TEST(MatrixProfile, testMul1000)
{
PreciseTimer start;
Matrix * input[POLUTING_INPUTS];
const static int TEST_H_SIZE = 1000;
const static int TEST_W_SIZE = TEST_H_SIZE;
for (unsigned i = 0; i < POLUTING_INPUTS; i++)
{
input[i] = new Matrix(TEST_H_SIZE ,TEST_W_SIZE);
auto touch = [](int i, int j, double &el) -> void { el = ((i+1) * (j + 1)) + ((j + 1) / 5.0); };
input[i]->touchOperationElementwize(touch);
}
SYNC_PRINT(("Profiling Simple Approach:"));
start = PreciseTimer::currentTime();
for (unsigned i = 0; i < LIMIT; i++) {
Matrix &A = *input[i % POLUTING_INPUTS];
Matrix B = A * A;
}
uint64_t delaySimple = start.usecsToNow();
SYNC_PRINT(("%8" PRIu64 "us %8" PRIu64 "ms SP: %8" PRIu64 "us\n", delaySimple, delaySimple / 1000, delaySimple / LIMIT));
for (unsigned i = 0; i < POLUTING_INPUTS; i++) {
delete_safe(input[i]);
}
}
ImageCaptureInterface::FramePair RTSPCapture::getFrame()
{
CaptureStatistics stats;
PreciseTimer start = PreciseTimer::currentTime();
FramePair result = fcb.dequeue();
stats.values[CaptureStatistics::DECODING_TIME] = start.usecsToNow();
if (mLastFrameTime.usecsTo(PreciseTimer()) != 0)
{
stats.values[CaptureStatistics::INTERFRAME_DELAY] = mLastFrameTime.usecsToNow();
}
mLastFrameTime = PreciseTimer::currentTime();
stats.values[CaptureStatistics::DATA_SIZE] = 0;
emit newStatisticsReady(stats);
if (!mIsPaused)
{
frame_data_t frameData;
frameData.timestamp = fcb.secondFrameTimestamp();
//SYNC_PRINT(("RTSPCapture::getFrame(): sending notification ts = %d\n", frameData.timestamp));
notifyAboutNewFrame(frameData);
} else {
SYNC_PRINT(("RTSPCapture::getFrame(): Paused\n"));
}
return result;
}
void testRadialInversion(int scale)
{
RGB24Buffer *image = new RGB24Buffer(250 * scale, 400 * scale);
auto operation = [](int i, int j, RGBColor *pixel)
{
i = i / 100;
j = j / 200;
if ( (i % 2) && (j % 2)) *pixel = RGBColor::Green();
if (!(i % 2) && (j % 2)) *pixel = RGBColor::Yellow();
if ( (i % 2) && !(j % 2)) *pixel = RGBColor::Red();
if (!(i % 2) && !(j % 2)) *pixel = RGBColor::Blue();
};
touchOperationElementwize(image, operation);
LensDistortionModelParameters deformator;
deformator.setPrincipalX(image->w / 2);
deformator.setPrincipalY(image->h / 2);
deformator.setTangentialX(0.000001);
deformator.setTangentialY(0.000001);
deformator.setAspect(1.0);
deformator.setScale(1.0);
deformator.mKoeff.push_back( 0.0001);
deformator.mKoeff.push_back(-0.00000002);
deformator.mKoeff.push_back( 0.00000000000003);
RadialCorrection T(deformator);
PreciseTimer timer;
cout << "Starting deformation... " << flush;
timer = PreciseTimer::currentTime();
RGB24Buffer *deformed = image->doReverseDeformationBlTyped<RadialCorrection>(&T);
cout << "done in: " << timer.usecsToNow() << "us" << endl;
/* */
cout << "Starting invertion... " << flush;
RadialCorrection invert = T.invertCorrection(image->h, image->w, 30);
cout << "done" << endl;
cout << "Starting backprojection... " << flush;
timer = PreciseTimer::currentTime();
RGB24Buffer *backproject = deformed->doReverseDeformationBlTyped<RadialCorrection>(&invert);
cout << "done in: " << timer.usecsToNow() << "us" << endl;
cout << "done" << endl;
BMPLoader().save("input.bmp" , image);
BMPLoader().save("forward.bmp" , deformed);
BMPLoader().save("backproject.bmp", backproject);
delete_safe(image);
delete_safe(deformed);
delete_safe(backproject);
}
TEST(SSEWrappers, profileSSEWrapper)
{
#ifdef WITH_SSE
uint64_t LIMIT = 10000000;
PreciseTimer start;
uint64_t delay0, delay1;
start = PreciseTimer::currentTime();
__m128i acc0 = _mm_set1_epi32(128);
for (uint64_t i = 0 ; i < LIMIT; i++ )
{
int a = i * 32 / LIMIT;
__m128i a0 = _mm_set1_epi32(a);
__m128i b0 = _mm_set1_epi32(i % 2);
__m128i c0 = _mm_sll_epi32(a0,b0);
__m128i d0 = _mm_slli_epi32(a0,1);
acc0 = _mm_add_epi32(acc0,d0);
acc0 = _mm_add_epi32(acc0,c0);
acc0 = _mm_sub_epi32(acc0,a0);
}
delay0 = start.usecsToNow();
