int main( ){
printf("Initing all data...\n");
left = malloc( sizeof(uint32_t) * FLT_CNT );
if( !left ){
fprintf(stderr, "no mem!");
exit(1);
}
right = malloc( sizeof(uint32_t) * FLT_CNT );
if( !right ){
fprintf(stderr, "no mem!");
exit(1);
}
keys = malloc( sizeof(uint32_t) * KEYS_CNT );
if( !keys ){
fprintf(stderr, "no mem!");
exit(1);
}
int i;
srand(time(NULL));
fill_left();
qsort( left, FLT_CNT, sizeof(uint32_t), compare );
fill_right();
fill_keys();
volatile int r1;
volatile int r2;
uint32_t k;
printf("Data is inited.\nStarting test...\n");
struct timespec tstart={0,0}, tend={0,0};
clock_gettime(CLOCK_MONOTONIC, &tstart);
for( i = 0; i < KEYS_CNT; i++ ){
k = keys[i];
r1 = fast_test_key( k );
//r2 = slow_test_key( k );
//printf(">>> %u %d %d\n", k, r1, r2);
//assert( (r1 == r2) );
}
clock_gettime(CLOCK_MONOTONIC, &tend);
printf("Test took about %.5f seconds\n",
((double)tend.tv_sec + 1.0e-9*tend.tv_nsec) -
((double)tstart.tv_sec + 1.0e-9*tstart.tv_nsec));
return 0;
}
void fill_in_stick(cv::Mat & Disp_map,cv::Mat & Occ_map){
int width = Disp_map.cols;
int height = Disp_map.rows;
cv::Mat fill_left(height,width,CV_8UC1,cv::Scalar::all(0));
cv::Mat fill_right(height,width,CV_8UC1,cv::Scalar::all(0));
Disp_map.copyTo(fill_left);
Disp_map.copyTo(fill_right);
cv::Mat cur_fill(height,1,CV_8UC1,cv::Scalar::all(Disp_K));
for(int i=0;i<width;i++){
for(int j=0;j<height;j++){
if(Occ_map.data[j*width+i]==255)
fill_left.data[j*width+i] = cur_fill.data[j];
else
cur_fill.data[j] = fill_left.data[j*width+i];
}
}
cur_fill.setTo(cv::Scalar::all(Disp_K));
for(int i=width-1;i>-1;i--){
for(int j=0;j<height;j++){
if(Occ_map.data[j*width+i]==255)
fill_right.data[j*width+i] = cur_fill.data[j];
else
cur_fill.data[j] = fill_right.data[j*width+i];
}
}
cv::Mat disp_view(height,width,CV_8UC1,cv::Scalar::all(0));
for(int i=0;i<width;i++){
for(int j=0;j<height;j++){
Disp_map.data[j*width+i] = min(fill_left.data[j*width+i],fill_right.data[j*width+i]);
disp_view.data[j*width+i] = scale_K * Disp_map.data[j*width+i];
}
}
cv::namedWindow("disp",0);
cv::imshow("disp",disp_view);
cv::waitKey();
}
std::string to_string_fill_right(const std::string::value_type& filler,
std::size_t min_size, const T& x)
{
return fill_right(filler, min_size, std::to_string(x));
}