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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 timeiSAM2Chain.cpp
* @brief Times each iteration of a long chain in iSAM2, to measure asymptotic performance
* @author Richard Roberts
*/
#include <gtsam/base/timing.h>
#include <gtsam/slam/dataset.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/nonlinear/Marginals.h>
#include <fstream>
#include <boost/archive/binary_oarchive.hpp>
#include <boost/archive/binary_iarchive.hpp>
#include <boost/serialization/export.hpp>
#include <boost/random/mersenne_twister.hpp>
#include <boost/random/uniform_real.hpp>
#include <boost/random/variate_generator.hpp>
using namespace std;
using namespace gtsam;
using namespace gtsam::symbol_shorthand;
typedef Pose2 Pose;
typedef NoiseModelFactorN<Pose> NM1;
typedef NoiseModelFactorN<Pose,Pose> NM2;
noiseModel::Unit::shared_ptr model = noiseModel::Unit::Create(3);
int main(int argc, char *argv[]) {
const size_t steps = 50000;
cout << "Playing forward " << steps << " time steps..." << endl;
ISAM2 isam2;
// Times
vector<double> times(steps);
for(size_t step=0; step < steps; ++step) {
Values newVariables;
NonlinearFactorGraph newFactors;
// Collect measurements and new variables for the current step
gttic_(Create_measurements);
if(step == 0) {
// Add prior
newFactors.addPrior(0, Pose(), noiseModel::Unit::Create(3));
newVariables.insert(0, Pose());
} else {
Vector eta = Vector::Random(3) * 0.1;
Pose2 between = Pose().retract(eta);
// Add between
newFactors.add(BetweenFactor<Pose>(step-1, step, between, model));
newVariables.insert(step, isam2.calculateEstimate<Pose>(step-1) * between);
}
gttoc_(Create_measurements);
// Update iSAM2
gttic_(Update_ISAM2);
isam2.update(newFactors, newVariables);
gttoc_(Update_ISAM2);
tictoc_finishedIteration_();
tictoc_getNode(node, Update_ISAM2);
times[step] = node->time();
if(step % 1000 == 0) {
cout << "Step " << step << endl;
tictoc_print_();
}
}
tictoc_print_();
// Write times
ofstream timesFile("times.txt");
for(double t: times) {
timesFile << t << "\n"; }
return 0;
}
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