = castLexical<double>(options.value("--speed"));
speed /= 100.0;
}
// Set Angle
double angle = 0;
if (options.value("--angle") == "")
angle = 0;
else
angle = castLexical<double>(options.value("--angle"));
// POSIX implementation.
#if defined(DUNE_SYS_HAS_SIGACTION)
struct sigaction actions;
std::memset(&actions, 0, sizeof(actions));
sigemptyset(&actions.sa_mask);
actions.sa_flags = 0;
actions.sa_handler = handleTerminate;
sigaction(SIGALRM, &actions, 0);
sigaction(SIGHUP, &actions, 0);
sigaction(SIGINT, &actions, 0);
sigaction(SIGQUIT, &actions, 0);
sigaction(SIGTERM, &actions, 0);
sigaction(SIGCHLD, &actions, 0);
sigaction(SIGCONT, &actions, 0);
#endif
setThrust(0);
Delay::wait(sdelay);
setLog("mcrt_endurance");
Delay::wait(2.0);
double deadline = Clock::get() + duration;
setThrust(speed);
while ((Clock::get() < deadline) && !g_stop)
{
setFin(0, -angle);
setFin(1, -angle);
setFin(2, -angle);
setFin(3, -angle);
if (!g_stop)
Delay::wait(1.0);
if (!g_stop)
Delay::wait(1.0);
if (!g_stop)
Delay::wait(1.0);
if (!g_stop)
Delay::wait(1.0);
setFin(0, angle);
setFin(1, angle);
setFin(2, angle);
setFin(3, angle);
if (!g_stop)
Delay::wait(1.0);
if (!g_stop)
Delay::wait(1.0);
if (!g_stop)
Delay::wait(1.0);
if (!g_stop)
Delay::wait(1.0);
}
// Change log.
Delay::wait(2.0);
setLog("idle");
onTerminate();
return 0;
}
/*!
* Main function.
*/
int main(int argc, char** argv) {
OptionParser parser;
parser.parse(argc, argv, CONFIG_FILE);
po::variables_map cfg = parser.getOptions();
string sInfile = "", sOutfile = "";
// Processing flags
bool bSourceIsFile = true;
bool bDestIsFile = true;
bool bUseGPU = false;
bool bThreaded = false;
unsigned int iModelFrames = DEFAULT_MODEL_TRAINING_COUNT;
double dLearningRate = DEFAULT_LEARNING_RATE;
detectionAlgorithm algo = ALGO_MOVING;
// Source video information
unsigned int iInputWidth, iInputHeight, iInputFps;
/* OPTION READ-IN BEGIN */
if(cfg.count("help")) {
cerr << parser.getDescription() << endl;
return EXIT_SUCCESS;
}
if(cfg.count("source")) {
if(cfg["source"].as<string>() == "CAM")
bSourceIsFile = false;
else if(cfg["source"].as<string>() == "DISK")
bSourceIsFile = true;
else {
cerr << ERROR("unrecognized video source") << endl;
return EXIT_FAILURE;
}
}
if(cfg.count("infile"))
sInfile.assign(cfg["infile"].as<string>());
if(cfg.count("destination")) {
if(cfg["destination"].as<string>() == "SCREEN") {
bDestIsFile = false;
sOutfile = "SCREEN";
} else if(cfg["destination"].as<string>() == "DISK")
bDestIsFile = true;
else {
cerr << ERROR("unrecognized output destination") << endl;
return EXIT_FAILURE;
}
}
if(bDestIsFile && cfg.count("outfile"))
sOutfile.assign(cfg["outfile"].as<string>());
if(cfg.count("modelframes")) {
iModelFrames = cfg["modelframes"].as<unsigned>();
if(iModelFrames == 0 || iModelFrames > 1000) {
cerr << ERROR("bad model frame count") << endl;
return EXIT_FAILURE;
}
}
if(cfg.count("learnrate")) {
dLearningRate = cfg["learnrate"].as<double>();
if(dLearningRate <= 0.0 || dLearningRate >= 1.0) {
cerr << ERROR("bad model learning rate") << endl;
return EXIT_FAILURE;
}
}
if(cfg.count("detection")) {
algo = (detectionAlgorithm)cfg["detection"].as<int>();
if(algo < ALGO_MOVING || algo > ALGO_CANDIDATESNEW) {
cerr << parser.getDescription() << endl;
return EXIT_FAILURE;
}
}
if(cfg.count("gpu"))
bUseGPU = true;
if(cfg.count("threaded"))