printf("Dirty Oldstyle :%8" PRIu64 "us \n", delay0);
/* Same with new style */
start = PreciseTimer::currentTime();
Int32x4 acc1(128);
for (uint64_t i = 0 ; i < LIMIT; i++ )
{
int a = i * 32 / LIMIT;
Int32x4 a1(a);
Int32x4 b1((uint32_t)i % 2);
Int32x4 c1 = a1 << b1;
Int32x4 d1 = a1 << 1;
acc1 += d1;
acc1 += c1;
acc1 -= a1;
}
delay1 = start.usecsToNow();
printf("Cool new style :%8" PRIu64 "us \n", delay1);
printf("Diff is :%8" PRIi64 "us \n", delay1 - delay0);
printf("Results are %s\n",sse32(acc0, 0) == sse32(acc1.data, 0) ? "equal" : "different");
CORE_ASSERT_TRUE(sse32(acc0, 0) == sse32(acc1.data, 0), "Ops... arithmetics flaw");
#endif
}
UEyeCaptureInterface::FramePair UEyeCaptureInterface::getFrame()
{
CaptureStatistics stats;
PreciseTimer start = PreciseTimer::currentTime();
FramePair result( NULL, NULL);
// printf("Called getFrame\n");
protectFrame.lock();
decodeData(&leftCamera , currentLeft, &(result.bufferLeft));
decodeData(&rightCamera, currentRight, &(result.bufferRight));
result.leftTimeStamp = currentLeft->usecsTimeStamp();
result.rightTimeStamp = currentRight->usecsTimeStamp();
stats.framesSkipped = skippedCount > 0 ? skippedCount - 1 : 0;
skippedCount = 0;
stats.triggerSkipped = triggerSkippedCount;
triggerSkippedCount = 0;
int64_t internalDesync = currentLeft->internalTimestamp - currentRight->internalTimestamp;
protectFrame.unlock();
stats.values[CaptureStatistics::DECODING_TIME] = start.usecsToNow();
stats.values[CaptureStatistics::INTERFRAME_DELAY] = frameDelay;
int64_t desync = result.leftTimeStamp - result.rightTimeStamp;
stats.values[CaptureStatistics::DESYNC_TIME] = desync > 0 ? desync : -desync;
stats.values[CaptureStatistics::INTERNAL_DESYNC_TIME] = internalDesync > 0 ? internalDesync : -internalDesync;
/* Get temperature data */
stats.temperature[0] = leftCamera.getTemperature();
stats.temperature[1] = rightCamera.getTemperature();
//stats.values[CaptureStatistics::DATA_SIZE] = currentLeft.bytesused;
emit newStatisticsReady(stats);
// printf("Finished getFrame\n");
return result;
}
/* ========================== TRY TO DO NEW POWERFUL CLUSTERING ========================== */
void Clustering3D::_clusterStarting(Statistics& stat)
{
mClusters.clear();
std::sort(mCloud->begin(), mCloud->end(), SortSwarmPointTexY());
Cloud::iterator first, second;
first = mCloud->begin();
second = mCloud->begin();
for (unsigned i = 0; i < mCloud->size(); i++)
{
if ((*first).texCoor.y() != (*second).texCoor.y())
{
std::sort(first, second - 1, SortSwarmPointTexX());
first = second;
}
second++;
}
PreciseTimer time = PreciseTimer::currentTime();
this->_clustering(640, 480);
stat.setTime("_clustering", time.usecsToNow());
/* colour for clusters */
CloudCluster::iterator it;
mCloud->clear();
int i = 1;
vector<CloudCluster *>::iterator it2;
for (it2 = mpClusters.begin(); it2 < mpClusters.end(); it2++)
{
for (it = (*it2)->begin(); it < (*it2)->end(); it++)
{
(*it).cluster = i;
mCloud->push_back(*it);
}
i++;
}
}
V4L2CaptureInterface::FramePair V4L2CaptureInterface::getFrameRGB24()
{
CaptureStatistics stats;
PreciseTimer start = PreciseTimer::currentTime();
protectFrame.lock();
FramePair result;
RGB24Buffer **results[MAX_INPUTS_NUMBER] = {
&result.buffers[LEFT_FRAME ].rgbBuffer,
&result.buffers[RIGHT_FRAME ].rgbBuffer,
&result.buffers[THIRD_FRAME ].rgbBuffer,
&result.buffers[FOURTH_FRAME].rgbBuffer
};
for (int i = 0; i < MAX_INPUTS_NUMBER; i++)
{
decodeDataRGB24(&camera[i], ¤tFrame[i], results[i]);
if ((*results[i]) == NULL) {
printf("V4L2CaptureInterface::getFrameRGB24(): Precrash condition at %d (%s)\n", i, getFrameSourceName((FrameSourceId)i));
}
}
if (result.rgbBufferLeft() != NULL) {
result.setBufferLeft ( result.rgbBufferLeft() ->toG12Buffer() ); // FIXME
}
if (result.rgbBufferRight() != NULL) {
result.setBufferRight ( result.rgbBufferRight()->toG12Buffer() );
}
if (currentFrame[LEFT_FRAME].isFilled)
