[Work Log]

June 28, 2013
Project Tulips
Subproject Data Association v2
Working path projects/​tulips/​trunk/​src/​matlab/​data_association_2
Unless otherwise noted, all filesystem paths are relative to the "Working path" named above.

Profiling and optimizing clean_correspondence3.m

Huge bottleneck in get_dtw_matches_().

Wrote MEX version of get_dtw_matches_(), get_dtw_matches_horiz.c. ~8x speedup

New bottlenecks

Plan

can possibly eliminate some calls to interp1.

could mex projecion_error_hessian. should be a big win

DTW can be done in two passes, or mex'd

Mexing projection_error_hessian

Tried using Matlab's "Coder" feature to generate mex code automatically. The result was totally bloated (14 files!) and no faster than the matlab version. Next I tried hand-coding the mex, and its ~10x faster.

Posted by Kyle Simek
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