bThreaded = true;
/* OPTION READ-IN END */
/* FRONT END SETUP BEGIN */
VideoCapture cap;
// Try to open the video stream
if(bSourceIsFile) {
cap.open(sInfile);
} else {
cap.open(DEFAULT_CAMERA);
}
if(!cap.isOpened()) {
cerr << ERROR("could not open video source");
return EXIT_FAILURE;
}
iInputWidth = cap.get(CV_CAP_PROP_FRAME_WIDTH);
iInputHeight = cap.get(CV_CAP_PROP_FRAME_HEIGHT);
if(bSourceIsFile) {
iInputFps = 120; //cap.get(CV_CAP_PROP_FPS) * 2 + 1;
} else { // Framerate get impossible for webcam devices
iInputFps = 25;
}
cout << "VIDEO SOURCE: " << iInputWidth << "x" << iInputHeight << " @ " << iInputFps << "Hz" << endl;
/* FRONT END SETUP END */
/* BACK END SETUP BEGIN */
VideoBackend vb(bDestIsFile ? "DISK" : "SCREEN");
if(bDestIsFile)
vb.setFileParams(sOutfile, CV_FOURCC('D','I','V','X'), iInputFps, Size(iInputWidth, iInputHeight), true);
cout << "VIDEO DESTINATION: " << sOutfile << " @ DIVX codec" << endl;
/* BACK END SETUP END */
timer start, end;
double framerate_avg = INITIAL_FPS;
unsigned long long frames_processed = 1;
int displayfps = 0;
int skipframes = 0;
int key;
// This is the software pipelined implementation of the core tracking loop
if(bThreaded) {
Mat frame;
SynchronisedQueue<Mat*> readerToProcessorQ(PIPELINE_BUFFER_SIZE);
SynchronisedQueue<Mat*> processorToWriterQ(PIPELINE_BUFFER_SIZE);
ReaderThread rt(&cap, &readerToProcessorQ, iInputWidth, iInputHeight);
ProcessorThread pt(&readerToProcessorQ, &processorToWriterQ, bUseGPU, iInputWidth, iInputHeight, iModelFrames, dLearningRate, algo);
boost::thread reader(rt);
boost::thread processor(pt);
gettimeofday(&start, NULL);
while(true) {
Mat* tmp = processorToWriterQ.Dequeue();
frame = tmp->clone();
delete tmp;
vb << frame;
gettimeofday(&end, NULL);
double throughput = (double)timevaldiff(start, end);
double maxfps = 1.0/(throughput/1000.0);
if(maxfps < 1.0)
maxfps = 1.0;
framerate_avg *= frames_processed;
framerate_avg += maxfps;
frames_processed++;
framerate_avg /= frames_processed;
cout << "Instantaneous frame rate: " << maxfps << ", average frame rate: " << framerate_avg << "\r" << flush;
start = end;
if(!bDestIsFile)
if(waitKey(1) >= 0) break;
}
} else { // This is the single-threaded core tracking loop
BallDetection bd;
bd.setImageParams(iInputWidth, iInputHeight, 1);
ForegroundSegmenter fg;
fg.setImageParams(iInputWidth, iInputHeight, 1);
fg.setMaxFrames(iModelFrames);
fg.setLearningRate(dLearningRate);
fg.useGPU(bUseGPU);
// If CPU background modeling is used, train initial frames to model
if(!bUseGPU) {
for(int i = 0; i < iModelFrames; i++) {
Mat frame;
cap >> frame;
fg.addFrameToModel(frame);
}
}
Mat frame, segmentedFrame, previousImage, dbg;
bool updateBackground = true;
bool firstFrame = true;
while(1) {
uint32_t candidates[ALLOWED_CANDIDATES+1];
vector< pair<unsigned,unsigned> > cForegroundList;
// Capture current frame and measure time
gettimeofday(&start, NULL);
cap >> frame;
gettimeofday(&end, NULL);
double capture = timevaldiff(start,end);
if(skipframes > 0) {
skipframes--;
continue;
}
// In case of GPU processing, upload and prepare frame
gettimeofday(&start, NULL);
if(bUseGPU) {
fg.uploadPreprocessFrame(frame);
}
gettimeofday(&end, NULL);
double preprocess = timevaldiff(start,end);
// Update background model for every second image and measure time
gettimeofday(&start, NULL);
