From 3f11c5dd0173cebe092f1c2820c78ff45a73a1f7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 31 Jan 2025 12:06:31 -0500 Subject: [PATCH] Timing results --- examples/Hybrid_City10000.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/examples/Hybrid_City10000.cpp b/examples/Hybrid_City10000.cpp index 7f58722ca..bc35fae0d 100644 --- a/examples/Hybrid_City10000.cpp +++ b/examples/Hybrid_City10000.cpp @@ -44,9 +44,13 @@ using symbol_shorthand::M; using symbol_shorthand::X; const size_t kMaxLoopCount = 3000; // Example default value -const size_t kUpdateFrequency = 3; // 3000: {1: 62s, 2: 21s, 3: 20s, 4: 31s, 5:39s} -const size_t kMaxNrHypotheses = 10; +// 3000: {1: 62s, 2: 21s, 3: 20s, 4: 31s, 5: 39s} No DT optimizations +// 3000: {1: 65s, 2: 20s, 3: 16s, 4: 21s, 5: 28s} With DT optimizations +// 3000: {1: 59s, 2: 19s, 3: 18s, 4: 26s, 5: 33s} With DT optimizations + merge +const size_t kUpdateFrequency = 3; + +const size_t kMaxNrHypotheses = 10; auto kOpenLoopModel = noiseModel::Diagonal::Sigmas(Vector3::Ones() * 10);