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timing, is pretty bleak for Expressions

release/4.3a0
dellaert 2014-10-03 14:19:23 +02:00
parent a5b92f0342
commit c20b588fe0
2 changed files with 103 additions and 0 deletions
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8
.cproject
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@ -902,6 +902,14 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="timeCameraExpression.run" path="build/gtsam_unstable/timing" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>timeCameraExpression.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testCombinedImuFactor.run" path="build/gtsam/navigation/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>

95
gtsam_unstable/timing/timeCameraExpression.cpp Normal file
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@ -0,0 +1,95 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file timeCameraExpression.cpp
* @brief time CalibratedCamera derivatives
* @author Frank Dellaert
* @date October 3, 2014
*/
#include <gtsam_unstable/slam/expressions.h>
#include <gtsam_unstable/nonlinear/BADFactor.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/slam/GeneralSFMFactor.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <time.h>
#include <iostream>
using namespace std;
using namespace gtsam;
static const int n = 100000;
void time(const NonlinearFactor& f, const Values& values) {
long timeLog = clock();
GaussianFactor::shared_ptr gf;
for (int i = 0; i < n; i++)
gf = f.linearize(values);
long timeLog2 = clock();
double seconds = (double) (timeLog2 - timeLog) / CLOCKS_PER_SEC;
// cout << ((double) n / seconds) << " calls/second" << endl;
cout << ((double) seconds * 1000000 / n) << " musecs/call" << endl;
}
int main() {
// Create leaves
Pose3_ x(1);
Point3_ p(2);
Cal3_S2_ K(3);
// Some parameters needed
Point2 z(-17, 30);
SharedNoiseModel model = noiseModel::Unit::Create(2);
// Create values
Values values;
values.insert(1, Pose3());
values.insert(2, Point3(0, 0, 1));
values.insert(3, Cal3_S2());
// UNCALIBRATED
// Dedicated factor
// Oct 3, 2014, Macbook Air
// 4.44887 musecs/call
GeneralSFMFactor2<Cal3_S2> oldFactor2(z, model, 1, 2, 3);
time(oldFactor2, values);
// BADFactor
// Oct 3, 2014, Macbook Air
// 20.7554 musecs/call
BADFactor<Point2> newFactor2(model, z,
uncalibrate(K, project(transform_to(x, p))));
time(newFactor2, values);
// CALIBRATED
boost::shared_ptr<Cal3_S2> fixedK(new Cal3_S2());
// Dedicated factor
// Oct 3, 2014, Macbook Air
// 3.69707 musecs/call
GenericProjectionFactor<Pose3, Point3> oldFactor1(z, model, 1, 2, fixedK);
time(oldFactor1, values);
// BADFactor
// Oct 3, 2014, Macbook Air
// 17.092 musecs/call
BADFactor<Point2> newFactor1(model, z,
uncalibrate(Cal3_S2_(*fixedK), project(transform_to(x, p))));
time(newFactor1, values);
return 0;
}