if(updateBackground) {
fg.addFrameToModel(frame);
}
updateBackground = !updateBackground;
gettimeofday(&end, NULL);
double backgroundadd = timevaldiff(start, end);
// Segment foreground for current frame and measure time
gettimeofday(&start, NULL);
fg.segment(frame, segmentedFrame, cForegroundList);
gettimeofday(&end, NULL);
double segmentation = timevaldiff(start, end);
// Generate low level ball candidates
gettimeofday(&start, NULL);
fg.genLowLevelCandidates(segmentedFrame, candidates);
gettimeofday(&end, NULL);
double candgen = timevaldiff(start, end);
/* THIS IS WRAPPER CODE, REMOVE ASAP */
if(bUseGPU) {
for(int y = 0; y < frame.rows; y++)
for(int x = 0; x < frame.cols; x++)
if(segmentedFrame.at<float>(y,x) == 255.0)
cForegroundList.push_back(make_pair(x,y));
}
/* THIS IS WRAPPER CODE, REMOVE ASAP */
// Detect ball among foreground objects and measure time
gettimeofday(&start, NULL);
if(!firstFrame)
bd.searchBall(segmentedFrame, frame, cForegroundList, candidates, algo);
firstFrame = false;
gettimeofday(&end, NULL);
double detection = timevaldiff(start,end);
//Display FPS if displaying FPS is enabled
if(displayfps == 1)
putText(frame, convert(framerate_avg), Point(10, 30), FONT_HERSHEY_PLAIN, 1, Scalar::all(255), 2, 8);
// Output frame to disk / screen
gettimeofday(&start, NULL);
vb << frame;
gettimeofday(&end, NULL);
double display = timevaldiff(start, end);
//Check the pressed key and act accordingly
if(!bDestIsFile) {
key = (waitKey(30)&0xFFFF);
if(key == 32) //SPACE
bd.toggleBackground(); //Change the displayed background
else if(key == 113) //Q
break; //Quit
else if(key == 115) //S
imwrite("screenshot.jpg", frame); //Save a screenshot
else if(key == 102) //F
displayfps ^= 1; //Toggle displaying of FPS
else if(key == 116) //T
skipframes = 1000; //Skip next 1000 frames
}
// For optical flow based ball detection: update motion reference frame
previousImage = segmentedFrame.clone();
bd.updatePreviousImage(&previousImage);
// cout << "Capture: " << capture << "ms, Preprocess: " << preprocess << "ms, Background Update: " << backgroundadd << "ms, Segmentation: "<< segmentation << "ms, CandidateGeneration: " << candgen << "ms, Detection: "<< detection << "ms, Display: " << display << "ms" << endl;
// Calculate maximum sustainable frame rate
double total = preprocess + backgroundadd + segmentation + detection + candgen;// + capture + display;
double maxfps = 1.0/(total/1000.0);
if(maxfps < 1.0)
maxfps = 1.0;
// Calculate momentary throughput and latency stats
framerate_avg *= frames_processed;
framerate_avg += maxfps;
frames_processed++;
framerate_avg /= frames_processed;
cout << "Instantaneous frame rate: " << maxfps << ", average frame rate: " << framerate_avg << "\r" << flush;
}
}
return 0;
}
// ****************************************************************************
// Function: main
//
// Purpose:
// The main function takes care of initialization (device and MPI), then
// performs the benchmark and prints results.
//
// Arguments:
//
//
// Programmer: Jeremy Meredith
// Creation:
//
// Modifications:
// Jeremy Meredith, Wed Nov 10 14:20:47 EST 2010
// Split timing reports into detailed and summary. For serial code, we
// report all trial values, and for parallel, skip the per-process vals.
// Also detect and print outliers from parallel runs.
