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 timeOneCameraExpression.cpp
|
||
|
|
* @brief time CalibratedCamera derivatives
|
||
|
|
* @author Frank Dellaert
|
||
|
|
* @date October 3, 2014
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include <gtsam/slam/expressions.h>
|
||
|
|
#include <gtsam/nonlinear/ExpressionFactor.h>
|
||
|
|
#include "timeLinearize.h"
|
||
|
|
|
||
|
|
using namespace std;
|
||
|
|
using namespace gtsam;
|
||
|
|
|
||
|
|
#define time timeSingleThreaded
|
||
|
|
|
||
|
|
int main() {
|
||
|
|
|
||
|
|
// Create leaves
|
||
|
|
Pose3_ x(1);
|
||
|
|
Point3_ p(2);
|
||
|
|
Cal3_S2_ K(3);
|
||
|
|
|
||
|
|
// Some parameters needed
|
||
|
|
Point2 z(-17, 30);
|
||
|
|
SharedNoiseModel model = noiseModel::Unit::Create(2);
|
||
|
|
|
||
|
|
// Create values
|
||
|
|
Values values;
|
||
|
|
values.insert(1, Pose3());
|
||
|
|
values.insert(2, Point3(0, 0, 1));
|
||
|
|
values.insert(3, Cal3_S2());
|
||
|
|
|
||
|
|
// ExpressionFactor
|
||
|
|
// Oct 3, 2014, Macbook Air
|
||
|
|
// 20.3 musecs/call
|
||
|
|
//#define TERNARY
|
||
|
|
NonlinearFactor::shared_ptr f = boost::make_shared<ExpressionFactor<Point2> >
|
||
|
|
#ifdef TERNARY
|
||
|
|
(model, z, project3(x, p, K));
|
||
|
|
#else
|
||
|
|
(model, z, uncalibrate(K, project(transform_to(x, p))));
|
||
|
|
#endif
|
||
|
|
time("timing:", f, values);
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|