result.setTimeStampLeft (currentFrame[LEFT_FRAME].usecsTimeStamp());
if (currentFrame[RIGHT_FRAME].isFilled)
result.setTimeStampRight (currentFrame[RIGHT_FRAME].usecsTimeStamp());
if (skippedCount == 0)
{
// SYNC_PRINT(("Warning: Requested same frames twice. Is this by design?\n"));
}
stats.framesSkipped = skippedCount > 0 ? skippedCount - 1 : 0;
skippedCount = 0;
protectFrame.unlock();
stats.values[CaptureStatistics::DECODING_TIME] = start.usecsToNow();
stats.values[CaptureStatistics::INTERFRAME_DELAY] = frameDelay;
int64_t desync = currentFrame[LEFT_FRAME ].usecsTimeStamp() -
currentFrame[RIGHT_FRAME].usecsTimeStamp();
stats.values[CaptureStatistics::DESYNC_TIME] = CORE_ABS(desync);
stats.values[CaptureStatistics::DATA_SIZE] = currentFrame[LEFT_FRAME].bytesused;
if (imageInterfaceReceiver != NULL) {
imageInterfaceReceiver->newStatisticsReadyCallback(stats);
} else {
SYNC_PRINT(("Warning: V4L2CaptureInterface::getFrameRGB24(): imageInterfaceReceiver is NULL\n"));
}
return result;
}
V4L2CaptureInterface::FramePair V4L2CaptureInterface::getFrame()
{
// SYNC_PRINT(("V4L2CaptureInterface::getFrame(): called\n"));
CaptureStatistics stats;
PreciseTimer start = PreciseTimer::currentTime();
FramePair result;
protectFrame.lock();
G12Buffer **results[MAX_INPUTS_NUMBER] = {
&result.buffers[LEFT_FRAME ].g12Buffer,
&result.buffers[RIGHT_FRAME].g12Buffer,
&result.buffers[LEFT_FRAME ].g12Buffer,
&result.buffers[RIGHT_FRAME].g12Buffer,
};
result.setRgbBufferRight(NULL);
result.setRgbBufferLeft (NULL);
//SYNC_PRINT(("LF:%s RF:%s\n",
// currentFrame[Frames::LEFT_FRAME ].isFilled ? "filled" : "empty" ,
// currentFrame[Frames::RIGHT_FRAME].isFilled ? "filled" : "empty"));
for (int i = 0; i < MAX_INPUTS_NUMBER; i++)
{
decodeData(&camera[i], ¤tFrame[i], results[i]);
if ((*results[i]) == NULL) {
SYNC_PRINT(("V4L2CaptureInterface::getFrame(): Precrash condition\n"));
}
}
if (currentFrame[LEFT_FRAME].isFilled)
result.setTimeStampLeft (currentFrame[LEFT_FRAME].usecsTimeStamp());
if (currentFrame[RIGHT_FRAME].isFilled)
result.setTimeStampRight (currentFrame[RIGHT_FRAME].usecsTimeStamp());
if (skippedCount == 0)
{
//SYNC_PRINT(("Warning: Requested same frames twice. Is this by design?\n"));
}
stats.framesSkipped = skippedCount > 0 ? skippedCount - 1 : 0;
skippedCount = 0;
protectFrame.unlock();
stats.values[CaptureStatistics::DECODING_TIME] = start.usecsToNow();
stats.values[CaptureStatistics::INTERFRAME_DELAY] = frameDelay;
int64_t desync = currentFrame[LEFT_FRAME].usecsTimeStamp() - currentFrame[RIGHT_FRAME].usecsTimeStamp();
stats.values[CaptureStatistics::DESYNC_TIME] = desync > 0 ? desync : -desync;
stats.values[CaptureStatistics::DATA_SIZE] = currentFrame[LEFT_FRAME].bytesused;
if (imageInterfaceReceiver != NULL) {
imageInterfaceReceiver->newStatisticsReadyCallback(stats);
}
return result;
}
ALIGN_STACK_SSE void DirectShowCaptureInterface::memberCallback(DSCapDeviceId dev, FrameData data)
{
//SYNC_PRINT(("Received new frame in a member %d\n", dev));
mProtectFrame.lock();
DirectShowCameraDescriptor *camera = NULL;
if (mCameras[0].deviceHandle == dev) camera = &mCameras[0];
else
if (mCameras[1].deviceHandle == dev) camera = &mCameras[1];
else
goto exit;
{
PreciseTimer timer = PreciseTimer::currentTime();
camera->gotBuffer = true;
camera->timestamp = (data.timestamp + 5) / 10;
delete_safe (camera->buffer);
delete_safe (camera->buffer24);
if (data.format.type == CAP_YUV)
{
if (mIsRgb) {
camera->buffer24 = new RGB24Buffer(data.format.height, data.format.width, false);
camera->buffer24->fillWithYUYV((uint8_t *)data.data);
}
else {
camera->buffer = new G12Buffer(data.format.height, data.format.width, false);
camera->buffer->fillWithYUYV((uint16_t *)data.data);
}
}
else if (data.format.type == CAP_MJPEG)
{
MjpegDecoderLazy *lazyDecoder = new MjpegDecoderLazy; // don't place it at stack, it's too huge!