//
// ****************************************************************************
int main(int argc, char *argv[])
{
int ret = 0;
bool noprompt = false;
try
{
#ifdef PARALLEL
int rank, size;
MPI_Init(&argc,&argv);
MPI_Comm_size(MPI_COMM_WORLD, &size);
MPI_Comm_rank(MPI_COMM_WORLD, &rank);
cerr << "MPI Task " << rank << "/" << size - 1 << " starting....\n";
#endif
// Get args
OptionParser op;
//Add shared options to the parser
op.addOption("device", OPT_VECINT, "0",
"specify device(s) to run on", 'd');
op.addOption("verbose", OPT_BOOL, "", "enable verbose output", 'v');
op.addOption("passes", OPT_INT, "10", "specify number of passes", 'n');
op.addOption("size", OPT_INT, "1", "specify problem size", 's');
op.addOption("infoDevices", OPT_BOOL, "",
"show info for available platforms and devices", 'i');
op.addOption("quiet", OPT_BOOL, "", "write minimum necessary to standard output", 'q');
#ifdef _WIN32
op.addOption("noprompt", OPT_BOOL, "", "don't wait for prompt at program exit");
#endif
addBenchmarkSpecOptions(op);
if (!op.parse(argc, argv))
{
#ifdef PARALLEL
if (rank == 0)
op.usage();
MPI_Finalize();
#else
op.usage();
#endif
return (op.HelpRequested() ? 0 : 1);
}
bool verbose = op.getOptionBool("verbose");
bool infoDev = op.getOptionBool("infoDevices");
#ifdef _WIN32
noprompt = op.getOptionBool("noprompt");
#endif
int device;
#ifdef PARALLEL
NodeInfo ni;
int myNodeRank = ni.nodeRank();
vector<long long> deviceVec = op.getOptionVecInt("device");
if (myNodeRank >= deviceVec.size()) {
// Default is for task i to test device i
device = myNodeRank;
} else {
device = deviceVec[myNodeRank];
}
#else
device = op.getOptionVecInt("device")[0];
#endif
int deviceCount;
cudaGetDeviceCount(&deviceCount);
if (device >= deviceCount) {
cerr << "Warning: device index: " << device <<
" out of range, defaulting to device 0.\n";
device = 0;
}
// Initialization
EnumerateDevicesAndChoose(device, infoDev);
if( infoDev )
{
return 0;
}
ResultDatabase resultDB;
// Run the benchmark
RunBenchmark(resultDB, op);
#ifndef PARALLEL
resultDB.DumpDetailed(cout);
#else
ParallelResultDatabase pardb;
pardb.MergeSerialDatabases(resultDB,MPI_COMM_WORLD);
if (rank==0)
{
pardb.DumpSummary(cout);
pardb.DumpOutliers(cout);
}
#endif
}
catch( InvalidArgValue& e )
{
std::cerr << e.what() << ": " << e.GetMessage() << std::endl;
ret = 1;
}
catch( std::exception& e )
{
std::cerr << e.what() << std::endl;
ret = 1;
}
catch( ... )
{
ret = 1;
}
#ifdef PARALLEL
MPI_Finalize();
#endif
#ifdef _WIN32
if (!noprompt)
{
cout << "Press return to exit\n";
cin.get();
}
#endif
return ret;
}
int
main(int argc, char** argv)
{
Tasks::Context context;
I18N::setLanguage(context.dir_i18n);
Scheduler::set(Scheduler::POLICY_RR);
OptionParser options;
options.executable("dune")
.program(DUNE_SHORT_NAME)
.copyright(DUNE_COPYRIGHT)
.email(DUNE_CONTACT)
.version(getFullVersion())
.date(getCompileDate())
.arch(DUNE_SYSTEM_NAME)
.add("-d", "--config-dir",
"Configuration directory", "DIR")
.add("-w", "--www-dir",
"HTTP server base directory", "DIR")
.add("-c", "--config-file",
"Load configuration file CONFIG", "CONFIG")
.add("-m", "--lock-memory",
"Lock memory")
.add("-p", "--profiles",
"Execution Profiles", "PROFILES")
.add("-V", "--vehicle",
"Vehicle name override", "VEHICLE")
.add("-X", "--dump-params-xml",
"Dump parameters XML to folder DIR", "DIR");
// Parse command line arguments.
if (!options.parse(argc, argv))
{
if (options.bad())
std::cerr << "ERROR: " << options.error() << std::endl;
options.usage();
return 1;
}
// If requested, lock memory.
if (!options.value("--lock-memory").empty())
{
#if defined(DUNE_USING_TLSF) && defined(DUNE_CLIB_GNU)
Resources::lockMemory(c_memory, c_memory_size);
#else
Resources::lockMemory();
#endif
}
// If requested, set alternate configuration directory.
