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Fix some more timing scripts

release/4.3a0
Frank 2016-02-09 17:27:50 -08:00
parent 738cc66a8e
commit ae58516e23
3 changed files with 6 additions and 21 deletions
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9
timing/timeCalibratedCamera.cpp
View File

@ -1,6 +1,6 @@
/* ---------------------------------------------------------------------------- /* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation, * GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415 * Atlanta, Georgia 30332-0415
* All Rights Reserved * All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list) * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -27,12 +27,7 @@ int main()
{ {
int n = 100000; int n = 100000;
const Pose3 pose1(Matrix3((Matrix(3,3) << const Pose3 pose1(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5));
1., 0., 0.,
0.,-1., 0.,
0., 0.,-1.
).finished()),
Point3(0,0,0.5));
const CalibratedCamera camera(pose1); const CalibratedCamera camera(pose1);
const Point3 point1(-0.08,-0.08, 0.0); const Point3 point1(-0.08,-0.08, 0.0);

9
timing/timePinholeCamera.cpp
View File

@ -1,6 +1,6 @@
/* ---------------------------------------------------------------------------- /* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation, * GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415 * Atlanta, Georgia 30332-0415
* All Rights Reserved * All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list) * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -28,12 +28,7 @@ int main()
{ {
int n = 1e6; int n = 1e6;
const Pose3 pose1((Matrix)(Matrix(3,3) << const Pose3 pose1(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5));
1., 0., 0.,
0.,-1., 0.,
0., 0.,-1.
).finished(),
Point3(0,0,0.5));
static Cal3Bundler K(500, 1e-3, 2.0*1e-3); static Cal3Bundler K(500, 1e-3, 2.0*1e-3);
const PinholeCamera<Cal3Bundler> camera(pose1,K); const PinholeCamera<Cal3Bundler> camera(pose1,K);

9
timing/timeStereoCamera.cpp
View File

@ -1,6 +1,6 @@
/* ---------------------------------------------------------------------------- /* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation, * GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415 * Atlanta, Georgia 30332-0415
* All Rights Reserved * All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list) * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -27,12 +27,7 @@ int main()
{ {
int n = 100000; int n = 100000;
const Pose3 pose1((Matrix)(Matrix(3,3) << const Pose3 pose1(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5));
1., 0., 0.,
0.,-1., 0.,
0., 0.,-1.
).finished(),
Point3(0,0,0.5));
const Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5)); const Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5));
const StereoCamera camera(pose1, K); const StereoCamera camera(pose1, K);