timeSchurFactors.cpp File Reference

Time various Schur-complement Jacobian factors. More...

#include "DummyFactor.h"
#include <gtsam/base/timing.h>
#include <gtsam/slam/JacobianFactorQ.h>
#include "gtsam/slam/JacobianFactorQR.h"
#include <gtsam/slam/RegularImplicitSchurFactor.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/PinholePose.h>
#include <boost/assign/list_of.hpp>
#include <boost/assign/std/vector.hpp>
#include <fstream>

Include dependency graph for timeSchurFactors.cpp:

Go to the source code of this file.

Macros
#define	HESSIAN
#define	NUM_ITERATIONS   1000
#define	RAW
#define	SLOW
#define	TIME(label, factor, xx, yy)

Functions
int	main (void)
ofstream	os ("timeSchurFactors.csv")
template<typename CAMERA >
void	timeAll (size_t m, size_t N)

Detailed Description

Time various Schur-complement Jacobian factors.

Author

Frank Dellaert

Date

Oct 27, 2013

Definition in file timeSchurFactors.cpp.

Macro Definition Documentation

#define HESSIAN

Definition at line 27 of file timeSchurFactors.cpp.

#define NUM_ITERATIONS   1000

Definition at line 28 of file timeSchurFactors.cpp.

#define RAW

Definition at line 26 of file timeSchurFactors.cpp.

#define SLOW

Definition at line 25 of file timeSchurFactors.cpp.

#define TIME	(		label,
			factor,
			xx,
			yy
	)

Value:

{\
     for (size_t t = 0; t < N; t++) \
     factor.multiplyHessianAdd(alpha, xx, yy);\
     gttic_(label);\
     for (size_t t = 0; t < N; t++) {\
       factor.multiplyHessianAdd(alpha, xx, yy);\
     }\
     gttoc_(label);\
     tictoc_getNode(timer, label)\
     os << timer->secs()/NUM_ITERATIONS << ", ";\
   }

Function Documentation

int main

(

void

)

Definition at line 124 of file timeSchurFactors.cpp.

ofstream os

(

"timeSchurFactors.csv"

)

template<typename CAMERA >

void timeAll	(	size_t	m,
		size_t	N
	)

Definition at line 35 of file timeSchurFactors.cpp.