61 lines
1.9 KiB
C++
61 lines
1.9 KiB
C++
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/* ----------------------------------------------------------------------------
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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 timeCholesky.cpp
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* @brief time Cholesky factorization
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* @author Frank Dellaert
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* @date March 4, 2016
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*/
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#include <gtsam/base/cholesky.h>
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#include <time.h>
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#include <iostream>
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#include <iomanip> // std::setprecision
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using namespace std;
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using namespace gtsam;
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//#define TERNARY
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int main() {
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Matrix top = (Matrix(7,7) <<
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4.0375, 3.4584, 3.5735, 2.4815, 2.1471, 2.7400, 2.2063,
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0., 4.7267, 3.8423, 2.3624, 2.8091, 2.9579, 2.5914,
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0., 0., 5.1600, 2.0797, 3.4690, 3.2419, 2.9992,
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0., 0., 0., 1.8786, 1.0535, 1.4250, 1.3347,
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0., 0., 0., 0., 3.0788, 2.6283, 2.3791,
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0., 0., 0., 0., 0., 2.9227, 2.4056,
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0., 0., 0., 0., 0., 0., 2.5776).finished();
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Matrix ABC(100,100);
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ABC.topLeftCorner<7,7>() = top;
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cout << setprecision(3);
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size_t n = 100000;
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for (size_t nFrontal = 1; nFrontal <= 7; nFrontal++) {
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auto timeLog = clock();
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for (size_t i = 0; i < n; i++) {
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Matrix RSL(ABC);
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choleskyPartial(RSL, nFrontal);
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}
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auto timeLog2 = clock();
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auto seconds = (double)(timeLog2 - timeLog) / CLOCKS_PER_SEC;
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cout << "partialCholesky " << nFrontal << ": ";
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auto ms = ((double)seconds * 1000000 / n);
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cout << ms << " ms, " << ms/nFrontal << " ms/dim" << endl;
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}
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return 0;
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}
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