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Small speedup in project (result of Visual SLAM slides :-))

release/4.3a0
dellaert 2014-06-24 23:30:30 -04:00
parent c93c9f1863
commit b698e30acb
2 changed files with 14 additions and 3 deletions
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7
gtsam/geometry/PinholeCamera.h
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@ -275,11 +275,12 @@ public:
if (P.z() <= 0)
throw CheiralityException();
#endif
double d = 1.0 / P.z();
const double u = P.x() * d, v = P.y() * d;
if (Dpoint) {
double d = 1.0 / P.z(), d2 = d * d;
*Dpoint = (Matrix(2, 3) << d, 0.0, -P.x() * d2, 0.0, d, -P.y() * d2);
*Dpoint = (Matrix(2, 3) << d, 0.0, -u * d, 0.0, d, -v * d);
}
return Point2(P.x() / P.z(), P.y() / P.z());
return Point2(u, v);
}
/// Project a point into the image and check depth

10
timing/timePinholeCamera.cpp
View File

@ -53,6 +53,10 @@ int main()
// After Cal3DS2 fix: 0.12231 musecs/call
// Cal3Bundler: 0.12000 musecs/call
// Cal3Bundler fix: 0.14637 musecs/call
// June 24 2014, Macbook Pro 2.3GHz Core i7
// GTSAM 3.1: 0.04295 musecs/call
// After project fix: 0.04193 musecs/call
{
long timeLog = clock();
for(int i = 0; i < n; i++)
@ -70,6 +74,9 @@ int main()
// After Cal3DS2 fix: 3.2857 musecs/call
// Cal3Bundler: 2.6556 musecs/call
// Cal3Bundler fix: 2.1613 musecs/call
// June 24 2014, Macbook Pro 2.3GHz Core i7
// GTSAM 3.1: 0.2322 musecs/call
// After project fix: 0.2094 musecs/call
{
Matrix Dpose, Dpoint;
long timeLog = clock();
@ -88,6 +95,9 @@ int main()
// After Cal3DS2 fix: 3.4483 musecs/call
// Cal3Bundler: 2.5112 musecs/call
// Cal3Bundler fix: 2.0946 musecs/call
// June 24 2014, Macbook Pro 2.3GHz Core i7
// GTSAM 3.1: 0.2294 musecs/call
// After project fix: 0.2093 musecs/call
{
Matrix Dpose, Dpoint, Dcal;
long timeLog = clock();