if (mIsRgb)
camera->buffer24 = lazyDecoder->decodeRGB24((uchar *)data.data);
else
camera->buffer = lazyDecoder->decode((uchar *)data.data);
delete lazyDecoder;
}
else if (data.format.type == CAP_RGB)
{
if (mIsRgb) {
camera->buffer24 = new RGB24Buffer(data.format.height, data.format.width, true);
int w = camera->buffer24->w;
int h = camera->buffer24->h;
for (int i = 0; i < h; i++) {
uint8_t *rgbData = ((uint8_t *)data.data) + 3 * (h - i - 1) * w;
RGBColor *rgb24Data = &(camera->buffer24->element(i, 0));
for (int j = 0; j < w; j++) {
RGBColor rgb(rgbData[2], rgbData[1], rgbData[0]); // the given data format has B,G,R order
*rgb24Data++ = rgb;
rgbData += 3;
}
}
}
else {
camera->buffer = new G12Buffer(data.format.height, data.format.width, false);
int w = camera->buffer->w;
int h = camera->buffer->h;
for (int i = 0; i < h; i++) {
uint8_t *rgbData = ((uint8_t *)data.data) + 3 * (h - i - 1) * w;
uint16_t *greyData = &(camera->buffer->element(i, 0));
for (int j = 0; j < w; j++) {
RGBColor rgb(rgbData[2], rgbData[1], rgbData[0]); // the given data format has B,G,R order
*greyData++ = rgb.luma12();
rgbData += 3;
}
}
}
}
else {
camera->buffer = new G12Buffer(data.format.height, data.format.width, false);
}
camera->decodeTime = timer.usecsToNow();
/* If both frames are in place */
if (mCameras[0].gotBuffer && mCameras[1].gotBuffer)
{
mCameras[0].gotBuffer = false;
mCameras[1].gotBuffer = false;
CaptureStatistics stats;
int64_t desync = mCameras[0].timestamp - mCameras[1].timestamp;
stats.values[CaptureStatistics::DESYNC_TIME] = desync > 0 ? desync : -desync;
stats.values[CaptureStatistics::DECODING_TIME] = mCameras[0].decodeTime + mCameras[1].decodeTime;
if (lastFrameTime.usecsTo(PreciseTimer()) != 0)
{
stats.values[CaptureStatistics::INTERFRAME_DELAY] = lastFrameTime.usecsToNow();
}
lastFrameTime = PreciseTimer::currentTime();
frame_data_t frameData;
frameData.timestamp = mCameras[0].timestamp / 2 + mCameras[1].timestamp / 2;
newFrameReady(frameData);
newStatisticsReady(stats);
}
else {
frame_data_t frameData;
frameData.timestamp = mCameras[0].timestamp;
newFrameReady(frameData);
//newStatisticsReady(stats);
skippedCount++;
}
}
exit:
mProtectFrame.unlock();
}
void TestbedMainWindow::preprocessImage(void)
{
if (mImage == NULL) {
return;
}
L_INFO_P("Starting to preprocess");
PointScene *scene = new PointScene();
//scene->scene.push_back(PointScene::Point(Vector3dd(1.0, 1.0, 1.0)));
scene->showBuffer(mImage);
m3DHist->setNewScenePointer(QSharedPointer<Scene3D>(scene), CloudViewDialog::MAIN_SCENE);
Vector3dd mean(0.0);
for (int i = 0; i < mImage->h; i++)
{
for (int j = 0; j < mImage->w; j++)
{
mean += mImage->element(i,j).toDouble();
}
}
mean /= (mImage->h * mImage->w);
EllipticalApproximationUnified<Vector3dd> ellip;
for (int i = 0; i < mImage->h; i++)
{
for (int j = 0; j < mImage->w; j++)
{
ellip.addPoint(mImage->element(i,j).toDouble() - mean);
}
}
ellip.getEllipseParameters();
qDebug() << "Size is: "<< ellip.mAxes.size();
EllApproxScene *sceneEl = new EllApproxScene(mean, ellip);
m3DHist->setNewScenePointer(QSharedPointer<Scene3D>(sceneEl), CloudViewDialog::ADDITIONAL_SCENE);
L_INFO_P("Color distribution analyzed");
L_INFO_P("Preparing HSV presentation");
delete_safe(mHComp);
delete_safe(mSComp);
delete_safe(mVComp);
mHComp = new G8Buffer(mImage->getSize(), false);
mSComp = new G8Buffer(mImage->getSize(), false);
mVComp = new G8Buffer(mImage->getSize(), false);
for (int i = 0; i < mImage->h; i++)
{
for (int j = 0; j < mImage->w; j++)
{
RGBColor &color = mImage->element(i,j);
mHComp->element(i,j) = color.hue() * 255 / 360;
mSComp->element(i,j) = color.saturation();
mVComp->element(i,j) = color.value();
}
}
L_INFO_P("Preparing edges");
G12Buffer *tempBuffer = G8Buffer::toG12Buffer(mVComp);
delete_safe(mEdges);
delete_safe(mCannyEdges);
delete_safe(mEdges);
CannyParameters *cannyParams = mUi->cannyParametersWidget->createParameters();
DerivativeBuffer *derivativeBuffer = NULL;
mCannyEdges = CannyFilter::doFilter(tempBuffer, *cannyParams, &derivativeBuffer);
