Fixed timing script
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				|  | @ -65,8 +65,8 @@ class AdaptAutoDiff { | |||
|       // Convert from row-major to columnn-major
 | ||||
|       // TODO: if this is a bottleneck (probably not!) fix Autodiff to be
 | ||||
|       // Column-Major
 | ||||
|       *H1 = Eigen::Map<RowMajor1>(rowMajor1); | ||||
|       *H2 = Eigen::Map<RowMajor2>(rowMajor2); | ||||
|       if (H1) *H1 = Eigen::Map<RowMajor1>(rowMajor1); | ||||
|       if (H2) *H2 = Eigen::Map<RowMajor2>(rowMajor2); | ||||
| 
 | ||||
|     } else { | ||||
|       // Apply the mapping, to get result
 | ||||
|  |  | |||
|  | @ -57,16 +57,19 @@ int main() { | |||
|   f1 = boost::make_shared<GeneralSFMFactor<Camera, Point3> >(z, model, 1, 2); | ||||
|   time("GeneralSFMFactor<Camera>                : ", f1, values); | ||||
| 
 | ||||
|   // AdaptAutoDiff
 | ||||
|   typedef AdaptAutoDiff<SnavelyProjection, Point2, Camera, Point3> AdaptedSnavely; | ||||
|   Point2_ expression(AdaptedSnavely(), camera, point); | ||||
|   f2 = boost::make_shared<ExpressionFactor<Point2> >(model, z, expression); | ||||
|   time("Point2_(AdaptedSnavely(), camera, point): ", f2, values); | ||||
| 
 | ||||
|   // ExpressionFactor
 | ||||
|   Point2_ expression2(camera, &Camera::project2, point); | ||||
|   f3 = boost::make_shared<ExpressionFactor<Point2> >(model, z, expression2); | ||||
|   time("Point2_(camera, &Camera::project, point): ", f3, values); | ||||
| 
 | ||||
|   // AdaptAutoDiff
 | ||||
|   values.clear(); | ||||
|   values.insert(1,Vector9(Vector9::Zero())); | ||||
|   values.insert(2,Vector3(0,0,1)); | ||||
|   typedef AdaptAutoDiff<SnavelyProjection, 2, 9, 3> AdaptedSnavely; | ||||
|   Expression<Vector2> expression(AdaptedSnavely(), Expression<Vector9>(1), Expression<Vector3>(2)); | ||||
|   f2 = boost::make_shared<ExpressionFactor<Vector2> >(model, z.vector(), expression); | ||||
|   time("Point2_(AdaptedSnavely(), camera, point): ", f2, values); | ||||
| 
 | ||||
|   return 0; | ||||
| } | ||||
|  |  | |||
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