moved timing scripts back to main directory, added timeCalibratedCamera

geometry/Makefile.am

@@ -21,7 +21,7 @@ sources += projectiveGeometry.cpp tensorInterface.cpp
 check_PROGRAMS += tests/testTensors tests/testHomography2 tests/testTrifocal
 
 # Timing tests
-noinst_PROGRAMS = tests/timeRot3
+noinst_PROGRAMS = timeRot3 timeCalibratedCamera
 
 #----------------------------------------------------------------------------------------------------
 # Create a libtool library that is not installed

geometry/timeCalibratedCamera.cpp

@@ -0,0 +1,44 @@
+/**
+ * @file    timeCalibratedCamera.cpp
+ * @brief   time CalibratedCamera derivatives
+ * @author  Frank Dellaert
+ */
+
+#include <time.h>
+#include <iostream>
+
+#include "CalibratedCamera.h"
+
+using namespace std;
+using namespace gtsam;
+
+int main()
+{
+  int n = 100000;
+  Matrix computed;
+
+  const Pose3 pose1(Matrix_(3,3,
+  				      1., 0., 0.,
+  				      0.,-1., 0.,
+  				      0., 0.,-1.
+  				      ),
+  			      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
+  // 0.263943 seconds
+  // 378870 calls/second
+  // 2.63943 musecs/call
+
+  long timeLog = clock();
+  for(int i = 0; i < n; i++)
+  	computed = Dproject_pose(camera, point1);
+  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;
+}