diff --git a/.cproject b/.cproject
index 80dbe0a0b..79ad1df26 100644
--- a/.cproject
+++ b/.cproject
@@ -600,7 +600,6 @@
make
-
tests/testBayesTree.run
true
false
@@ -608,7 +607,6 @@
make
-
testBinaryBayesNet.run
true
false
@@ -656,7 +654,6 @@
make
-
testSymbolicBayesNet.run
true
false
@@ -664,7 +661,6 @@
make
-
tests/testSymbolicFactor.run
true
false
@@ -672,7 +668,6 @@
make
-
testSymbolicFactorGraph.run
true
false
@@ -688,7 +683,6 @@
make
-
tests/testBayesTree
true
false
@@ -910,6 +904,14 @@
true
true
+
+ make
+ -j5
+ timeOneCameraExpression.run
+ true
+ true
+ true
+
make
-j5
@@ -1032,7 +1034,6 @@
make
-
testErrors.run
true
false
@@ -1262,46 +1263,6 @@
true
true
-
- make
- -j5
- testBTree.run
- true
- true
- true
-
-
- make
- -j5
- testDSF.run
- true
- true
- true
-
-
- make
- -j5
- testDSFMap.run
- true
- true
- true
-
-
- make
- -j5
- testDSFVector.run
- true
- true
- true
-
-
- make
- -j5
- testFixedVector.run
- true
- true
- true
-
make
-j2
@@ -1384,6 +1345,7 @@
make
+
testSimulated2DOriented.run
true
false
@@ -1423,6 +1385,7 @@
make
+
testSimulated2D.run
true
false
@@ -1430,6 +1393,7 @@
make
+
testSimulated3D.run
true
false
@@ -1443,6 +1407,46 @@
true
true
+
+ make
+ -j5
+ testBTree.run
+ true
+ true
+ true
+
+
+ make
+ -j5
+ testDSF.run
+ true
+ true
+ true
+
+
+ make
+ -j5
+ testDSFMap.run
+ true
+ true
+ true
+
+
+ make
+ -j5
+ testDSFVector.run
+ true
+ true
+ true
+
+
+ make
+ -j5
+ testFixedVector.run
+ true
+ true
+ true
+
make
-j5
@@ -1700,7 +1704,6 @@
cpack
-
-G DEB
true
false
@@ -1708,7 +1711,6 @@
cpack
-
-G RPM
true
false
@@ -1716,7 +1718,6 @@
cpack
-
-G TGZ
true
false
@@ -1724,7 +1725,6 @@
cpack
-
--config CPackSourceConfig.cmake
true
false
@@ -2451,7 +2451,6 @@
make
-
testGraph.run
true
false
@@ -2459,7 +2458,6 @@
make
-
testJunctionTree.run
true
false
@@ -2467,7 +2465,6 @@
make
-
testSymbolicBayesNetB.run
true
false
@@ -2955,6 +2952,7 @@
make
+
tests/testGaussianISAM2
true
false
diff --git a/gtsam_unstable/timing/timeOneCameraExpression.cpp b/gtsam_unstable/timing/timeOneCameraExpression.cpp
new file mode 100644
index 000000000..a76200812
--- /dev/null
+++ b/gtsam_unstable/timing/timeOneCameraExpression.cpp
@@ -0,0 +1,66 @@
+/* ----------------------------------------------------------------------------
+
+ * 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 timeOneCameraExpression.cpp
+ * @brief time CalibratedCamera derivatives
+ * @author Frank Dellaert
+ * @date October 3, 2014
+ */
+
+#include
+#include
+
+#include
+#include
+#include // std::setprecision
+using namespace std;
+using namespace gtsam;
+
+static const int n = 500000;
+
+void time(const NonlinearFactor& f, const Values& values) {
+ long timeLog = clock();
+ GaussianFactor::shared_ptr gf;
+ for (int i = 0; i < n; i++)
+ gf = f.linearize(values);
+ long timeLog2 = clock();
+ double seconds = (double) (timeLog2 - timeLog) / CLOCKS_PER_SEC;
+ cout << setprecision(3);
+ cout << ((double) seconds * 1000000 / n) << " musecs/call" << endl;
+}
+
+int main() {
+
+ // Create leaves
+ Pose3_ x(1);
+ Point3_ p(2);
+ Cal3_S2_ K(3);
+
+ // Some parameters needed
+ Point2 z(-17, 30);
+ SharedNoiseModel model = noiseModel::Unit::Create(2);
+
+ // Create values
+ Values values;
+ values.insert(1, Pose3());
+ values.insert(2, Point3(0, 0, 1));
+ values.insert(3, Cal3_S2());
+
+ // BADFactor
+ // Oct 3, 2014, Macbook Air
+ // 20.3 musecs/call
+ BADFactor newFactor2(model, z,
+ uncalibrate(K, project(transform_to(x, p))));
+ time(newFactor2, values);
+
+ return 0;
+}