text: /* ----------------------------------------------------------------------------
  
   * 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    timePinholeCamera.cpp
   * @brief   time PinholeCamera derivatives
   * @author  Frank Dellaert
   */
  
  #include <time.h>
  #include <iostream>
  
  #include <gtsam/geometry/PinholeCamera.h>
  #include <gtsam/geometry/Cal3Bundler.h>
  
  using namespace std;
  using namespace gtsam;
  
  int main()
  {
    int n = 1e6;
  
    const Pose3 pose1(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5));
  
    static Cal3Bundler K(500, 1e-3, 2.0*1e-3);
    const PinholeCamera<Cal3Bundler> camera(pose1,K);
    const Point3 point1(-0.08,-0.08, 0.0);
  
    /**
     * NOTE: because we only have combined derivative functions now,
     * parts of this test are no longer useful.
     */
  
    // Oct 12 2013, iMac 3.06GHz Core i3
    // Original:          0.14737 musecs/call
    // After collapse:    0.11469 musecs/call
    // Cal3DS2:           0.14201 musecs/call
    // After Cal3DS2 fix: 0.12231 musecs/call
    // Cal3Bundler:       0.12000 musecs/call
    // Cal3Bundler fix:   0.14637 musecs/call
    // June 24 2014, Macbook Pro 2.3GHz Core i7
    // GTSAM 3.1:         0.04295 musecs/call
    // After project fix: 0.04193 musecs/call
  
    {
      long timeLog = clock();
      for(int i = 0; i < n; i++)
        camera.project(point1);
      long timeLog2 = clock();
      double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
      cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;
    }
  
    // Oct 12 2014, Macbook Air
    {
      long timeLog = clock();
      Point2 measurement(0,0);
      for(int i = 0; i < n; i++)
        camera.project(point1)-measurement;
      long timeLog2 = clock();
      double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
      cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;
    }
  
    // Oct 12 2013, iMac 3.06GHz Core i3
    // Original:          3.8720 musecs/call
    // After collapse:    2.6269 musecs/call
    // Cal3DS2:           4.3330 musecs/call
    // After Cal3DS2 fix: 3.2857 musecs/call
    // Cal3Bundler:       2.6556 musecs/call
    // Cal3Bundler fix:   2.1613 musecs/call
    // June 24 2014, Macbook Pro 2.3GHz Core i7
    // GTSAM 3.1:         0.2322 musecs/call
    // After project fix: 0.2094 musecs/call
    {
      Matrix Dpose, Dpoint;
      long timeLog = clock();
      for(int i = 0; i < n; i++)
        camera.project(point1, Dpose, Dpoint, boost::none);
      long timeLog2 = clock();
      double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
      cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;
    }
  
    // Oct 12 2013, iMac 3.06GHz Core i3
    // Original:          4.0119 musecs/call
    // After collapse:    2.5698 musecs/call
    // Cal3DS2:           4.8325 musecs/call
    // After Cal3DS2 fix: 3.4483 musecs/call
    // Cal3Bundler:       2.5112 musecs/call
    // Cal3Bundler fix:   2.0946 musecs/call
    // June 24 2014, Macbook Pro 2.3GHz Core i7
    // GTSAM 3.1:         0.2294 musecs/call
    // After project fix: 0.2093 nanosecs/call
    {
      Matrix Dpose, Dpoint, Dcal;
      long timeLog = clock();
      for(int i = 0; i < n; i++)
        camera.project(point1, Dpose, Dpoint, Dcal);
      long timeLog2 = clock();
      double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
      cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;
    }
  
    return 0;
  }
  