if (options.value("--config-dir") != "")
{
context.dir_cfg = options.value("--config-dir");
}
// If requested, set alternate HTTP server directory.
if (options.value("--www-dir") != "")
{
context.dir_www = options.value("--www-dir");
}
DUNE::Tasks::Factory::registerDynamicTasks(context.dir_lib.c_str());
registerStaticTasks();
// Retrieve configuration file and try parsing it.
if (options.value("--config-file") == "")
{
std::cerr << String::str(DTR("ERROR: no configuration file was given, "
"see options --config-list and --config-file\n"))
<< std::endl;
return 1;
}
Path cfg_file = context.dir_cfg / options.value("--config-file") + ".ini";
try
{
context.config.parseFile(cfg_file.c_str());
}
catch (std::runtime_error& e)
{
try
{
cfg_file = context.dir_usr_cfg / options.value("--config-file") + ".ini";
context.config.parseFile(cfg_file.c_str());
context.dir_cfg = context.dir_usr_cfg;
}
catch (std::runtime_error& e2)
{
std::cerr << String::str("ERROR: %s\n", e.what()) << std::endl;
std::cerr << String::str("ERROR: %s\n", e2.what()) << std::endl;
return 1;
}
}
if (!options.value("--vehicle").empty())
context.config.set("General", "Vehicle", options.value("--vehicle"));
try
{
DUNE::Daemon daemon(context, options.value("--profiles"));
// Parameters XML.
if (options.value("--dump-params-xml") != "")
{
std::string lang = I18N::getLanguage();
std::string file = String::str("%s.%s.xml", daemon.getSystemName(), lang.c_str());
Path path = Path(options.value("--dump-params-xml")) / file;
std::ofstream ofs(path.c_str());
if (!ofs.is_open())
{
std::cerr << "ERROR: failed to create file '" << path << "'" << std::endl;
return 1;
}
daemon.writeParamsXML(ofs);
return 0;
}
return runDaemon(daemon);
}
catch (std::exception& e)
{
std::cerr << "ERROR: " << e.what() << std::endl;
}
}
int
main(int argc, const char **argv) {
try {
string prb_file;
string seqfile;
string outfile;
size_t n_reads = 1000;
size_t read_width = 25;
size_t max_errors = 0;
size_t random_number_seed = numeric_limits<size_t>::max();
bool VERBOSE = false;
bool FASTQ_OUTPUT = false;
/****************** COMMAND LINE OPTIONS ********************/
static OptionParser opt_parse("simreads",
"program for generating simulated reads"
" with simulated quality scores",
"<fasta-chrom-files>");
opt_parse.add_opt("output", 'o', "Name of output file (default: stdout)",
false , outfile);
opt_parse.add_opt("reads", 'n', "number of reads to simulate",
false, n_reads);
opt_parse.add_opt("width", 'w', "width of reads to simulate",
false, read_width);
opt_parse.add_opt("err", 'e', "maximum number of simulated sequencing errors",
false, max_errors);
opt_parse.add_opt("verbose", 'v', "print more run info",
false, VERBOSE);
opt_parse.add_opt("fastq", 'q', "write FASTQ format reads",
false, FASTQ_OUTPUT);
opt_parse.add_opt("prob", 'p', "prb output file",
false, prb_file);
opt_parse.add_opt("seed", 'S', "random number seed",
false, random_number_seed);
vector<string> leftover_args;
opt_parse.parse(argc, argv, leftover_args);
if (argc == 1 || opt_parse.help_requested()) {
cerr << opt_parse.help_message() << endl;
return EXIT_SUCCESS;
}
if (opt_parse.about_requested()) {
cerr << opt_parse.about_message() << endl;
return EXIT_SUCCESS;
}
if (opt_parse.option_missing()) {
cerr << opt_parse.option_missing_message() << endl;
return EXIT_SUCCESS;
}
if (leftover_args.empty()) {
