12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixed compilation errors

release/4.3a0
dellaert 2015-06-27 13:29:54 -07:00
parent 6895b75ecd
commit 3550ef5e9d
2 changed files with 19 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
timing/DummyFactor.h
View File

@ -13,20 +13,20 @@ namespace gtsam {
/**
* DummyFactor
*/
template<size_t D> //
class DummyFactor: public RegularImplicitSchurFactor<D> {
template<typename CAMERA> //
class DummyFactor: public RegularImplicitSchurFactor<CAMERA> {
public:
typedef Eigen::Matrix<double, 2, D> Matrix2D;
typedef Eigen::Matrix<double, 2, CAMERA::dimension> Matrix2D;
typedef std::pair<Key, Matrix2D> KeyMatrix2D;
DummyFactor() {
}
DummyFactor(const std::vector<KeyMatrix2D>& Fblocks, const Matrix& E,
const Matrix3& P, const Vector& b) :RegularImplicitSchurFactor<D>(Fblocks,E,P,b)
{
const Matrix3& P, const Vector& b) :
RegularImplicitSchurFactor<CAMERA>(Fblocks, E, P, b) {
}
virtual ~DummyFactor() {

23
timing/timeSchurFactors.cpp
View File

@ -11,6 +11,8 @@
#include <gtsam/slam/JacobianFactorQ.h>
#include "gtsam/slam/JacobianFactorQR.h"
#include <gtsam/slam/RegularImplicitSchurFactor.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/PinholePose.h>
#include <boost/assign/list_of.hpp>
#include <boost/assign/std/vector.hpp>
@ -29,17 +31,20 @@ using namespace gtsam;
ofstream os("timeSchurFactors.csv");
/*************************************************************************************/
template<size_t D>
template<typename CAMERA>
void timeAll(size_t m, size_t N) {
cout << m << endl;
// create F
static const int D = CAMERA::dimension;
typedef Eigen::Matrix<double, 2, D> Matrix2D;
typedef pair<Key, Matrix2D> KeyMatrix2D;
vector < pair<Key, Matrix2D> > Fblocks;
for (size_t i = 0; i < m; i++)
Fblocks.push_back(KeyMatrix2D(i, (i + 1) * Matrix::Ones(2, D)));
FastVector<Key> keys;
vector <Matrix2D> Fblocks;
for (size_t i = 0; i < m; i++) {
keys.push_back(i);
Fblocks.push_back((i + 1) * Matrix::Ones(2, D));
}
// create E
Matrix E(2 * m, 3);
@ -60,11 +65,11 @@ void timeAll(size_t m, size_t N) {
xvalues.insert(i, gtsam::repeat(D, 2));
// Implicit
RegularImplicitSchurFactor<D> implicitFactor(Fblocks, E, P, b);
RegularImplicitSchurFactor<CAMERA> implicitFactor(keys, Fblocks, E, P, b);
// JacobianFactor with same error
JacobianFactorQ<D, 2> jf(Fblocks, E, P, b, model);
JacobianFactorQ<D, 2> jf(keys, Fblocks, E, P, b, model);
// JacobianFactorQR with same error
JacobianFactorQR<D, 2> jqr(Fblocks, E, P, b, model);
JacobianFactorQR<D, 2> jqr(keys, Fblocks, E, P, b, model);
// Hessian
HessianFactor hessianFactor(jqr);
@ -146,7 +151,7 @@ int main(void) {
//for (size_t m=10;m<=100;m+=10) ms += m;
// loop over number of images
BOOST_FOREACH(size_t m,ms)
timeAll<6>(m, NUM_ITERATIONS);
timeAll<PinholePose<Cal3Bundler> >(m, NUM_ITERATIONS);
}
//*************************************************************************************