59 lines
1.4 KiB
C++
59 lines
1.4 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 timeOneCameraExpression.cpp
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* @brief time CalibratedCamera derivatives
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* @author Frank Dellaert
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* @date October 3, 2014
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*/
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#include <gtsam_unstable/slam/expressions.h>
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#include <gtsam_unstable/nonlinear/ExpressionFactor.h>
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#include "timeLinearize.h"
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using namespace std;
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using namespace gtsam;
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#define time timeSingleThreaded
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int main() {
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// Create leaves
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Pose3_ x(1);
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Point3_ p(2);
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Cal3_S2_ K(3);
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// Some parameters needed
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Point2 z(-17, 30);
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SharedNoiseModel model = noiseModel::Unit::Create(2);
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// Create values
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Values values;
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values.insert(1, Pose3());
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values.insert(2, Point3(0, 0, 1));
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values.insert(3, Cal3_S2());
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// ExpressionFactor
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// Oct 3, 2014, Macbook Air
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// 20.3 musecs/call
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//#define TERNARY
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NonlinearFactor::shared_ptr f = boost::make_shared<ExpressionFactor<Point2> >
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#ifdef TERNARY
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(model, z, project3(x, p, K));
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#else
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(model, z, uncalibrate(K, project(transform_to(x, p))));
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#endif
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time("timing:", f, values);
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return 0;
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}
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