108 lines
3.0 KiB
C++
108 lines
3.0 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 timeCameraExpression.cpp
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* @brief time CalibratedCamera derivatives
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* @author Frank Dellaert
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* @date October 3, 2014
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*/
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#include <gtsam/slam/expressions.h>
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#include <gtsam/nonlinear/ExpressionFactor.h>
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#include <gtsam/slam/ProjectionFactor.h>
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#include <gtsam/slam/GeneralSFMFactor.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Cal3_S2.h>
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#include "timeLinearize.h"
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using namespace std;
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using namespace gtsam;
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#define time timeSingleThreaded
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std::shared_ptr<Cal3_S2> fixedK(new Cal3_S2());
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Point2 myProject(const Pose3& pose, const Point3& point,
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OptionalJacobian<2,6> H1, OptionalJacobian<2,3> H2) {
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PinholeCamera<Cal3_S2> camera(pose, *fixedK);
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return camera.project(point, H1, H2, {});
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}
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int main() {
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// Create leaves
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Pose3_ x(1);
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Point3_ p(2);
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Cal3_S2_ K(3);
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// Some parameters needed
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Point2 z(-17, 30);
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SharedNoiseModel model = noiseModel::Unit::Create(2);
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// Create values
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Values values;
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values.insert(1, Pose3());
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values.insert(2, Point3(0, 0, 1));
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values.insert(3, Cal3_S2());
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// UNCALIBRATED
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// Dedicated factor
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// Oct 3, 2014, Macbook Air
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// 4.2 musecs/call
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NonlinearFactor::shared_ptr f1 =
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std::make_shared<GeneralSFMFactor2<Cal3_S2> >(z, model, 1, 2, 3);
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time("GeneralSFMFactor2<Cal3_S2> : ", f1, values);
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// ExpressionFactor
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// Oct 3, 2014, Macbook Air
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// 20.3 musecs/call
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NonlinearFactor::shared_ptr f2 =
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std::make_shared<ExpressionFactor<Point2> >(model, z,
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uncalibrate(K, project(transformTo(x, p))));
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time("Bin(Leaf,Un(Bin(Leaf,Leaf))): ", f2, values);
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// ExpressionFactor ternary
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// Oct 3, 2014, Macbook Air
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// 20.3 musecs/call
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NonlinearFactor::shared_ptr f3 =
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std::make_shared<ExpressionFactor<Point2> >(model, z,
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project3(x, p, K));
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time("Ternary(Leaf,Leaf,Leaf) : ", f3, values);
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// CALIBRATED
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// Dedicated factor
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// Oct 3, 2014, Macbook Air
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// 3.4 musecs/call
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NonlinearFactor::shared_ptr g1 = std::make_shared<
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GenericProjectionFactor<Pose3, Point3> >(z, model, 1, 2, fixedK);
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time("GenericProjectionFactor<P,P>: ", g1, values);
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// ExpressionFactor
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// Oct 3, 2014, Macbook Air
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// 16.0 musecs/call
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NonlinearFactor::shared_ptr g2 =
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std::make_shared<ExpressionFactor<Point2> >(model, z,
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uncalibrate(Cal3_S2_(*fixedK), project(transformTo(x, p))));
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time("Bin(Cnst,Un(Bin(Leaf,Leaf))): ", g2, values);
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// ExpressionFactor, optimized
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// Oct 3, 2014, Macbook Air
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// 9.0 musecs/call
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NonlinearFactor::shared_ptr g3 =
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std::make_shared<ExpressionFactor<Point2> >(model, z,
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Point2_(myProject, x, p));
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time("Binary(Leaf,Leaf) : ", g3, values);
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return 0;
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}
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