Timing script for PinholeCamera

gtsam/geometry/tests/timePinholeCamera.cpp

@@ -0,0 +1,89 @@
+/* ----------------------------------------------------------------------------
+
+ * 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    timePinholeCamera.cpp
+ * @brief   time PinholeCamera derivatives
+ * @author  Frank Dellaert
+ */
+
+#include <time.h>
+#include <iostream>
+
+#include <gtsam/geometry/PinholeCamera.h>
+#include <gtsam/geometry/Cal3_S2.h>
+
+using namespace std;
+using namespace gtsam;
+
+int main()
+{
+  int n = 100000;
+
+  const Pose3 pose1(Matrix_(3,3,
+      1., 0., 0.,
+      0.,-1., 0.,
+      0., 0.,-1.
+  ),
+  Point3(0,0,0.5));
+
+  static const Cal3_S2 K(625, 625, 0, 0, 0);
+  const PinholeCamera<Cal3_S2> camera(pose1,K);
+  const Point3 point1(-0.08,-0.08, 0.0);
+
+  /**
+   * NOTE: because we only have combined derivative functions now,
+   * parts of this test are no longer useful.
+   */
+
+  // Oct 12 2013, iMac 3.06GHz Core i3
+  // 447577 calls/second
+  // 2.23425 musecs/call
+  {
+    long timeLog = clock();
+    for(int i = 0; i < n; i++)
+      camera.project(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;
+  }
+
+  // Oct 12 2013, iMac 3.06GHz Core i3
+  // 35367.5 calls/second
+  // 28.2746 musecs/call
+  {
+    Matrix Dpose, Dpoint;
+    long timeLog = clock();
+    for(int i = 0; i < n; i++)
+      camera.project(point1, Dpose, Dpoint);
+    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;
+  }
+
+  // Oct 12 2013, iMac 3.06GHz Core i3
+  // 34325.7 calls/second
+  // 29.1327 musecs/call
+  {
+    Matrix Dpose, Dpoint, Dcal;
+    long timeLog = clock();
+    for(int i = 0; i < n; i++)
+      camera.project(point1, Dpose, Dpoint, Dcal);
+    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;
+}