1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
5 * All Rights Reserved
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
8 * See LICENSE for the license information
9
10 * -------------------------------------------------------------------------- */
11
12/**
13 * @file timePinholeCamera.cpp
14 * @brief time PinholeCamera derivatives
15 * @author Frank Dellaert
16 */
17
18#include <time.h>
19#include <iostream>
20
21#include <gtsam/geometry/PinholeCamera.h>
22#include <gtsam/geometry/Cal3Bundler.h>
23
24using namespace std;
25using namespace gtsam;
26
27int main()
28{
29 int n = 1e6;
30
31 const Pose3 pose1(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5));
32
33 static Cal3Bundler K(500, 1e-3, 2.0*1e-3);
34 const PinholeCamera<Cal3Bundler> camera(pose1,K);
35 const Point3 point1(-0.08,-0.08, 0.0);
36
37 /**
38 * NOTE: because we only have combined derivative functions now,
39 * parts of this test are no longer useful.
40 */
41
42 // Oct 12 2013, iMac 3.06GHz Core i3
43 // Original: 0.14737 musecs/call
44 // After collapse: 0.11469 musecs/call
45 // Cal3DS2: 0.14201 musecs/call
46 // After Cal3DS2 fix: 0.12231 musecs/call
47 // Cal3Bundler: 0.12000 musecs/call
48 // Cal3Bundler fix: 0.14637 musecs/call
49 // June 24 2014, Macbook Pro 2.3GHz Core i7
50 // GTSAM 3.1: 0.04295 musecs/call
51 // After project fix: 0.04193 musecs/call
52
53 {
54 long timeLog = clock();
55 for(int i = 0; i < n; i++)
56 camera.project(pw: point1);
57 long timeLog2 = clock();
58 double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
59 cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;
60 }
61
62 // Oct 12 2014, Macbook Air
63 {
64 long timeLog = clock();
65 Point2 measurement(0,0);
66 for(int i = 0; i < n; i++)
67 camera.project(pw: point1)-measurement;
68 long timeLog2 = clock();
69 double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
70 cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;
71 }
72
73 // Oct 12 2013, iMac 3.06GHz Core i3
74 // Original: 3.8720 musecs/call
75 // After collapse: 2.6269 musecs/call
76 // Cal3DS2: 4.3330 musecs/call
77 // After Cal3DS2 fix: 3.2857 musecs/call
78 // Cal3Bundler: 2.6556 musecs/call
79 // Cal3Bundler fix: 2.1613 musecs/call
80 // June 24 2014, Macbook Pro 2.3GHz Core i7
81 // GTSAM 3.1: 0.2322 musecs/call
82 // After project fix: 0.2094 musecs/call
83 {
84 Matrix Dpose, Dpoint;
85 long timeLog = clock();
86 for(int i = 0; i < n; i++)
87 camera.project(pw: point1, Dpose, Dpoint, Dcal: {});
88 long timeLog2 = clock();
89 double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
90 cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;
91 }
92
93 // Oct 12 2013, iMac 3.06GHz Core i3
94 // Original: 4.0119 musecs/call
95 // After collapse: 2.5698 musecs/call
96 // Cal3DS2: 4.8325 musecs/call
97 // After Cal3DS2 fix: 3.4483 musecs/call
98 // Cal3Bundler: 2.5112 musecs/call
99 // Cal3Bundler fix: 2.0946 musecs/call
100 // June 24 2014, Macbook Pro 2.3GHz Core i7
101 // GTSAM 3.1: 0.2294 musecs/call
102 // After project fix: 0.2093 nanosecs/call
103 {
104 Matrix Dpose, Dpoint, Dcal;
105 long timeLog = clock();
106 for(int i = 0; i < n; i++)
107 camera.project(pw: point1, Dpose, Dpoint, Dcal);
108 long timeLog2 = clock();
109 double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
110 cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;
111 }
112
113 return 0;
114}
115