From 3a762910d2a1fbd2e6228ad37b0226476a466fab Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 15 Mar 2019 23:02:26 +0200
Subject: [PATCH] Add timings to rtcensus
---
cv-node/src/rtcensus.cpp | 25 ++++++++-----------------
1 file changed, 8 insertions(+), 17 deletions(-)
diff --git a/cv-node/src/rtcensus.cpp b/cv-node/src/rtcensus.cpp
index 4afcfbd20..4135ba3ef 100644
--- a/cv-node/src/rtcensus.cpp
+++ b/cv-node/src/rtcensus.cpp
@@ -29,9 +29,6 @@ static vector<uint64_t> sparse_census_16x16(Mat &arr) {
auto u_ = u + n;
for (int m=-7; m<=7; m+=2) {
auto v_ = v + m;
-
- //if (u_ < 0 || v_ < 0 || u_ >= arr.cols || v_ >= arr.rows) continue;
-
r <<= 1;
r |= XHI(arr.at<uint8_t>(v,u), arr.at<uint8_t>(v_,u_));
}
@@ -44,18 +41,9 @@ static vector<uint64_t> sparse_census_16x16(Mat &arr) {
return result;
}
-static inline uint8_t hamming(uint64_t n1, uint64_t n2) {
- /*int x = n1 ^ n2;
- uint8_t setBits = 0;
-
- while (x > 0) {
- setBits += x & 1;
- x >>= 1;
- }
-
- return setBits; */
+/*static inline uint8_t hamming(uint64_t n1, uint64_t n2) {
return bitset<64>(n1^n2).count();
-}
+}*/
static vector<uint16_t> dsi_ca(vector<uint64_t> &census_R, vector<uint64_t> &census_L, size_t w, size_t h, size_t d_start, size_t d_stop, int sign=1) {
// TODO Add asserts
@@ -159,19 +147,22 @@ void RTCensus::disparity(cv::Mat &l, cv::Mat &r, cv::Mat &disp, size_t num_disp,
size_t d_min = 0;
size_t d_max = num_disp;
+ auto start = std::chrono::high_resolution_clock::now();
auto census_R = sparse_census_16x16(r);
auto census_L = sparse_census_16x16(l);
- LOG(INFO) << "Census done";
+ std::chrono::duration<double> elapsed = std::chrono::high_resolution_clock::now() - start;
+ LOG(INFO) << "Census in " << elapsed.count() << "s";
+ start = std::chrono::high_resolution_clock::now();
auto dsi_ca_R = dsi_ca(census_R, census_L, l.cols, l.rows, d_min, d_max);
auto dsi_ca_L = dsi_ca(census_L, census_R, l.cols, l.rows, d_min, d_max, -1);
- LOG(INFO) << "DSI done";
+ elapsed = std::chrono::high_resolution_clock::now() - start;
+ LOG(INFO) << "DSI in " << elapsed.count() << "s";
auto disp_R = d_sub(dsi_ca_R, l.cols, l.rows, d_max-d_min);
auto disp_L = d_sub(dsi_ca_L, l.cols, l.rows, d_max-d_min);
LOG(INFO) << "Disp done";
- //disp = disp_L;
disp = consistency(disp_R, disp_L);
// TODO confidence and texture filtering
--
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