An optimized version
parent
c20b588fe0
commit
3f017bf51f
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@ -25,6 +25,7 @@
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#include <time.h>
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#include <iostream>
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#include <iomanip> // std::setprecision
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using namespace std;
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using namespace gtsam;
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@ -39,9 +40,18 @@ void time(const NonlinearFactor& f, const Values& values) {
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long timeLog2 = clock();
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double seconds = (double) (timeLog2 - timeLog) / CLOCKS_PER_SEC;
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// cout << ((double) n / seconds) << " calls/second" << endl;
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cout << setprecision(3);
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cout << ((double) seconds * 1000000 / n) << " musecs/call" << endl;
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}
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boost::shared_ptr<Cal3_S2> fixedK(new Cal3_S2());
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Point2 myProject(const Pose3& pose, const Point3& point,
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boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) {
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PinholeCamera<Cal3_S2> camera(pose, *fixedK);
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return camera.project(point, H1, H2);
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}
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int main() {
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// Create leaves
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@ -63,33 +73,38 @@ int main() {
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// Dedicated factor
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// Oct 3, 2014, Macbook Air
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// 4.44887 musecs/call
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// 4.2 musecs/call
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GeneralSFMFactor2<Cal3_S2> oldFactor2(z, model, 1, 2, 3);
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time(oldFactor2, values);
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// BADFactor
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// Oct 3, 2014, Macbook Air
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// 20.7554 musecs/call
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// 20.3 musecs/call
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BADFactor<Point2> newFactor2(model, z,
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uncalibrate(K, project(transform_to(x, p))));
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time(newFactor2, values);
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// CALIBRATED
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boost::shared_ptr<Cal3_S2> fixedK(new Cal3_S2());
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// Dedicated factor
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// Oct 3, 2014, Macbook Air
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// 3.69707 musecs/call
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// 3.4 musecs/call
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GenericProjectionFactor<Pose3, Point3> oldFactor1(z, model, 1, 2, fixedK);
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time(oldFactor1, values);
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// BADFactor
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// Oct 3, 2014, Macbook Air
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// 17.092 musecs/call
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// 16.0 musecs/call
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BADFactor<Point2> newFactor1(model, z,
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uncalibrate(Cal3_S2_(*fixedK), project(transform_to(x, p))));
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time(newFactor1, values);
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// BADFactor, optimized
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// Oct 3, 2014, Macbook Air
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// 9.0 musecs/call
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typedef PinholeCamera<Cal3_S2> Camera;
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typedef Expression<Camera> Camera_;
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BADFactor<Point2> newFactor3(model, z, Point2_(myProject, x, p));
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time(newFactor3, values);
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return 0;
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}
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