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 <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

◆ HESSIAN

#define HESSIAN

Definition at line 24 of file timeSchurFactors.cpp.

◆ NUM_ITERATIONS

#define NUM_ITERATIONS 1000

Definition at line 25 of file timeSchurFactors.cpp.

◆ RAW

#define RAW

Definition at line 23 of file timeSchurFactors.cpp.

◆ SLOW

#define SLOW

Definition at line 22 of file timeSchurFactors.cpp.

◆ TIME

#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

◆ main()

int main ( void )

Definition at line 121 of file timeSchurFactors.cpp.

◆ os()

ofstream os ( "timeSchurFactors.csv" )

◆ timeAll()

template<typename CAMERA >

void timeAll	(	size_t	m,
		size_t	N
	)

Definition at line 32 of file timeSchurFactors.cpp.

Macros

Functions