particle_filter | particle filter implementation for lab | Form library
kandi X-RAY | particle_filter Summary
kandi X-RAY | particle_filter Summary
A particle filter implementation for lab 1 of Statistical Techniques in Robotics (CMU 16-831)
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QUESTION
I am trying to run a particle filter with 3000 independent particles. More specifically, I would like to run 3000 (simple) computations in parallel at the same time, so that the computation time remains short.
This task is designed for experimental applications on a laboratory equipment, so it has to be run on a local laptop. I cannot rely on a distant cluster of computers, and the computers that will be used are unlikely to have fancy Nvidia graphic cards. For instance, the current computer I'm working with has an Intel Core i7-8650U CPU and an Intel UHD Graphics 620 GPU.
Using the mp.cpu_count()
from the multiprocessing
Python library tells me that I have 8 processors, which is too few for my problem (I need to run several thousands of processes in parallel). I thus looked towards GPU-based solutions, and especially at PyOpenCL. The Intel UHD Graphics 620 GPU is supposed to have only 24 processors, does it mean I can only use it to run 24 processes at the same time in parallel ?
More generally, is my problem (running 3000 processes in parallel on a simple laptop using Python) realistic, and if yes which software solution would you recommend ?
EDIT
Here is my pseudo code. At each time step i
, I am calling the function posterior_update
. This function uses 3000 times and independently (once for each particle) the function approx_likelihood
, which seems hardly vectorizable. Ideally, I would like these 3000 calls to take place independently and in parallel.
ANSWER
Answered 2021-Feb-17 at 00:22These are some ideas, not an answer to your question:
Your main concern about how to determine the number of parallel processes you can run, is not so simple. Basically you can think of your computer running as many processes in parallel as CPU cores you have. But this ultimately depends on the operating system, the current work load of your computer, etc. Besides, you can send your data to your processes in chunks, not necessarily one item at a time. Or you can partition your data into the processes you have, e.g. 6 processes with 500 items each = 3000 items. The optimum combination will require some trial and error.
The GPU, on the other hand, has an enormous amount of workers available. If you have the Nvidia drivers and OpenCL installed, issue the command
clinfo
in your terminal to have an idea of the capabilities of your hardware.One problem I see with using the GPU with your code, is that you need to pass the instructions to your device in C language. Your
approx_likelihood
function contains code dependent on libraries, that would be very difficult to replicate in C.However, if you estimate that you are using these libraries to do something that you could code in C, give it a try. You could also consider using Numba.
I would start by using python's
multiprocessing
. Something in these lines:
QUESTION
I'm running Ubuntu 16.04 and just opened my freshly installed Eclipse CDT Oxygen for the first time.
I imported an existing C++ project that builds fine using a CMake file that sets add_definitions(-std=c++11)
.
I used CMake with the command cmake -G"Eclipse CDT4 - Unix Makefiles" -D CMAKE_BUILD_TYPE=Debug ../src/
to generate Eclipse project files and then used those to import the project into Eclipse.
Now I'm looking at a source file in my newly imported project inside Eclipse and see a ton of issues. It's all types that cannot be resolved, for example std::default_random_engine
.
My guess is that Eclipse doesn't have the right toolchain configured.
I have a few questions:
How can I see the toolchain for my project and how can I change it? I looked up this help article, but the sections in the project properties menu I see are not the same as in the help article. The project properties menu I see does not have a "C/C++ Build" section. How can that be?
The CMake file that I used to generate the Eclipse project files specifies that C++11 is supposed to be used, so why isn't this the case then?
Here is what my project properties menu looks like:
This is what my .project
file looks like:
ANSWER
Answered 2017-Aug-20 at 13:58The missing C/C++ Build section can be caused by a broken .project
, .cproject
or .settings/language.settings.xml
file:
- Create a new project of the same type
- In the Navigator view compare the
.project
, the.cproject
and the.settings/language.settings.xml
files with the corresponding files of the new project to find the problem (make sure to use same IDs in.cproject
and in.settings/language.settings.xml
, but different IDs than in other projects)
QUESTION
I have tried to access an element of the json structure but can't. I have tried the following.
I am using the npm package json-query to extract part of the bigger JSON object.
...ANSWER
Answered 2017-Jan-25 at 23:34i'm not sure how its not working, the only problem i see with your code is you mistaken by writing params
and you write parms
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