mEdges = derivativeBuffer->gradientMagnitudeBuffer(10.0);
delete_safe(derivativeBuffer);
delete_safe(cannyParams);
delete_safe(tempBuffer);
L_INFO_P("Preparing projected buffer");
Vector3dd mainDirection = ellip.mAxes[0];
mainDirection.normalise();
L_INFO << "Principal component is:" << mainDirection;
delete_safe(mPrincipal);
mPrincipal = projectToDirection(mImage, mainDirection);
Vector3dd secondaryDirection = ellip.mAxes[1];
secondaryDirection.normalise();
L_INFO << "Secondary component is:" << secondaryDirection;
delete_safe(mPrincipal2);
mPrincipal2 = projectToDirection(mImage, secondaryDirection);
Vector3dd thirdDirection = ellip.mAxes[2];
thirdDirection.normalise();
L_INFO << "Third component is:" << thirdDirection;
delete_safe(mPrincipal3);
mPrincipal3 = projectToDirection(mImage, thirdDirection);
PreciseTimer timer;
L_INFO_P("Preparing local histogram buffer");
timer = PreciseTimer::currentTime();
delete_safe(mHistBuffer);
mHistBuffer = new AbstractBuffer<LocalHistogram>(mPrincipal->getSize());
int bound = mUi->histRadiusSpinBox->value();
for (int i = bound; i < mPrincipal->h - bound; i++)
{
for (int j = bound; j < mPrincipal->w - bound; j++)
{
for (int dy = -bound; dy <= bound; dy++)
{
for (int dx = -bound; dx <= bound; dx++)
{
mHistBuffer->element(i, j).inc(mPrincipal->element(i + dy, j + dx));
}
}
}
}
L_INFO_P(" Done in %d", timer.usecsToNow());
L_INFO_P("Preparing local histogram2D buffer");
timer = PreciseTimer::currentTime();
delete_safe(mHist2DBuffer);
mHist2DBuffer = new Histogram2DBuffer(mPrincipal->getSize());
bound = mUi->histRadiusSpinBox->value();
for (int i = bound; i < mPrincipal->h - bound; i++)
{
for (int j = bound; j < mPrincipal->w - bound; j++)
{
LocalHistogram2D *hist = &mHist2DBuffer->element(i, j);
hist->isSet = true;
for (int dy = -bound; dy <= bound; dy++)
{
for (int dx = -bound; dx <= bound; dx++)
{
hist->inc(mPrincipal->element(i + dy, j + dx), mPrincipal2->element(i + dy, j + dx));
}
}
}
}
L_INFO_P(" Done in %d", timer.usecsToNow());
updateViewImage();
}
TEST(MatrixProfile, testMulSize3)
{
// int sizes [] = { 1024, 2048, 4096, 16384 };
int sizes [] = { 1000, 2000, 4000, 16000 };
int polca [] = { 10, 20, 5, 1 };
int runs [] = { 10, 5, 2, 2 };
bool runsimple[] = { true, false, false, false };
bool runslow [] = { true, true , false, false };
bool runour [] = { true, true , true, false };
bool runfast [] = { true, true , true, false }; // 16K * 16K - skip at all
printHeader();
for (size_t testnum = 0; testnum < CORE_COUNT_OF(sizes); testnum++)
{
int TEST_H_SIZE = sizes[testnum] /* /128*/;
int TEST_W_SIZE = TEST_H_SIZE;
unsigned POLUTING_INPUTS = polca[testnum];
unsigned LIMIT = runs[testnum];
double mem = 2.0 * sizeof(double) * (double)TEST_H_SIZE * TEST_H_SIZE;
double flop = 2.0 * (double)TEST_H_SIZE * TEST_H_SIZE * TEST_H_SIZE;
double gflop = flop / 1000000.0 / 1000.0;
PreciseTimer start;
Matrix ** input1 = new Matrix*[POLUTING_INPUTS]; // Unfortunately VS2013 does not support C99
Matrix ** input2 = new Matrix*[POLUTING_INPUTS];
Matrix AB(1,1);
for (unsigned i = 0; i < POLUTING_INPUTS; i++)
{
input1[i] = new Matrix(TEST_H_SIZE ,TEST_W_SIZE);
input2[i] = new Matrix(TEST_H_SIZE ,TEST_W_SIZE);
// auto touch1 = [](int i, int j, double &el) -> void { el = ((i+1) * (j + 1)) + ((j + 1) / 5.0); };
auto touch1 = [](int i, int j, double &el) -> void
{
uint16_t semirand = (uint16_t )(i * 1237657 + j * 235453);
el = ((double)semirand - 32768) / 65536.0;
};
input1[i]->touchOperationElementwize(touch1);
// auto touch2 = [](int i, int j, double &el) -> void { el = ((i+4) * (j + 1)) + ((i + 1) / 5.0); };
auto touch2 = [](int i, int j, double &el) -> void
{
uint16_t semirand = (uint16_t )(i * 54657 + j * 2517);
el = ((double)semirand - 32768) / 65536.0;
};
input2[i]->touchOperationElementwize(touch2);
}
if (runsimple[testnum])
{
printName("Simple", TEST_H_SIZE, mem, LIMIT);
start = PreciseTimer::currentTime();
for (unsigned i = 0; i < LIMIT; i++) {
Matrix &A = *input1[i % POLUTING_INPUTS];
Matrix &B = *input2[i % POLUTING_INPUTS];
AB = Matrix::multiplyHomebrew(A, B, false, false);
