115 lines
3.5 KiB
C++
115 lines
3.5 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 timePinholeCamera.cpp
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* @brief time PinholeCamera derivatives
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* @author Frank Dellaert
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*/
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#include <time.h>
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#include <iostream>
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/geometry/Cal3Bundler.h>
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using namespace std;
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using namespace gtsam;
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int main()
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{
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int n = 1e6;
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const Pose3 pose1(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5));
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static Cal3Bundler K(500, 1e-3, 2.0*1e-3);
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const PinholeCamera<Cal3Bundler> camera(pose1,K);
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const Point3 point1(-0.08,-0.08, 0.0);
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/**
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* NOTE: because we only have combined derivative functions now,
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* parts of this test are no longer useful.
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*/
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// Oct 12 2013, iMac 3.06GHz Core i3
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// Original: 0.14737 musecs/call
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// After collapse: 0.11469 musecs/call
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// Cal3DS2: 0.14201 musecs/call
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// After Cal3DS2 fix: 0.12231 musecs/call
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// Cal3Bundler: 0.12000 musecs/call
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// Cal3Bundler fix: 0.14637 musecs/call
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// June 24 2014, Macbook Pro 2.3GHz Core i7
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// GTSAM 3.1: 0.04295 musecs/call
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// After project fix: 0.04193 musecs/call
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{
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long timeLog = clock();
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for(int i = 0; i < n; i++)
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camera.project(point1);
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long timeLog2 = clock();
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double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
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cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;
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}
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// Oct 12 2014, Macbook Air
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{
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long timeLog = clock();
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Point2 measurement(0,0);
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for(int i = 0; i < n; i++)
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camera.project(point1)-measurement;
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long timeLog2 = clock();
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double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
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cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;
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}
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// Oct 12 2013, iMac 3.06GHz Core i3
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// Original: 3.8720 musecs/call
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// After collapse: 2.6269 musecs/call
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// Cal3DS2: 4.3330 musecs/call
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// After Cal3DS2 fix: 3.2857 musecs/call
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// Cal3Bundler: 2.6556 musecs/call
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// Cal3Bundler fix: 2.1613 musecs/call
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// June 24 2014, Macbook Pro 2.3GHz Core i7
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// GTSAM 3.1: 0.2322 musecs/call
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// After project fix: 0.2094 musecs/call
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{
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Matrix Dpose, Dpoint;
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long timeLog = clock();
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for(int i = 0; i < n; i++)
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camera.project(point1, Dpose, Dpoint, {});
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long timeLog2 = clock();
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double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
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cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;
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}
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// Oct 12 2013, iMac 3.06GHz Core i3
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// Original: 4.0119 musecs/call
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// After collapse: 2.5698 musecs/call
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// Cal3DS2: 4.8325 musecs/call
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// After Cal3DS2 fix: 3.4483 musecs/call
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// Cal3Bundler: 2.5112 musecs/call
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// Cal3Bundler fix: 2.0946 musecs/call
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// June 24 2014, Macbook Pro 2.3GHz Core i7
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// GTSAM 3.1: 0.2294 musecs/call
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// After project fix: 0.2093 nanosecs/call
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{
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Matrix Dpose, Dpoint, Dcal;
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long timeLog = clock();
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for(int i = 0; i < n; i++)
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camera.project(point1, Dpose, Dpoint, Dcal);
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long timeLog2 = clock();
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double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
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cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;
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}
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return 0;
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}
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