static bool testCalcDepth(int imageWidth, int imageHeight, int featureWidth, int featureHeight, int maximumDisplacement)
{
float* leftImage = (float*)malloc(sizeof(float)* imageWidth * imageHeight);
if (leftImage == NULL)
{
allocationFailed();
}
float* rightImage = (float*)malloc(sizeof(float)* imageWidth * imageHeight);
if (rightImage == NULL)
{
free(leftImage);
allocationFailed();
}
fillRandomFloat(leftImage, imageWidth * imageHeight);
fillRandomFloat(rightImage, imageWidth * imageHeight);
float* depthNaive = (float*)malloc(sizeof(float)* imageWidth * imageHeight);
if (depthNaive == NULL)
{
free(leftImage);
free(rightImage);
allocationFailed();
}
float* depthOptimized = (float*)malloc(sizeof(float)* imageWidth * imageHeight);
if (depthOptimized == NULL)
{
free(leftImage);
free(rightImage);
free(depthNaive);
allocationFailed();
}
calcDepthNaive(depthNaive, leftImage, rightImage, imageWidth, imageHeight, featureWidth, featureHeight, maximumDisplacement, NULL);
calcDepthOptimized(depthOptimized, leftImage, rightImage, imageWidth, imageHeight, featureWidth, featureHeight, maximumDisplacement);
for (size_t i = 0; i < imageWidth * imageHeight; i++)
{
if (!floatsWithinTolerance(depthNaive[i], depthOptimized[i]))
{
free(leftImage);
free(rightImage);
free(depthNaive);
free(depthOptimized);
return false;
}
}
free(leftImage);
free(rightImage);
free(depthNaive);
free(depthOptimized);
return true;
}
static bool benchmarkMatrix(int imageWidth, int imageHeight, int featureWidth, int featureHeight, int maximumDisplacement)
{
float* left = (float*)malloc(sizeof(float)* imageWidth * imageHeight);
if (left == NULL)
{
allocationFailed();
}
float* right = (float*)malloc(sizeof(float)* imageWidth * imageHeight);
if (right == NULL)
{
free(left);
allocationFailed();
}
fillRandomFloat(left, imageWidth * imageHeight);
fillRandomFloat(right, imageWidth * imageHeight);
float* depthNaive = (float*)malloc(sizeof(float)* imageWidth * imageHeight);
if (depthNaive == NULL)
{
free(left);
free(right);
allocationFailed();
}
float* depthOptimized = (float*)malloc(sizeof(float)* imageWidth * imageHeight);
if (depthOptimized == NULL)
{
free(left);
free(right);
free(depthNaive);
allocationFailed();
}
double speedup;
uint64_t startTSC, endTSC;
// Get total clock cycles for optimised
startTSC = __rdtsc();
calcDepthOptimized(depthOptimized, left, right, imageWidth, imageHeight, featureWidth, featureHeight, maximumDisplacement);
endTSC = __rdtsc();
double optimizedTSC = endTSC - startTSC;
// Get total clock cycles for naive
startTSC = __rdtsc();
calcDepthNaive(depthNaive, left, right, imageWidth, imageHeight, featureWidth, featureHeight, maximumDisplacement);
endTSC = __rdtsc();
double naiveTSC = endTSC - startTSC;
// Speedup is just naive / optimised
speedup = naiveTSC / optimizedTSC;
printf("%.4f Speedup Ratio\r\n", speedup);
for (size_t i = 0; i < imageWidth * imageHeight; i++)
{
if (!floatsWithinTolerance(depthNaive[i], depthOptimized[i]))
{
free(left);
free(right);
free(depthNaive);
free(depthOptimized);
return false;
}
}
free(left);
free(right);
free(depthNaive);
free(depthOptimized);
return true;
}
static bool testMatrix(int imageWidth, int imageHeight, int featureWidth, int featureHeight, int maximumDisplacement)
{
float* left = (float*)malloc(sizeof(float)* imageWidth * imageHeight);
if (left == NULL)
{
allocationFailed();
}
float* right = (float*)malloc(sizeof(float)* imageWidth * imageHeight);
if (right == NULL)
{
free(left);
allocationFailed();
}
fillRandomFloat(left, imageWidth * imageHeight);
fillRandomFloat(right, imageWidth * imageHeight);
float* depthNaive = (float*)malloc(sizeof(float)* imageWidth * imageHeight);
if (depthNaive == NULL)
{
free(left);
free(right);
allocationFailed();
}
float* depthOptimized = (float*)malloc(sizeof(float)* imageWidth * imageHeight);
if (depthOptimized == NULL)
{
free(left);
free(right);
free(depthNaive);
allocationFailed();
}
size_t floatOps = 0;
calcDepthNaive(depthNaive, left, right, imageWidth, imageHeight, featureWidth, featureHeight, maximumDisplacement, &floatOps);
calcDepthOptimized(depthOptimized, left, right, imageWidth, imageHeight, featureWidth, featureHeight, maximumDisplacement);
int result = true;
for (size_t i = 0; i < imageWidth * imageHeight; i++)
{
if (!floatsWithinTolerance(depthNaive[i], depthOptimized[i]))
{
result = false;
}
}
if (true || !result) {
printf("Left image: \n");
printFloatImg(left, imageWidth, imageHeight);
printf("Right iamge: \n");
printFloatImg(right, imageWidth, imageHeight);
printf("Expected: \n");
printFloatImg(depthNaive, imageWidth, imageHeight);
printf("Actual: \n");
printFloatImg(depthOptimized, imageWidth, imageHeight);
}
free(left);
free(right);
free(depthNaive);
free(depthOptimized);
return result;
}
