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

Show explanation of timing

release/4.3a0
dellaert 2014-10-08 17:27:46 +02:00
parent ce2dcaeb3b
commit 4ac065fab4
1 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
gtsam_unstable/timing/timeCameraExpression.cpp
View File

@ -31,7 +31,7 @@ using namespace gtsam;
static const int n = 100000; static const int n = 100000;
void time(const NonlinearFactor& f, const Values& values) { void time(const string& str, const NonlinearFactor& f, const Values& values) {
long timeLog = clock(); long timeLog = clock();
GaussianFactor::shared_ptr gf; GaussianFactor::shared_ptr gf;
for (int i = 0; i < n; i++) for (int i = 0; i < n; i++)
@ -40,7 +40,7 @@ void time(const NonlinearFactor& f, const Values& values) {
double seconds = (double) (timeLog2 - timeLog) / CLOCKS_PER_SEC; double seconds = (double) (timeLog2 - timeLog) / CLOCKS_PER_SEC;
// cout << ((double) n / seconds) << " calls/second" << endl; // cout << ((double) n / seconds) << " calls/second" << endl;
cout << setprecision(3); cout << setprecision(3);
cout << ((double) seconds * 1000000 / n) << " musecs/call" << endl; cout << str << ((double) seconds * 1000000 / n) << " musecs/call" << endl;
} }
boost::shared_ptr<Cal3_S2> fixedK(new Cal3_S2()); boost::shared_ptr<Cal3_S2> fixedK(new Cal3_S2());
@ -74,20 +74,20 @@ int main() {
// Oct 3, 2014, Macbook Air // Oct 3, 2014, Macbook Air
// 4.2 musecs/call // 4.2 musecs/call
GeneralSFMFactor2<Cal3_S2> f1(z, model, 1, 2, 3); GeneralSFMFactor2<Cal3_S2> f1(z, model, 1, 2, 3);
time(f1, values); time("GeneralSFMFactor2<Cal3_S2> : ", f1, values);
// BADFactor // BADFactor
// Oct 3, 2014, Macbook Air // Oct 3, 2014, Macbook Air
// 20.3 musecs/call // 20.3 musecs/call
BADFactor<Point2> f2(model, z, BADFactor<Point2> f2(model, z,
uncalibrate(K, project(transform_to(x, p)))); uncalibrate(K, project(transform_to(x, p))));
time(f2, values); time("Bin(Leaf,Un(Bin(Leaf,Leaf))): ", f2, values);
// BADFactor ternary // BADFactor ternary
// Oct 3, 2014, Macbook Air // Oct 3, 2014, Macbook Air
// 20.3 musecs/call // 20.3 musecs/call
BADFactor<Point2> f3(model, z, project3(x, p, K)); BADFactor<Point2> f3(model, z, project3(x, p, K));
time(f3, values); time("Ternary(Leaf,Leaf,Leaf) : ", f3, values);
// CALIBRATED // CALIBRATED
@ -95,14 +95,14 @@ int main() {
// Oct 3, 2014, Macbook Air // Oct 3, 2014, Macbook Air
// 3.4 musecs/call // 3.4 musecs/call
GenericProjectionFactor<Pose3, Point3> g1(z, model, 1, 2, fixedK); GenericProjectionFactor<Pose3, Point3> g1(z, model, 1, 2, fixedK);
time(g1, values); time("GenericProjectionFactor<P,P>: ", g1, values);
// BADFactor // BADFactor
// Oct 3, 2014, Macbook Air // Oct 3, 2014, Macbook Air
// 16.0 musecs/call // 16.0 musecs/call
BADFactor<Point2> g2(model, z, BADFactor<Point2> g2(model, z,
uncalibrate(Cal3_S2_(*fixedK), project(transform_to(x, p)))); uncalibrate(Cal3_S2_(*fixedK), project(transform_to(x, p))));
time(g2, values); time("Bin(Cnst,Un(Bin(Leaf,Leaf))): ", g2, values);
// BADFactor, optimized // BADFactor, optimized
// Oct 3, 2014, Macbook Air // Oct 3, 2014, Macbook Air
@ -110,6 +110,6 @@ int main() {
typedef PinholeCamera<Cal3_S2> Camera; typedef PinholeCamera<Cal3_S2> Camera;
typedef Expression<Camera> Camera_; typedef Expression<Camera> Camera_;
BADFactor<Point2> g3(model, z, Point2_(myProject, x, p)); BADFactor<Point2> g3(model, z, Point2_(myProject, x, p));
time(g3, values); time("Binary(Leaf,Leaf) : ", g3, values);
return 0; return 0;
} }