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Fixed timing script

release/4.3a0
Frank Dellaert 2015-07-04 19:32:23 -07:00
parent 0fd1ff7b26
commit b5a366e8f1
2 changed files with 11 additions and 8 deletions
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4
gtsam/nonlinear/AdaptAutoDiff.h
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@ -65,8 +65,8 @@ class AdaptAutoDiff {
// Convert from row-major to columnn-major // Convert from row-major to columnn-major
// TODO: if this is a bottleneck (probably not!) fix Autodiff to be // TODO: if this is a bottleneck (probably not!) fix Autodiff to be
// Column-Major // Column-Major
*H1 = Eigen::Map<RowMajor1>(rowMajor1); if (H1) *H1 = Eigen::Map<RowMajor1>(rowMajor1);
*H2 = Eigen::Map<RowMajor2>(rowMajor2); if (H2) *H2 = Eigen::Map<RowMajor2>(rowMajor2);
} else { } else {
// Apply the mapping, to get result // Apply the mapping, to get result

15
timing/timeAdaptAutoDiff.cpp
View File

@ -57,16 +57,19 @@ int main() {
f1 = boost::make_shared<GeneralSFMFactor<Camera, Point3> >(z, model, 1, 2); f1 = boost::make_shared<GeneralSFMFactor<Camera, Point3> >(z, model, 1, 2);
time("GeneralSFMFactor<Camera> : ", f1, values); 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 // ExpressionFactor
Point2_ expression2(camera, &Camera::project2, point); Point2_ expression2(camera, &Camera::project2, point);
f3 = boost::make_shared<ExpressionFactor<Point2> >(model, z, expression2); f3 = boost::make_shared<ExpressionFactor<Point2> >(model, z, expression2);
time("Point2_(camera, &Camera::project, point): ", f3, values); 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; return 0;
} }