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 timeCalibratedCamera.cpp
|
|
* @brief time CalibratedCamera derivatives
|
|
* @author Frank Dellaert
|
|
*/
|
|
|
|
#include <time.h>
|
|
#include <iostream>
|
|
|
|
#include <gtsam/geometry/CalibratedCamera.h>
|
|
|
|
using namespace std;
|
|
using namespace gtsam;
|
|
|
|
int main()
|
|
{
|
|
int n = 100000;
|
|
|
|
const Pose3 pose1(Matrix3((Matrix(3,3) <<
|
|
1., 0., 0.,
|
|
0.,-1., 0.,
|
|
0., 0.,-1.
|
|
).finished()),
|
|
Point3(0,0,0.5));
|
|
|
|
const CalibratedCamera camera(pose1);
|
|
const Point3 point1(-0.08,-0.08, 0.0);
|
|
|
|
// Aug 8, iMac 3.06GHz Core i3
|
|
// 371153 calls/second
|
|
// 2.69431 musecs/call
|
|
// AFTER collapse:
|
|
// 1.10733e+06 calls/second
|
|
// 0.90307 musecs/call
|
|
{
|
|
Matrix computed1, computed2;
|
|
long timeLog = clock();
|
|
for(int i = 0; i < n; i++)
|
|
camera.project(point1, computed1, computed2);
|
|
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;
|
|
}
|
|
|
|
return 0;
|
|
}
|