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Some refactoring

release/4.3a0
dellaert 2014-10-22 16:26:40 +02:00
parent a29f09423c
commit 48a6777935
2 changed files with 10 additions and 10 deletions
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1
gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
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@ -200,6 +200,7 @@ TEST(Expression, Snavely) {
Expression<Point3> X(2);
typedef AdaptAutoDiff<SnavelyProjection, Point2, Camera, Point3> Adaptor;
Expression<Point2> expression(Adaptor(), P, X);
EXPECT_LONGS_EQUAL(528,expression.traceSize()); // Todo, should be zero
set<Key> expected = list_of(1)(2);
EXPECT(expected == expression.keys());
}

19
gtsam_unstable/timing/timeAdaptAutoDiff.cpp
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@ -51,22 +51,21 @@ int main() {
values.insert(1, Camera());
values.insert(2, Point3(0, 0, 1));
NonlinearFactor::shared_ptr f1, f2, f3;
// Dedicated factor
NonlinearFactor::shared_ptr f1 = boost::make_shared<
GeneralSFMFactor<Camera, Point3> >(z, model, 1, 2);
f1 = boost::make_shared<GeneralSFMFactor<Camera, Point3> >(z, model, 1, 2);
time("GeneralSFMFactor<Camera> : ", f1, values);
// AdaptAutoDiff
typedef AdaptAutoDiff<SnavelyProjection, Point2, Camera, Point3> SnavelyAdaptor;
NonlinearFactor::shared_ptr f2 =
boost::make_shared<ExpressionFactor<Point2> >(model, z,
Point2_(SnavelyAdaptor(), camera, point));
time("Point2_(SnavelyAdaptor(), camera, point): ", f2, values);
typedef AdaptAutoDiff<SnavelyProjection, Point2, Camera, Point3> AdaptedSnavely;
Point2_ expression(AdaptedSnavely(), camera, point);
f2 = boost::make_shared<ExpressionFactor<Point2> >(model, z, expression);
time("Point2_(AdaptedSnavely(), camera, point): ", f2, values);
// ExpressionFactor
NonlinearFactor::shared_ptr f3 =
boost::make_shared<ExpressionFactor<Point2> >(model, z,
Point2_(camera, &Camera::project2, point));
Point2_ expression2(camera, &Camera::project2, point);
f3 = boost::make_shared<ExpressionFactor<Point2> >(model, z, expression2);
time("Point2_(camera, &Camera::project, point): ", f3, values);
return 0;