}
uint64_t delaySimple = start.usecsToNow();
printResult(gflop, delaySimple, LIMIT);
}
/*if (!AB.isFinite()) {
SYNC_PRINT(("Matrix is not finite\n"));
} else {
SYNC_PRINT(("Matrix is finite - ok\n"));
}*/
if (runslow[testnum])
{
printName("TBB", TEST_H_SIZE, mem, LIMIT);
start = PreciseTimer::currentTime();
for (unsigned i = 0; i < LIMIT; i++) {
Matrix &A = *input1[i % POLUTING_INPUTS];
Matrix &B = *input2[i % POLUTING_INPUTS];
AB = Matrix::multiplyHomebrew(A, B, true, false);
}
uint64_t delayTBB = start.usecsToNow();
printResult(gflop, delayTBB, LIMIT);
#ifdef WITH_SSE
#ifdef WITH_AVX
printName("AVX/SSE", TEST_H_SIZE, mem, LIMIT);
#else
printName("---/SSE", TEST_H_SIZE, mem, LIMIT);
#endif
start = PreciseTimer::currentTime();
for (unsigned i = 0; i < LIMIT; i++) {
Matrix &A = *input1[i % POLUTING_INPUTS];
Matrix &B = *input2[i % POLUTING_INPUTS];
AB = Matrix::multiplyHomebrew(A, B, false, true);
}
uint64_t delayVector = start.usecsToNow();
printResult(gflop, delayVector, LIMIT);
#endif
}
if (runour[testnum])
{
printName("All On", TEST_H_SIZE, mem, LIMIT);
start = PreciseTimer::currentTime();
for (unsigned i = 0; i < LIMIT; i++) {
Matrix &A = *input1[i % POLUTING_INPUTS];
Matrix &B = *input2[i % POLUTING_INPUTS];
AB = Matrix::multiplyHomebrew(A, B, true, true);
}
uint64_t delayHome = start.usecsToNow();
printResult(gflop, delayHome, LIMIT);
}
if (runfast[testnum])
{
#ifdef WITH_BLAS
printName("OpenBLAS", TEST_H_SIZE, mem, LIMIT);
start = PreciseTimer::currentTime();
for (unsigned i = 0; i < LIMIT; i++) {
Matrix &A = *input1[i % POLUTING_INPUTS];
Matrix &B = *input2[i % POLUTING_INPUTS];
AB = Matrix::multiplyBlas(A, B);
}
uint64_t delayBlas = start.usecsToNow();
printResult(gflop, delayBlas, LIMIT);
#endif // WITH_BLAS
}
for (unsigned i = 0; i < POLUTING_INPUTS; i++) {
delete_safe(input1[i]);
delete_safe(input2[i]);
}
delete[] input1;
delete[] input2;
}
}
void Clustering3D::clusterStartRecursive(SortingType sortingType)
{
mClustersCenter.clear();
mClustersTexCenter.clear();
mClustersFlow.clear();
mClusterSize.clear();
mCluster6DSize.clear();
mHeadSize.clear();
PreciseTimer stat = PreciseTimer::currentTime();
switch (sortingType)
{
case SORT_X:
std::sort((*mCloud).begin(), (*mCloud).end(), SortSwarmPointX());
break;
case SORT_Y:
std::sort((*mCloud).begin(), (*mCloud).end(), SortSwarmPointY());
break;
case SORT_Z:
std::sort((*mCloud).begin(), (*mCloud).end(), SortSwarmPointZ());
break;
case NONE:
break;
}
mSortingTime = stat.usecsTo(PreciseTimer::currentTime());
for (unsigned i = 0; i < mCloud->size(); i++)
{
if ((*mCloud)[i].cluster != 0) {
continue;
}
mIndexes.clear();
mIndexes.push_back((int)i);
clusteringRecursive(mDepth, 0, sortingType);
if (mClusters.back().size() > mSize )
{
bool isGood = true;
int sz = (int)mClustersCenter.size();
mClusters.back().getStat();
for (int i = 0; i < sz; i++)
{
// check if new cluster not down from previous
if (fabs(mClusters.back().mClusterInfo.point.z() - mClustersCenter[i].z()) < mHeadArea &&
fabs(mClusters.back().mClusterInfo.point.x() - mClustersCenter[i].x()) < mHeadArea )
isGood = false;
}
if (isGood)
{
mClustersTexCenter.push_back(mClusters.back().mClusterInfo.texCoor);
mClustersCenter.push_back(mClusters.back().mClusterInfo.point);
mClustersFlow.push_back(mClusters.back().mClusterInfo.speed);
mClusterSize.push_back((int)mClusters.back().size());
mCluster6DSize.push_back(mClusters.back().m6Dpoints);
vector<double> tmpVect = mClusters.back().mEllipse.mValues;
double forMax = 0;
for (unsigned i = 0; i < tmpVect.size(); i++)
{
forMax = forMax < tmpVect[i] ? tmpVect[i] : forMax;
}
mHeadSize.push_back(forMax);
}
if (mClustersCenter.size() == mHeadNumber) break;
}
}
mClusteringTime = stat.usecsTo(PreciseTimer::currentTime());
}
ImageCaptureInterface::FramePair AviCapture::getFrame()
{
CaptureStatistics stats;
PreciseTimer start = PreciseTimer::currentTime();
//SYNC_PRINT(("AviCapture::getFrame(): called\n"));
//mProtectFrame.lock();
FramePair result(NULL, NULL);
int res;
while ( (res = av_read_frame(mFormatContext, &mPacket)) >= 0)
