83 lines
2.3 KiB
C++
83 lines
2.3 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 timeSFMExpressions.cpp
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* @brief time CalibratedCamera derivatives, realistic scenario
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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/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/linear/GaussianFactorGraph.h>
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#include <time.h>
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#include <iostream>
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#include <iomanip> // std::setprecision
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using namespace std;
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using namespace gtsam;
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//#define TERNARY
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int main() {
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// number of cameras, and points
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static const size_t M=100, N = 10000, n = M*N;
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// Create leaves
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Cal3_S2_ K('K', 0);
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std::vector<Expression<Pose3> > x = createUnknowns<Pose3>(M, 'x');
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std::vector<Expression<Point3> > p = createUnknowns<Point3>(N, 'p');
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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(Symbol('K', 0), Cal3_S2());
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for (size_t i = 0; i < M; i++)
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values.insert(Symbol('x', i), Pose3());
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for (size_t j = 0; j < N; j++)
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values.insert(Symbol('p', j), Point3(0, 0, 1));
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long timeLog = clock();
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NonlinearFactorGraph graph;
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for (size_t i = 0; i < M; i++) {
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for (size_t j = 0; j < N; j++) {
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NonlinearFactor::shared_ptr f = std::make_shared<
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ExpressionFactor<Point2> >
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#ifdef TERNARY
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(model, z, project3(x[i], p[j], K));
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#else
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(model, z, uncalibrate(K, project(transformTo(x[i], p[j]))));
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#endif
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graph.push_back(f);
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}
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}
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long timeLog2 = clock();
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cout << setprecision(3);
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double seconds = (double) (timeLog2 - timeLog) / CLOCKS_PER_SEC;
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cout << seconds << " seconds to build" << endl;
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timeLog = clock();
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GaussianFactorGraph::shared_ptr gfg = graph.linearize(values);
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timeLog2 = clock();
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seconds = (double) (timeLog2 - timeLog) / CLOCKS_PER_SEC;
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cout << seconds << " seconds to linearize" << endl;
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cout << ((double) seconds * 1000000 / n) << " musecs/call" << endl;
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return 0;
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}
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