Added smart timing

release/4.3a0
dellaert 2016-02-26 08:28:16 -08:00
parent 6547f1dbc7
commit 4c8ba55d0e
3 changed files with 62 additions and 4 deletions

View File

@ -67,7 +67,7 @@ int optimize(const SfM_data& db, const NonlinearFactorGraph& graph,
// Set parameters to be similar to ceres
LevenbergMarquardtParams params;
LevenbergMarquardtParams::SetCeresDefaults(&params);
params.setVerbosityLM("SUMMARY");
// params.setVerbosityLM("SUMMARY");
if (gUseSchur) {
// Create Schur-complement ordering
@ -81,8 +81,11 @@ int optimize(const SfM_data& db, const NonlinearFactorGraph& graph,
}
// Optimize
LevenbergMarquardtOptimizer lm(graph, initial, params);
Values result = lm.optimize();
{
gttic_(optimize);
LevenbergMarquardtOptimizer lm(graph, initial, params);
Values result = lm.optimize();
}
tictoc_finishedIteration_();
tictoc_print_();

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@ -35,12 +35,12 @@ int main(int argc, char* argv[]) {
// Build graph using conventional GeneralSFMFactor
NonlinearFactorGraph graph;
for (size_t j = 0; j < db.number_tracks(); j++) {
Point3_ nav_point_(P(j));
BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) {
size_t i = m.first;
Point2 z = m.second;
Pose3_ navTcam_(C(i));
Cal3Bundler_ calibration_(K(i));
Point3_ nav_point_(P(j));
graph.addExpressionFactor(
gNoiseModel, z,
uncalibrate(calibration_,

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@ -0,0 +1,55 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file timeSFMBALsmart.cpp
* @brief time SFM with BAL file, SmartProjectionFactor
* @author Frank Dellaert
* @date Feb 26, 2016
*/
#include "timeSFMBAL.h"
#include <gtsam/slam/SmartProjectionFactor.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Point3.h>
using namespace std;
using namespace gtsam;
typedef PinholeCamera<Cal3Bundler> Camera;
typedef SmartProjectionFactor<Camera> SfmFactor;
int main(int argc, char* argv[]) {
// parse options and read BAL file
SfM_data db = preamble(argc, argv);
// Add smart factors to graph
NonlinearFactorGraph graph;
for (size_t j = 0; j < db.number_tracks(); j++) {
auto smartFactor = boost::make_shared<SfmFactor>(gNoiseModel);
for (const SfM_Measurement& m : db.tracks[j].measurements) {
size_t i = m.first;
Point2 z = m.second;
smartFactor->add(z, C(i));
}
graph.push_back(smartFactor);
}
Values initial;
size_t i = 0;
gUseSchur = false;
for (const SfM_Camera& camera : db.cameras)
initial.insert(C(i++), camera);
return optimize(db, graph, initial);
}