59 lines
1.8 KiB
C++
59 lines
1.8 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file timeLinearize.h
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* @brief time linearize
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* @author Frank Dellaert
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* @date October 10, 2014
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*/
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#pragma once
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/linear/GaussianFactorGraph.h>
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#include <time.h>
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#include <iostream>
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#include <iomanip> // std::setprecision
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using namespace std;
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using namespace gtsam;
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static const int n = 1000000;
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void timeSingleThreaded(const string& str, const NonlinearFactor::shared_ptr& f,
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const Values& values) {
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long timeLog = clock();
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GaussianFactor::shared_ptr gf;
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for (int i = 0; i < n; i++)
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gf = f->linearize(values);
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long timeLog2 = clock();
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double seconds = (double) (timeLog2 - timeLog) / CLOCKS_PER_SEC;
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// cout << ((double) n / seconds) << " calls/second" << endl;
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cout << setprecision(3);
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cout << str << ((double) seconds * 1000000 / n) << " musecs/call" << endl;
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}
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void timeMultiThreaded(const string& str, const NonlinearFactor::shared_ptr& f,
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const Values& values) {
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NonlinearFactorGraph graph;
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for (int i = 0; i < n; i++)
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graph.push_back(f);
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long timeLog = clock();
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GaussianFactorGraph::shared_ptr gfg = graph.linearize(values);
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long timeLog2 = clock();
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double seconds = (double) (timeLog2 - timeLog) / CLOCKS_PER_SEC;
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// cout << ((double) n / seconds) << " calls/second" << endl;
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cout << setprecision(3);
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cout << str << ((double) seconds * 1000000 / n) << " musecs/call" << endl;
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}
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