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Improve plot3DTrajectory in Matlab #80

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scharalambous3 opened this issue Jun 29, 2019 · 4 comments
Open

Improve plot3DTrajectory in Matlab #80

scharalambous3 opened this issue Jun 29, 2019 · 4 comments
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@varunagrawal @scharalambous3
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feature New proposed feature performance Related to GTSAM performance and efficiency

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@scharalambous3
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scharalambous3 commented Jun 29, 2019 •
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Hello,

As seen at https://bitbucket.org/gtborg/gtsam/issues/145/plot3dtrajectory-in-matlab, plot3DTrajectory in MATLAB is slow. For your reference, you can test it yourself by running Pose3SLAMExample_graph

I am thus trying to transform the use of for-loops to matrix manipulations.
For this to be achieved, I need to change the KeyVector.at(index) and Values.at functions(index) to work the same way on matrix input as well. In progress, but any help is more than welcome!

Stefanos C.
@dellaert
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Does this need a change to the wrapper?

@scharalambous3
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scharalambous3 commented Aug 4, 2019 •
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As it can be seen in the attached profiling summary, I couldn't make any significant improvements as I am restricted by the wrapper - the total time did not decrease regardless of the changes I have made

Yes, specificially the following functions should be changed to accept matrix input as well:
Values.at, KeyVector.At as well as the children functions of gtsam.Pose3 (.x(), .y(), .z(), .rotation() etc)

image

@scharalambous3
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I will keep working on it, and proceed with changes in the wrapper if needed
Best,
Stefanos C.

@dellaert
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dellaert commented Aug 5, 2019

I think this might be a case for a specific utility method. There is a utilities file that gets wrapped where a vector-based method could be easy to add.

@varunagrawal varunagrawal added feature New proposed feature performance Related to GTSAM performance and efficiency labels Jul 7, 2020
@varunagrawal varunagrawal modified the milestone: GTSAM 4.0.3 Jul 13, 2020
gchenfc added a commit that referenced this issue Apr 8, 2021
@gchenfc
Squashed 'wrap/' changes from 5ddaff8ba..b43f7c6d7
78210f3 
b43f7c6d7 Merge pull request #80 from borglab/feature/multiple_interface_files
7b9d080f5 Revert "unit test for printing with keyformatter"
45e203195 Revert "funcitonal print passes unit test"
8b5d66f03 Revert "include functional and iostream"
34bfbec21 Revert "delete debug statement"
dbe661c93 Revert "add includes to the example tpl file."
f47e23f1a Revert "Revert "function to concatenate multiple header files together""
e667e2095 Revert "function to concatenate multiple header files together"
600c77bf4 add includes to the example tpl file.
d5caca20e delete debug statement
4a554edb8 include functional and iostream
e8ad2c26f funcitonal print passes unit test
077d5c4e7 unit test for printing with keyformatter
d5a1e6dff function to concatenate multiple header files together

git-subtree-dir: wrap
git-subtree-split: b43f7c6d7d6cb50ebe585d7e38390e2bfeb51dde
gchenfc added a commit that referenced this issue Apr 12, 2021
@gchenfc
Squashed 'wrap/' changes from 5ddaff8ba..bae34fac8
00a04a1 
bae34fac8 Merge pull request #82 from borglab/feature/templated-base-class
6fd4053dd Merge pull request #84 from borglab/feature/print_redirectstdout
349784a38 comment about redirecting stdout
dc4fd9371 updated docs
b43f7c6d7 Merge pull request #80 from borglab/feature/multiple_interface_files
7d8c3faa7 redirect std::out for print_()
a812a6110 print redirect stdout unit test
97f3b6994 support for templated base class
3e16564e3 test cases for templated base class
7b9d080f5 Revert "unit test for printing with keyformatter"
45e203195 Revert "funcitonal print passes unit test"
8b5d66f03 Revert "include functional and iostream"
34bfbec21 Revert "delete debug statement"
dbe661c93 Revert "add includes to the example tpl file."
f47e23f1a Revert "Revert "function to concatenate multiple header files together""
e667e2095 Revert "function to concatenate multiple header files together"
600c77bf4 add includes to the example tpl file.
d5caca20e delete debug statement
4a554edb8 include functional and iostream
e8ad2c26f funcitonal print passes unit test
077d5c4e7 unit test for printing with keyformatter
d5a1e6dff function to concatenate multiple header files together

git-subtree-dir: wrap
git-subtree-split: bae34fac828acb6b17bfe37ebe78f7c9a156ed5a
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