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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 timeOneCameraExpression.cpp
* @brief time CalibratedCamera derivatives
* @author Frank Dellaert
* @date October 3, 2014
*/
#include <gtsam/slam/expressions.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include "timeLinearize.h"
using namespace std;
using namespace gtsam;
#define time timeSingleThreaded
int main() {
// Create leaves
Pose3_ x(1);
Point3_ p(2);
Cal3_S2_ K(3);
// Some parameters needed
Point2 z(-17, 30);
SharedNoiseModel model = noiseModel::Unit::Create(2);
// Create values
Values values;
values.insert(1, Pose3());
values.insert(2, Point3(0, 0, 1));
values.insert(3, Cal3_S2());
// ExpressionFactor
// Oct 3, 2014, Macbook Air
// 20.3 musecs/call
//#define TERNARY
NonlinearFactor::shared_ptr f = boost::make_shared<ExpressionFactor<Point2> >
#ifdef TERNARY
(model, z, project3(x, p, K));
#else
(model, z, uncalibrate(K, project(transformTo(x, p))));
#endif
time("timing:", f, values);
return 0;
}
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