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Now in nanoseconds, and added timing of localCoordinates.

release/4.3a0
dellaert 2014-10-12 18:21:17 +02:00
parent 3c42fbacb9
commit fdf1dfffa8
1 changed files with 16 additions and 10 deletions
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26
timing/timePinholeCamera.cpp
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@ -26,7 +26,7 @@ using namespace gtsam;
int main() int main()
{ {
int n = 1000000; int n = 1e6;
const Pose3 pose1((Matrix)(Matrix(3,3) << const Pose3 pose1((Matrix)(Matrix(3,3) <<
1., 0., 0., 1., 0., 0.,
@ -35,8 +35,6 @@ int main()
), ),
Point3(0,0,0.5)); Point3(0,0,0.5));
// static Cal3_S2 K(500, 100, 0.1, 320, 240);
// static Cal3DS2 K(500, 100, 0.1, 320, 240, 1e-3, 2.0*1e-3, 3.0*1e-3, 4.0*1e-3);
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);
const Point3 point1(-0.08,-0.08, 0.0); const Point3 point1(-0.08,-0.08, 0.0);
@ -63,8 +61,18 @@ int main()
camera.project(point1); camera.project(point1);
long timeLog2 = clock(); long timeLog2 = clock();
double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC; double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
cout << ((double)n/seconds) << " calls/second" << endl; cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;
cout << ((double)seconds*1000000/n) << " musecs/call" << endl; }
// Oct 12 2014, Macbook Air
{
long timeLog = clock();
Point2 measurement(0,0);
for(int i = 0; i < n; i++)
measurement.localCoordinates(camera.project(point1));
long timeLog2 = clock();
double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;
} }
// Oct 12 2013, iMac 3.06GHz Core i3 // Oct 12 2013, iMac 3.06GHz Core i3
@ -84,8 +92,7 @@ int main()
camera.project(point1, Dpose, Dpoint); camera.project(point1, Dpose, Dpoint);
long timeLog2 = clock(); long timeLog2 = clock();
double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC; double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
cout << ((double)n/seconds) << " calls/second" << endl; cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;
cout << ((double)seconds*1000000/n) << " musecs/call" << endl;
} }
// Oct 12 2013, iMac 3.06GHz Core i3 // Oct 12 2013, iMac 3.06GHz Core i3
@ -97,7 +104,7 @@ int main()
// Cal3Bundler fix: 2.0946 musecs/call // Cal3Bundler fix: 2.0946 musecs/call
// June 24 2014, Macbook Pro 2.3GHz Core i7 // June 24 2014, Macbook Pro 2.3GHz Core i7
// GTSAM 3.1: 0.2294 musecs/call // GTSAM 3.1: 0.2294 musecs/call
// After project fix: 0.2093 musecs/call // After project fix: 0.2093 nanosecs/call
{ {
Matrix Dpose, Dpoint, Dcal; Matrix Dpose, Dpoint, Dcal;
long timeLog = clock(); long timeLog = clock();
@ -105,8 +112,7 @@ int main()
camera.project(point1, Dpose, Dpoint, Dcal); camera.project(point1, Dpose, Dpoint, Dcal);
long timeLog2 = clock(); long timeLog2 = clock();
double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC; double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
cout << ((double)n/seconds) << " calls/second" << endl; cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;
cout << ((double)seconds*1000000/n) << " musecs/call" << endl;
} }
return 0; return 0;