cerr << opt_parse.help_message() << endl;
return EXIT_SUCCESS;
}
vector<string> filenames(leftover_args);
/****************** END COMMAND LINE OPTIONS *****************/
if (FASTQ_OUTPUT && !prb_file.empty())
throw SMITHLABException("fastq output is incompatible "
"with specifying a prb file");
const Runif rng(random_number_seed);
vector<string> reads, read_names;
vector<vector<vector<double> > > probs;
vector<size_t> filesizes;
double total = 0;
for (size_t i = 0; i < filenames.size(); ++i) {
filesizes.push_back(get_filesize(filenames[i]));
total += filesizes.back();
}
if (VERBOSE)
cerr << "[OBTAINING READ SAMPLE DISTRIBUTION]";
vector<size_t> samples;
for (size_t i = 0; i < filesizes.size(); ++i)
samples.push_back(n_reads*filesizes[i]/total);
if (VERBOSE) cerr << "[DONE]" << endl;
if (!outfile.empty())
ofstream out(outfile.c_str());
if (!prb_file.empty())
ofstream prb(prb_file.c_str());
for (size_t i = 0; i < filenames.size(); ++i) {
if (isdir(filenames[i].c_str()))
throw SMITHLABException("\"" + filenames[i] +
"\" not a FASTA format sequence file?");
if (VERBOSE)
cerr << "[LOADING=" << filenames[i] << "]";
vector<string> names, sequences;
read_fasta_file(filenames[i].c_str(), names, sequences);
if (VERBOSE) cerr << "[DONE]" << endl;
double sub_total = 0;
for (size_t k = 0; k < sequences.size(); ++k)
sub_total += sequences[i].length();
vector<size_t> sub_samples;
for (size_t k = 0; k < sequences.size(); ++k)
sub_samples.push_back(samples[i]*sequences[i].length()/sub_total);
for (size_t j = 0; j < names.size(); ++j) {
if (VERBOSE)
cerr << "[PROCESSING CHROM=" << names[j] << "]" << endl;
const size_t offset = names[j].find(':');
const string name(names[j].substr(0, offset));
transform(sequences[j].begin(), sequences[j].end(),
sequences[j].begin(), std::ptr_fun(&toupper));
simreads(FASTQ_OUTPUT, outfile, prb_file,
rng, sub_samples[i], read_width, max_errors,
name, sequences[j], read_names, reads, probs);
}
}
}
catch (std::bad_alloc &ba) {
cerr << "ERROR: could not allocate memory" << endl;
return EXIT_FAILURE;
}
catch (SMITHLABException &e) {
cerr << e.what() << endl;
return EXIT_FAILURE;
}
catch (std::exception &e) {
cerr << "ERROR: " << e.what() << endl;
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
int main(int argc, char **argv) {
OptionParser opts;
string mapFile,trainFile,testFile;
int factor = 1;
double step;
opts.addOption(new StringOption("map",
"--map <filename> : map file",
"../input/grid.bmp", mapFile, false));
opts.addOption(new StringOption("evidence",
"--test evidence <filename> : evidence file",
"", testFile, true));
opts.addOption(new DoubleOption("step",
"--step <double> : inference interval",
1.0, step, true));
opts.parse(argc,argv);
JetColorMap jet;
RGBTRIPLE black = {0,0,0};
RGBTRIPLE white = {255,255,255};
RGBTRIPLE red;
red.R = 255;
red.G = 0;
red.B = 0;
RGBTRIPLE blue;
blue.R = 0;
blue.G = 0;
blue.B = 255;
RGBTRIPLE green;
green.R = 0;
green.G = 255;
green.B = 0;
RGBTRIPLE initialColor;
initialColor.R = 111;
initialColor.G = 49;
initialColor.B = 152;
RGBTRIPLE currentColor;
currentColor.R = 181;
currentColor.G = 165;
currentColor.B = 213;
RGBTRIPLE magenta;
magenta.R = 255;
magenta.G = 0;
magenta.B = 255;
RGBTRIPLE cyan;
cyan.R = 0;
cyan.G = 255;
cyan.B = 255;
RGBTRIPLE yellow;
yellow.R = 255;
yellow.G = 255;
yellow.B = 0;
