57 lines
1.7 KiB
C++
57 lines
1.7 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>
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static const int n = 1000000;
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void timeSingleThreaded(const std::string& str,
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const gtsam::NonlinearFactor::shared_ptr& f, const gtsam::Values& values) {
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long timeLog = clock();
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gtsam::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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std::cout << std::setprecision(3);
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std::cout << str << ((double) seconds * 1000000 / n) << " musecs/call"
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<< std::endl;
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}
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void timeMultiThreaded(const std::string& str,
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const gtsam::NonlinearFactor::shared_ptr& f, const gtsam::Values& values) {
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gtsam::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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gtsam::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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std::cout << std::setprecision(3);
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std::cout << str << ((double) seconds * 1000000 / n) << " musecs/call"
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<< std::endl;
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}
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