96 lines
2.4 KiB
C++
96 lines
2.4 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 timeCalibratedCamera.cpp
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* @brief time CalibratedCamera derivatives
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* @author Frank Dellaert
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*/
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#include <time.h>
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#include <iostream>
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#include <gtsam/geometry/CalibratedCamera.h>
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using namespace std;
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using namespace gtsam;
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int main()
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{
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int n = 100000;
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const Pose3 pose1(Matrix_(3,3,
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1., 0., 0.,
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0.,-1., 0.,
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0., 0.,-1.
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),
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Point3(0,0,0.5));
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const CalibratedCamera camera(pose1);
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const Point3 point1(-0.08,-0.08, 0.0);
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/**
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* NOTE: because we only have combined derivative functions now,
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* parts of this test are no longer useful.
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*/
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// Aug 8, iMac 3.06GHz Core i3
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// 378870 calls/second
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// 2.63943 musecs/call
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// AFTER collapse:
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// 1.57399e+06 calls/second
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// 0.63533 musecs/call
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// {
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// Matrix computed;
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// long timeLog = clock();
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// for(int i = 0; i < n; i++)
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// computed = Dproject_pose(camera, point1);
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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 << ((double)seconds*1000000/n) << " musecs/call" << endl;
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// }
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// Aug 8, iMac 3.06GHz Core i3
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// AFTER collapse:
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// 1.55383e+06 calls/second
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// 0.64357 musecs/call
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// {
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// Matrix computed;
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// long timeLog = clock();
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// for(int i = 0; i < n; i++)
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// computed = Dproject_point(camera, point1);
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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 << ((double)seconds*1000000/n) << " musecs/call" << endl;
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// }
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// Aug 8, iMac 3.06GHz Core i3
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// 371153 calls/second
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// 2.69431 musecs/call
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// AFTER collapse:
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// 1.10733e+06 calls/second
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// 0.90307 musecs/call
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{
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Matrix computed1, computed2;
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long timeLog = clock();
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for(int i = 0; i < n; i++)
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camera.project(point1, computed1, computed2);
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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 << ((double)seconds*1000000/n) << " musecs/call" << endl;
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}
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return 0;
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}
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