59 lines
1.4 KiB
C++
59 lines
1.4 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* 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 timeLinearOnDataset.cpp
|
|
* @brief
|
|
* @author Richard Roberts
|
|
* @created Oct 7, 2010
|
|
*/
|
|
|
|
#include <gtsam/base/timing.h>
|
|
#include <gtsam/slam/dataset.h>
|
|
#include <gtsam/linear/GaussianFactorGraph.h>
|
|
#include <gtsam/linear/GaussianJunctionTree.h>
|
|
|
|
using namespace std;
|
|
using namespace gtsam;
|
|
using namespace boost;
|
|
|
|
int main(int argc, char *argv[]) {
|
|
|
|
string datasetname;
|
|
if(argc > 1)
|
|
datasetname = argv[1];
|
|
else
|
|
datasetname = "intel";
|
|
|
|
pair<shared_ptr<Pose2Graph>, shared_ptr<Pose2Values> > data = load2D(dataset(datasetname));
|
|
|
|
tic_("Z 1 order");
|
|
Ordering::shared_ptr ordering(data.first->orderingCOLAMD(*data.second));
|
|
toc_("Z 1 order");
|
|
|
|
tic_("Z 2 linearize");
|
|
GaussianFactorGraph::shared_ptr gfg(data.first->linearize(*data.second, *ordering));
|
|
toc_("Z 2 linearize");
|
|
|
|
for(size_t trial = 0; trial < 100; ++trial) {
|
|
|
|
tic_("Z 3 solve");
|
|
GaussianJunctionTree gjt(*gfg);
|
|
VectorValues soln(gjt.optimize());
|
|
toc_("Z 3 solve");
|
|
|
|
tictoc_print_();
|
|
}
|
|
|
|
return 0;
|
|
|
|
}
|