BMPFile bmpFile(mapFile);
Grid grid(bmpFile, black);
Evidence testSet(testFile, grid, factor);
// Evidence trainSet(trainFile, grid, factor);
pair<int, int> dims = grid.dims();
cout << " Speed Feature"<<endl;
vector<double> speedTable(VEL_DIM,0.0);
speedTable.at(1) = 0.75;
DisVecSeqFeature speedfeat(speedTable);
vector<int> dimensions;
dimensions.push_back(dims.first);
dimensions.push_back(dims.second);
dimensions.push_back(VEL_DIM);
/* ****************************************
* INITIALIZE MARKOV DECESION PROCESS
* BASED MODEL PARAMETERS
* ****************************************/
vector<double> p_weights(NUMPOSFEAT,-0.0);
p_weights.at(0) = -2.23; //-2.23 for PPP forecast
p_weights.at(1) = -6.2;
p_weights.at(2) = -0.35;
p_weights.at(3) = -2.73;
p_weights.at(4) = -0.92;
p_weights.at(5) = -0.26;
vector<double> r_PosWeights(NUMPOSFEAT+NUMROBFEAT, -0.0);
r_PosWeights.at(0) = -3.83;
r_PosWeights.at(1) = -8.36;
r_PosWeights.at(2) = -2.65;
r_PosWeights.at(3) = -5.43;
r_PosWeights.at(4) = -3.15;
r_PosWeights.at(5) = -3.30;
//r_PosWeights.at(6) = 0.60;
//r_PosWeights.at(7) = 0.45;
vector<double> nr_PosWeights(NUMPOSFEAT+NUMROBFEAT, -0.0);
nr_PosWeights.at(0) = -4.51;
nr_PosWeights.at(1) = -6.2;
nr_PosWeights.at(2) = -0.35;
nr_PosWeights.at(3) = -2.73;
nr_PosWeights.at(4) = -0.93;
nr_PosWeights.at(5) = -0.28;
//nr_PosWeights.at(6) = -0.50;
//nr_PosWeights.at(7) = -0.286;
vector<double> r_SeqWeights(VEL_DIM, -0.0);
r_SeqWeights.at(0) = 0.59;
r_SeqWeights.at(1) = -0.83;
vector<double> nr_SeqWeights(VEL_DIM, -0.0);
nr_SeqWeights.at(0) = -1.21;
nr_SeqWeights.at(1) = 0.49;
Parameters p(p_weights);
Parameters r_Pos(r_PosWeights);
Parameters nr_Pos(nr_PosWeights);
Parameters r_Seq(r_SeqWeights);
Parameters nr_Seq(nr_SeqWeights);
/* ****************************************
* INITIALIZE LINEAR QUADRATIC CONTROL
* BASED MODEL PARAMETERS
* ****************************************/
M_6 A;
A.setZero();
A(0,0) = 1;
A(1,1) = 1;
A(4,2) = -1;
A(5,3) = -1;
M_6_2 B;
B<<1,0,
0,1,
1,0,
0,1,
1,0,
0,1;
M_6 costM;
ifstream infile("../params/nonrob2000.dat");
for(int row=0;row<costM.rows();row++){
for(int col=0;col<costM.cols();col++){
double temp;
infile>>temp;
costM(row,col) = temp;
}
}
infile.close();
M_6 sigma;
sigma<<0.001,0,0,0,0,0,
0,0.001,0,0,0,0,
0,0,0.005,0,0,0,
0,0,0,0.005,0,0,
0,0,0,0,0.005,0,
0,0,0,0,0,0.005;
/* ****************************************
* DECLARATION OF INFERENCE ENGINES
* ****************************************/
OrderedWaveInferenceEngine pp(InferenceEngine::GRID8);
DisSeqOrderInferEngine mdpr(InferenceEngine::GRID8);
DisSeqOrderInferEngine mdpnr(InferenceEngine::GRID8);
ContinuousState cState;
LQControlInference lq(A,B,sigma,costM,cState);
lq.valueInference();
IntentRecognizer IR(grid,p,r_Pos,r_Seq,nr_Pos,nr_Seq,
speedfeat,pp,mdpr,mdpnr,lq);
cout << testSet.size() <<" Examples"<<endl;
for (int i=0; i < testSet.size(); i++) {
vector<pair<int, int> > & traj = testSet.at(i);
vector<double> & vels = testSet.at_v(i);
vector<double> times = testSet.getTimes(i);
pair<int,int> & botinGrid = testSet.at_bot(i);
vector<pair<double,double> > & obs =
testSet.at_raw(i);
vector<double> & rawTimes = testSet.at_rawTime(i);
IR.combineForecast(traj,vels,obs,times,rawTimes,
botinGrid,i,step);
}
}
int main(int argc, char **argv) {
OptionParser opts;
string mapFile, evidFile;//interactFile,ignoreFile;
int factor;
