timing
timeCalibratedCamera.cpp
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/* ----------------------------------------------------------------------------
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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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#include <
gtsam/geometry/Point2.h
>
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#include <
gtsam/geometry/CalibratedCamera.h
>
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#include <ctime>
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#include <iostream>
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using namespace
std
;
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using namespace
gtsam
;
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int
main
()
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{
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int
n
= 100000;
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const
Pose3
pose1
(
Rot3
(
Vector3
(1, -1, -1).asDiagonal()),
Point3
(0, 0, 0.5));
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const
CalibratedCamera
camera
(
pose1
);
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const
Point3
point1
(-0.08,-0.08, 0.0);
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// Aug 8, iMac 3.06GHz Core i3
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// 371153 calls/second
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// 2.69431 musecs/call
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// AFTER collapse:
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// 1.10733e+06 calls/second
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// 0.90307 musecs/call
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{
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Matrix
computed1, computed2;
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long
timeLog = clock();
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for
(
int
i
= 0;
i
<
n
;
i
++)
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camera
.
project
(
point1
, computed1, computed2);
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long
timeLog2 = clock();
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double
seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
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cout << ((double)
n
/seconds) <<
" calls/second"
<< endl;
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cout << ((double)seconds*1000000/
n
) <<
" musecs/call"
<< endl;
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}
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return
0;
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}
gtsam::Matrix
Eigen::MatrixXd Matrix
Definition:
base/Matrix.h:39
gtsam::Vector3
Eigen::Vector3d Vector3
Definition:
Vector.h:43
CalibratedCamera.h
Calibrated camera for which only pose is unknown.
Point2.h
2D Point
n
int n
Definition:
BiCGSTAB_simple.cpp:1
gtsam::Rot3
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Definition:
Rot3.h:58
gtsam::Pose3
Definition:
Pose3.h:37
gtsam::CalibratedCamera
Definition:
CalibratedCamera.h:251
gtsam
traits
Definition:
SFMdata.h:40
pose1
static const Pose3 pose1(Rot3(), Point3(0, 1, 0.5))
std
Definition:
BFloat16.h:88
main
int main()
Definition:
timeCalibratedCamera.cpp:26
gtsam::Point3
Vector3 Point3
Definition:
Point3.h:38
point1
const Point3 point1(3.0, 4.0, 2.0)
camera
static const CalibratedCamera camera(kDefaultPose)
i
int i
Definition:
BiCGSTAB_step_by_step.cpp:9
gtsam::CalibratedCamera::project
Point2 project(const Point3 &point, OptionalJacobian< 2, 6 > Dcamera={}, OptionalJacobian< 2, 3 > Dpoint={}) const
Definition:
CalibratedCamera.cpp:188
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:42:06