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/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file timeCalibratedCamera.cpp
* @brief time CalibratedCamera derivatives
* @author Frank Dellaert
*/
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/CalibratedCamera.h>
#include <ctime>
#include <iostream>
using namespace std;
using namespace gtsam;
int main()
{
int n = 100000;
const Pose3 pose1(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5));
const CalibratedCamera camera(pose1);
const Point3 point1(-0.08,-0.08, 0.0);
// Aug 8, iMac 3.06GHz Core i3
// 371153 calls/second
// 2.69431 musecs/call
// AFTER collapse:
// 1.10733e+06 calls/second
// 0.90307 musecs/call
{
Matrix computed1, computed2;
long timeLog = clock();
for(int i = 0; i < n; i++)
camera.project(point1, computed1, computed2);
long timeLog2 = clock();
double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
cout << ((double)n/seconds) << " calls/second" << endl;
cout << ((double)seconds*1000000/n) << " musecs/call" << endl;
}
return 0;
}
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