opts.addOption(new StringOption("map",
"--map <filename> : map file",
"../input/grid.bmp", mapFile, false));
opts.addOption(new StringOption("evidence",
"--evidence <filename> : evidence file",
"", evidFile, true));
opts.addOption(new IntOption("factor",
"--factor <int> : scaling factor",
1, factor, true));
opts.parse(argc,argv);
cout << "Loading Map File"<<endl;
BMPFile bmpFile(mapFile);
Grid grid(bmpFile, black);
// cout << "xdim: "<<grid.dims().first<<" yDim: "<<grid.dims().second<<endl;
cout << "Loading Evidence"<<endl;
//Evidence trainSet(evidFile, grid, factor);
/* used when need to train two seperate models
Evidence evid_int(interactFile, grid, factor);
Evidence evid_ig(ignoreFile, grid, factor);
Evidence train_int(grid),test_int(grid),train_ig(grid), test_ig(grid);
evid_int.split(train_int, test_int, 0.05);
evid_ig.split(train_ig, test_ig, 0.05);
*/
Evidence evid(evidFile,grid,factor);
Evidence trainSet(grid),testSet(grid);
evid.split(trainSet,testSet,0.05);
cout<<"Optimize over "<<trainSet.size()<<" examples"<<endl;
#if 0
for (int i=0; i < evid.size(); i++) {
cout << "Evid "<<i<<endl;
vector<pair<int, int> > traj = evid.at(i);
vector<double> timestamps = evid.getTimes(i);
cout << timestamps.size()<<" "<<traj.size()<<endl;
for (int j=0; j < traj.size(); j++) {
cout << timestamps.at(j)<<" "<<traj.at(j).first
<< " "<<traj.at(j).second<<endl;
}
}
#endif
// testSet.write("testTraj.data");
cout << "Generating Feature Set"<<endl;
vector<PosFeature> features;
cout << " Constant Feature"<<endl;
ConstantFeature constFeat(grid);
features.push_back(constFeat);
cout << " Obstacle Feature"<<endl;
ObstacleFeature obsFeat(grid);
features.push_back(obsFeat);
for (int i=1; i < 5; i++) {
cout << " Blur Feature "<<i<<endl;
ObstacleBlurFeature blurFeat(grid, 5*i);
features.push_back(blurFeat);
}
/*
cout << " Robot Feature"<<endl;
RobotGlobalFeature robglobal(grid,snackbot,factor);
features.push_back(robglobal);
// robot local blurres features
for (int i=1; i < 5; i++) {
cout << " RobotBlur Feature "<<i<<endl;
RobotLocalBlurFeature robblur(grid,snackbot,5*i,factor);
features.push_back(robblur);
}
*/
/*
cout << " Creating feature array"<<endl;
FeatureArray featArray2(features);
cout << " Creating lower resolution feature array"<<endl;
FeatureArray featArray(featArray2, factor);
*/
cout << " Speed Feature"<<endl;
vector<double> speedTable(2,0.0);
speedTable.at(1) = 0.75;
//speedTable.at(2) = 1.1;
DisVecSeqFeature speedfeat(speedTable);
/* Robset training weights:
* -3.83 -8.35991 -2.6512 -5.43475 -3.15203 -3.29758
* 0.596987 0.439284
* 0.589445 -0.82448
* Non-robot-ending trainng weights:
* -4.57257 -6.2 -0.3537 -2.7385 -0.9357 -0.2797
* -0.495205 -0.2863
* -1.2225 0.43993
*/
vector<double> weights(6+2+2, -0.0);
weights.at(0) = -25;
weights.at(1) = -8.36;
weights.at(2) = -2.65;
weights.at(3) = -5.43;
weights.at(4) = -3.17;
weights.at(5) = -3.34;
weights.at(6) = 0.5; // robot feature
weights.at(7) = 0.3; // robot feature
weights.at(8) = -0.29; // velocity feature
weights.at(9) = -1.11; // velocity feature
//weights.push_back(1.5);//the last parameter is for velocity feature
Parameters params(weights);
DisSeqOrderInferEngine engine(8,InferenceEngine::GRID8);
trajOptimizerplus optimizer(grid,trainSet,features,speedfeat,engine);
optimizer.optimize(params,0.005,1000,1.0,OPT_EXP);
return 0;
}