Merged in fix/timing (pull request #166)

Fix timing issue

.cproject

@@ -1309,6 +1309,7 @@
 			</target>
 			<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testSimulated2DOriented.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1348,6 +1349,7 @@
 			</target>
 			<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testSimulated2D.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1355,6 +1357,7 @@
 			</target>
 			<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testSimulated3D.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1458,7 +1461,6 @@
 			</target>
 			<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testErrors.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1769,7 +1771,6 @@
 			</target>
 			<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
-				<buildArguments/>
 				<buildTarget>-G DEB</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1777,7 +1778,6 @@
 			</target>
 			<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
-				<buildArguments/>
 				<buildTarget>-G RPM</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1785,7 +1785,6 @@
 			</target>
 			<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
-				<buildArguments/>
 				<buildTarget>-G TGZ</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1793,7 +1792,6 @@
 			</target>
 			<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
-				<buildArguments/>
 				<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1985,6 +1983,7 @@
 			</target>
 			<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>tests/testGaussianISAM2</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2120,7 +2119,6 @@
 			</target>
 			<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>tests/testBayesTree.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2128,7 +2126,6 @@
 			</target>
 			<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testBinaryBayesNet.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2176,7 +2173,6 @@
 			</target>
 			<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testSymbolicBayesNet.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2184,7 +2180,6 @@
 			</target>
 			<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>tests/testSymbolicFactor.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2192,7 +2187,6 @@
 			</target>
 			<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testSymbolicFactorGraph.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2208,7 +2202,6 @@
 			</target>
 			<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>tests/testBayesTree</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2902,6 +2895,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="timeSchurFactors.run" path="build/timing" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j4</buildArguments>
+				<buildTarget>timeSchurFactors.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
@@ -3344,7 +3345,6 @@
 			</target>
 			<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testGraph.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -3352,7 +3352,6 @@
 			</target>
 			<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testJunctionTree.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -3360,7 +3359,6 @@
 			</target>
 			<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testSymbolicBayesNetB.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>

timing/DummyFactor.h

@@ -13,20 +13,20 @@ namespace gtsam {
 /**
  * DummyFactor
  */
-template<size_t D> //
+template<typename CAMERA> //
-class DummyFactor: public RegularImplicitSchurFactor<D> {
+class DummyFactor: public RegularImplicitSchurFactor<CAMERA> {
 
 public:
 
-  typedef Eigen::Matrix<double, 2, D> Matrix2D;
+  typedef Eigen::Matrix<double, 2, CAMERA::dimension> Matrix2D;
   typedef std::pair<Key, Matrix2D> KeyMatrix2D;
 
   DummyFactor() {
   }
 
   DummyFactor(const std::vector<KeyMatrix2D>& Fblocks, const Matrix& E,
-      const Matrix3& P, const Vector& b) :RegularImplicitSchurFactor<D>(Fblocks,E,P,b)
+      const Matrix3& P, const Vector& b) :
-       {
+      RegularImplicitSchurFactor<CAMERA>(Fblocks, E, P, b) {
   }
 
   virtual ~DummyFactor() {

timing/timeSchurFactors.cpp

@@ -11,6 +11,8 @@
 #include <gtsam/slam/JacobianFactorQ.h>
 #include "gtsam/slam/JacobianFactorQR.h"
 #include <gtsam/slam/RegularImplicitSchurFactor.h>
+#include <gtsam/geometry/Cal3Bundler.h>
+#include <gtsam/geometry/PinholePose.h>
 
 #include <boost/assign/list_of.hpp>
 #include <boost/assign/std/vector.hpp>
@@ -29,17 +31,20 @@ using namespace gtsam;
 ofstream os("timeSchurFactors.csv");
 
 /*************************************************************************************/
-template<size_t D>
+template<typename CAMERA>
 void timeAll(size_t m, size_t N) {
 
   cout << m << endl;
 
   // create F
+  static const int D = CAMERA::dimension;
   typedef Eigen::Matrix<double, 2, D> Matrix2D;
-  typedef pair<Key, Matrix2D> KeyMatrix2D;
+  FastVector<Key> keys;
-  vector < pair<Key, Matrix2D> > Fblocks;
+  vector <Matrix2D> Fblocks;
-  for (size_t i = 0; i < m; i++)
+  for (size_t i = 0; i < m; i++) {
-    Fblocks.push_back(KeyMatrix2D(i, (i + 1) * Matrix::Ones(2, D)));
+    keys.push_back(i);
+    Fblocks.push_back((i + 1) * Matrix::Ones(2, D));
+  }
 
   // create E
   Matrix E(2 * m, 3);
@@ -60,11 +65,11 @@ void timeAll(size_t m, size_t N) {
     xvalues.insert(i, gtsam::repeat(D, 2));
 
   // Implicit
-  RegularImplicitSchurFactor<D> implicitFactor(Fblocks, E, P, b);
+  RegularImplicitSchurFactor<CAMERA> implicitFactor(keys, Fblocks, E, P, b);
   // JacobianFactor with same error
-  JacobianFactorQ<D, 2> jf(Fblocks, E, P, b, model);
+  JacobianFactorQ<D, 2> jf(keys, Fblocks, E, P, b, model);
   // JacobianFactorQR with same error
-  JacobianFactorQR<D, 2> jqr(Fblocks, E, P, b, model);
+  JacobianFactorQR<D, 2> jqr(keys, Fblocks, E, P, b, model);
   // Hessian
   HessianFactor hessianFactor(jqr);
 
@@ -146,7 +151,7 @@ int main(void) {
   //for (size_t m=10;m<=100;m+=10) ms += m;
   // loop over number of images
   BOOST_FOREACH(size_t m,ms)
-    timeAll<6>(m, NUM_ITERATIONS);
+    timeAll<PinholePose<Cal3Bundler> >(m, NUM_ITERATIONS);
 }
 
 //*************************************************************************************