{
if (mPacket.stream_index == mVideoStream)
{
int frame_finished;
avcodec_decode_video2(mCodecContext, mFrame, &frame_finished, &mPacket);
av_free_packet(&mPacket);
if (frame_finished) {
// SYNC_PRINT(("AviCapture::getFrame(): Frame ready\n"));
break;
}
} else {
av_free_packet(&mPacket);
}
}
if (res >= 0)
{
if (mFrame->format == AV_PIX_FMT_YUV420P ||
mFrame->format != AV_PIX_FMT_YUVJ420P)
{
result.setRgbBufferLeft(new RGB24Buffer(mFrame->height, mFrame->width));
result.setBufferLeft (new G12Buffer (mFrame->height, mFrame->width));
for (int i = 0; i < mFrame->height; i++)
{
for (int j = 0; j < mFrame->width; j++)
{
uint8_t y = (mFrame->data[0])[i * mFrame->linesize[0] + j];
uint8_t u = (mFrame->data[1])[(i / 2) * mFrame->linesize[1] + (j / 2)];
uint8_t v = (mFrame->data[2])[(i / 2) * mFrame->linesize[2] + (j / 2)];
result.rgbBufferLeft()->element(i,j) = RGBColor::FromYUV(y,u,v);
result.bufferLeft() ->element(i,j) = (int)y << 4;
}
}
result.setRgbBufferRight (new RGB24Buffer(result.rgbBufferLeft()));
result.setBufferRight (new G12Buffer(result.bufferLeft()));
} else if (mFrame->format == AV_PIX_FMT_YUV422P ) {
SYNC_PRINT(("AviCapture::getFrame(): format AV_PIX_FMT_YUV422P \n"));
return result;
} else {
SYNC_PRINT(("AviCapture::getFrame(): Not supported format %d\n", mFrame->format));
return result;
}
} else {
SYNC_PRINT(("AviCapture::getFrame(): av_read_frame failed with %d", res));
}
result.setTimeStampLeft (count * 10);
result.setTimeStampRight(count * 10);
//mProtectFrame.unlock();
stats.values[CaptureStatistics::DECODING_TIME] = start.usecsToNow();
if (mLastFrameTime.usecsTo(PreciseTimer()) != 0)
{
stats.values[CaptureStatistics::INTERFRAME_DELAY] = mLastFrameTime.usecsToNow();
}
mLastFrameTime = PreciseTimer::currentTime();
stats.values[CaptureStatistics::DATA_SIZE] = 0;
if (imageInterfaceReceiver != NULL)
{
imageInterfaceReceiver->newStatisticsReadyCallback(stats);
}
if (!mIsPaused)
{
//SYNC_PRINT(("AviCapture::getFrame(): New notification sending\n"));
count++;
frame_data_t frameData;
frameData.timestamp = (count * 10);
notifyAboutNewFrame(frameData);
} else {
SYNC_PRINT(("AviCapture::getFrame(): Paused\n"));
}
//count++;
return result;
}
void testRadialApplication(int scale)
{
cout << "Starting test: testRadialApplication ()" << endl;
RGB24Buffer *image = new RGB24Buffer(250 * scale, 400 * scale);
auto operation = [](int i, int j, RGBColor *pixel)
{
i = i / 100;
j = j / 200;
if ( (i % 2) && (j % 2)) *pixel = RGBColor::Green();
if (!(i % 2) && (j % 2)) *pixel = RGBColor::Yellow();
if ( (i % 2) && !(j % 2)) *pixel = RGBColor::Red();
if (!(i % 2) && !(j % 2)) *pixel = RGBColor::Blue();
};
touchOperationElementwize(image, operation);
LensDistortionModelParameters deformator;
deformator.setPrincipalX(image->w / 2);
deformator.setPrincipalY(image->h / 2);
deformator.setTangentialX(0.000001);
deformator.setTangentialY(0.000001);
deformator.setAspect(1.0);
deformator.setScale(1.0);
deformator.mKoeff.push_back( 0.0001);
deformator.mKoeff.push_back(-0.00000002);
deformator.mKoeff.push_back( 0.00000000000003);
RadialCorrection T(deformator);
PreciseTimer timer;
/**
* 1. Compute reverse image
*
* Radial coorection stores transformation from real image to ideal.
* However to transform buffer we need to find inverse image of the pixel
*
* We can either compute the inverse with the "analytical method" -
* the example is in testRadialInversion()
*
* Or cache the inverse like we are doing here
*
**/
cout << "Starting deformation inversion... " << flush;
timer = PreciseTimer::currentTime();
DisplacementBuffer *inverse = DisplacementBuffer::CacheInverse(&T,
image->h, image->w,
0.0,0.0,
(double)image->w, (double)image->h, 0.5
);
cout << "done in: " << timer.usecsToNow() << "us" << endl;
cout << "Applying deformation inversion... " << flush;
timer = PreciseTimer::currentTime();
RGB24Buffer *deformed = image->doReverseDeformationBlTyped<DisplacementBuffer>(inverse);
cout << "done in: " << timer.usecsToNow() << "us" << endl;
/**
* 2. We have 4 ways to invert the transform.
