100 lines
2.6 KiB
C++
100 lines
2.6 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 timeiSAM2Chain.cpp
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* @brief Times each iteration of a long chain in iSAM2, to measure asymptotic performance
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* @author Richard Roberts
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*/
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#include <gtsam/base/timing.h>
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#include <gtsam/slam/dataset.h>
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#include <gtsam/geometry/Pose2.h>
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#include <gtsam/slam/BetweenFactor.h>
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#include <gtsam/inference/Symbol.h>
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#include <gtsam/nonlinear/ISAM2.h>
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#include <gtsam/nonlinear/Marginals.h>
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#include <fstream>
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#include <boost/archive/binary_oarchive.hpp>
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#include <boost/archive/binary_iarchive.hpp>
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#include <boost/serialization/export.hpp>
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#include <boost/random/mersenne_twister.hpp>
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#include <boost/random/uniform_real.hpp>
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#include <boost/random/variate_generator.hpp>
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using namespace std;
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using namespace gtsam;
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using namespace gtsam::symbol_shorthand;
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typedef Pose2 Pose;
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typedef NoiseModelFactorN<Pose> NM1;
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typedef NoiseModelFactorN<Pose,Pose> NM2;
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noiseModel::Unit::shared_ptr model = noiseModel::Unit::Create(3);
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int main(int argc, char *argv[]) {
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const size_t steps = 50000;
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cout << "Playing forward " << steps << " time steps..." << endl;
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ISAM2 isam2;
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// Times
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vector<double> times(steps);
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for(size_t step=0; step < steps; ++step) {
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Values newVariables;
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NonlinearFactorGraph newFactors;
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// Collect measurements and new variables for the current step
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gttic_(Create_measurements);
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if(step == 0) {
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// Add prior
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newFactors.addPrior(0, Pose(), noiseModel::Unit::Create(3));
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newVariables.insert(0, Pose());
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} else {
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Vector eta = Vector::Random(3) * 0.1;
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Pose2 between = Pose().retract(eta);
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// Add between
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newFactors.add(BetweenFactor<Pose>(step-1, step, between, model));
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newVariables.insert(step, isam2.calculateEstimate<Pose>(step-1) * between);
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}
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gttoc_(Create_measurements);
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// Update iSAM2
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gttic_(Update_ISAM2);
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isam2.update(newFactors, newVariables);
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gttoc_(Update_ISAM2);
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tictoc_finishedIteration_();
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tictoc_getNode(node, Update_ISAM2);
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times[step] = node->time();
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if(step % 1000 == 0) {
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cout << "Step " << step << endl;
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tictoc_print_();
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}
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}
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tictoc_print_();
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// Write times
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ofstream timesFile("times.txt");
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for(double t: times) {
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timesFile << t << "\n"; }
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return 0;
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}
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