* 1. Apply T directly
* 2. Create distortion buffer that will cache the invert
*
**/
/*2.1*/
cout << "Applying forward deformation... " << flush;
timer = PreciseTimer::currentTime();
RGB24Buffer *corrected21 = deformed->doReverseDeformationBlTyped<RadialCorrection>(&T);
cout << "done in: " << timer.usecsToNow() << "us" << endl;
RGB24Buffer *diff21 = RGB24Buffer::diff(image, corrected21);
/*2.2*/
cout << "Preparing forward deformation cache... " << flush;
timer = PreciseTimer::currentTime();
DisplacementBuffer *forward = new DisplacementBuffer(&T, image->h, image->w, false);
cout << "done in: " << timer.usecsToNow() << "us" << endl;
cout << "Applying forward deformation cache... " << flush;
timer = PreciseTimer::currentTime();
RGB24Buffer *corrected22 = deformed->doReverseDeformationBlTyped<DisplacementBuffer>(forward);
cout << "done in: " << timer.usecsToNow() << "us" << endl;
RGB24Buffer *diff22 = RGB24Buffer::diff(image, corrected22);
BMPLoader().save("input.bmp" , image);
BMPLoader().save("forward.bmp" , deformed);
BMPLoader().save("backward-direct.bmp" , corrected21);
BMPLoader().save("backward-direct-diff.bmp" , diff21);
BMPLoader().save("backward-cached.bmp" , corrected22);
BMPLoader().save("backward-cached-diff.bmp" , diff22);
delete_safe(image);
delete_safe(deformed);
delete_safe(forward);
delete_safe(inverse);
delete_safe(diff21);
delete_safe(diff22);
delete_safe(corrected21);
delete_safe(corrected22);
}
void testRadialInversion(int scale)
{
RGB24Buffer *image = new RGB24Buffer(250 * scale, 400 * scale);
auto operation = [](int i, int j, RGBColor *pixel)
{
i = i / 100;
j = j / 200;
if ( (i % 2) && (j % 2)) *pixel = RGBColor::Green();
if (!(i % 2) && (j % 2)) *pixel = RGBColor::Yellow();
if ( (i % 2) && !(j % 2)) *pixel = RGBColor::Red();
if (!(i % 2) && !(j % 2)) *pixel = RGBColor::Blue();
};
touchOperationElementwize(image, operation);
#if 0
LensDistortionModelParameters deformator;
deformator.setPrincipalX(image->w / 2);
deformator.setPrincipalY(image->h / 2);
deformator.setNormalizingFocal(deformator.principalPoint().l2Metric());
deformator.setTangentialX(0.001);
deformator.setTangentialY(0.001);
deformator.setAspect(1.0);
deformator.setScale(1.0);
deformator.mKoeff.push_back( 0.1);
deformator.mKoeff.push_back(-0.2);
deformator.mKoeff.push_back( 0.3);
#else
LensDistortionModelParameters deformator;
deformator.setMapForward(false);
deformator.setPrincipalX(480);
deformator.setPrincipalY(360);
deformator.setNormalizingFocal(734.29999999999995);
deformator.setTangentialX(0.00);
deformator.setTangentialY(0.00);
deformator.setShiftX(0.00);
deformator.setShiftY(0.00);
deformator.setAspect(1.0);
deformator.setScale (1.0);
deformator.mKoeff.clear();
deformator.mKoeff.push_back( 0);
deformator.mKoeff.push_back( -0.65545);
deformator.mKoeff.push_back( 0);
deformator.mKoeff.push_back( 8.2439);
// deformator.mKoeff.push_back( 0);
// deformator.mKoeff.push_back( 8.01);
#endif
RadialCorrection T(deformator);
PreciseTimer timer;
cout << "Initial deformation... " << endl;
cout << T.mParams << flush;;
cout << "Starting deformation... " << flush;
timer = PreciseTimer::currentTime();
RGB24Buffer *deformed = image->doReverseDeformationBlTyped<RadialCorrection>(&T);
cout << "done in: " << timer.usecsToNow() << "us" << endl;
/* */
int inversionGridStep = 30;
cout << "Starting invertion... " << flush;
RadialCorrection invert = T.invertCorrection(image->h, image->w, inversionGridStep);
cout << "done" << endl;
cout << "Starting backprojection... " << flush;
timer = PreciseTimer::currentTime();
RGB24Buffer *backproject = deformed->doReverseDeformationBlTyped<RadialCorrection>(&invert);
cout << "done in: " << timer.usecsToNow() << "us" << endl;
cout << "done" << endl;
RGB24Buffer *debug = new RGB24Buffer(image->getSize());
/* Show visual */
double dh = (double)image->h / (inversionGridStep - 1);
double dw = (double)image->w / (inversionGridStep - 1);
for (int i = 0; i < inversionGridStep; i++)
{
for (int j = 0; j < inversionGridStep; j++)
{
Vector2dd point(dw * j, dh * i);
debug->drawCrosshare1(point, RGBColor::Yellow());
Vector2dd deformed = T.mapToUndistorted(point); /* this could be cached */
Vector2dd backproject = invert.mapToUndistorted(deformed);
debug->drawCrosshare1(backproject, RGBColor::Green());
}
}
BMPLoader().save("input.bmp" , image);
BMPLoader().save("debug.bmp" , debug);
BMPLoader().save("forward.bmp" , deformed);
BMPLoader().save("backproject.bmp", backproject);
delete_safe(image);
delete_safe(debug);
delete_safe(deformed);
delete_safe(backproject);
}
