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[apriltag_demo] improving perf testing #218

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[apriltag_demo] improving perf testing #218

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9 changes: 4 additions & 5 deletions common/timeprofile.h
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Original file line number Diff line number Diff line change
Expand Up @@ -93,17 +93,16 @@ static inline void timeprofile_display(timeprofile_t *tp)

zarray_get_volatile(tp->stamps, i, &stamp);

double cumtime = (stamp->utime - tp->utime)/1000000.0;

double parttime = (stamp->utime - lastutime)/1000000.0;
double cumtime = (stamp->utime - tp->utime) / 1000000.0;
double parttime = (stamp->utime - lastutime) / 1000000.0;

printf("%2d %32s %15f ms %15f ms\n", i, stamp->name, parttime*1000, cumtime*1000);

lastutime = stamp->utime;
}
}

static inline uint64_t timeprofile_total_utime(timeprofile_t *tp)
static inline uint64_t timeprofile_total_ms(timeprofile_t *tp)
{
if (zarray_size(tp->stamps) == 0)
return 0;
Expand All @@ -112,7 +111,7 @@ static inline uint64_t timeprofile_total_utime(timeprofile_t *tp)
zarray_get_volatile(tp->stamps, 0, &first);
zarray_get_volatile(tp->stamps, zarray_size(tp->stamps) - 1, &last);

return last->utime - first->utime;
return (last->utime - first->utime) / 1000.0;
}

#ifdef __cplusplus
Expand Down
206 changes: 106 additions & 100 deletions example/apriltag_demo.c
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Original file line number Diff line number Diff line change
Expand Up @@ -44,10 +44,11 @@ either expressed or implied, of the Regents of The University of Michigan.
#include "tagStandard41h12.h"
#include "tagStandard52h13.h"

// This demo program is also used to profile and test the internals of the apriltag library, the internals should
// under normal usage not be used.
#include "common/getopt.h"
#include "common/image_u8.h"
#include "common/pjpeg.h"
#include "common/zarray.h"

// Invoke:
//
Expand Down Expand Up @@ -101,143 +102,148 @@ int main(int argc, char *argv[])

apriltag_detector_t *td = apriltag_detector_create();
apriltag_detector_add_family_bits(td, tf, getopt_get_int(getopt, "hamming"));
td->quad_decimate = getopt_get_double(getopt, "decimate");
td->quad_sigma = getopt_get_double(getopt, "blur");
td->nthreads = getopt_get_int(getopt, "threads");
td->debug = getopt_get_bool(getopt, "debug");
td->refine_edges = getopt_get_bool(getopt, "refine-edges");

// Demo program parameters
int quiet = getopt_get_bool(getopt, "quiet");

int maxiters = getopt_get_int(getopt, "iters");

const int hamm_hist_max = 10;

for (int iter = 0; iter < maxiters; iter++) {

int total_quads = 0;
int total_hamm_hist[hamm_hist_max];
memset(total_hamm_hist, 0, sizeof(total_hamm_hist));
double total_time = 0;

if (maxiters > 1)
printf("iter %d / %d\n", iter + 1, maxiters);

for (int input = 0; input < zarray_size(inputs); input++) {

int hamm_hist[hamm_hist_max];
memset(hamm_hist, 0, sizeof(hamm_hist));

char *path;
zarray_get(inputs, input, &path);
if (!quiet)
printf("loading %s\n", path);
else
printf("%20s ", path);

image_u8_t *im = NULL;
if (str_ends_with(path, "pnm") || str_ends_with(path, "PNM") ||
str_ends_with(path, "pgm") || str_ends_with(path, "PGM"))
im = image_u8_create_from_pnm(path);
else if (str_ends_with(path, "jpg") || str_ends_with(path, "JPG")) {
int err = 0;
pjpeg_t *pjpeg = pjpeg_create_from_file(path, 0, &err);
if (pjpeg == NULL) {
printf("pjpeg failed to load: %s, error %d\n", path, err);
continue;
}
// Load the source images
zarray_t *images = zarray_create(sizeof(image_u8_t*));

for (int input = 0; input < zarray_size(inputs); input++) {
char *path = NULL;
zarray_get(inputs, input, &path);
if (!quiet)
printf("loading %s\n", path);
else
printf("%20s ", path);


image_u8_t *im = NULL;
if (str_ends_with(path, "pnm") || str_ends_with(path, "PNM") ||
str_ends_with(path, "pgm") || str_ends_with(path, "PGM"))
im = image_u8_create_from_pnm(path);
else if (str_ends_with(path, "jpg") || str_ends_with(path, "JPG")) {
int err = 0;
pjpeg_t *pjpeg = pjpeg_create_from_file(path, 0, &err);
if (pjpeg == NULL) {
printf("pjpeg failed to load: %s, error %d\n", path, err);
continue;
}

if (1) {
im = pjpeg_to_u8_baseline(pjpeg);
} else {
printf("illumination invariant\n");
if (1) {
im = pjpeg_to_u8_baseline(pjpeg);
} else {
printf("illumination invariant\n");

image_u8x3_t *imc = pjpeg_to_u8x3_baseline(pjpeg);
image_u8x3_t *imc = pjpeg_to_u8x3_baseline(pjpeg);

im = image_u8_create(imc->width, imc->height);
im = image_u8_create(imc->width, imc->height);

for (int y = 0; y < imc->height; y++) {
for (int x = 0; x < imc->width; x++) {
double r = imc->buf[y*imc->stride + 3*x + 0] / 255.0;
double g = imc->buf[y*imc->stride + 3*x + 1] / 255.0;
double b = imc->buf[y*imc->stride + 3*x + 2] / 255.0;
for (int y = 0; y < imc->height; y++) {
for (int x = 0; x < imc->width; x++) {
double r = imc->buf[y * imc->stride + 3 * x + 0] / 255.0;
double g = imc->buf[y * imc->stride + 3 * x + 1] / 255.0;
double b = imc->buf[y * imc->stride + 3 * x + 2] / 255.0;

double alpha = 0.42;
double v = 0.5 + log(g) - alpha*log(b) - (1-alpha)*log(r);
int iv = v * 255;
if (iv < 0)
iv = 0;
if (iv > 255)
iv = 255;
double alpha = 0.42;
double v = 0.5 + log(g) - alpha * log(b) - (1 - alpha) * log(r);
int iv = v * 255;
if (iv < 0)
iv = 0;
if (iv > 255)
iv = 255;

im->buf[y*im->stride + x] = iv;
}
im->buf[y * im->stride + x] = iv;
}
image_u8x3_destroy(imc);
if (td->debug)
image_u8_write_pnm(im, "debug_invariant.pnm");
}

pjpeg_destroy(pjpeg);
image_u8x3_destroy(imc);
if (td->debug)
image_u8_write_pnm(im, "debug_invariant.pnm");
}

if (im == NULL) {
printf("couldn't load %s\n", path);
continue;
}
pjpeg_destroy(pjpeg);
}

printf("image: %s %dx%d\n", path, im->width, im->height);
if (im == NULL) {
printf("couldn't load %s\n", path);
continue;
}
zarray_add(images, &im);
printf("loaded image: %s %dx%d\n", path, im->width, im->height);
}

zarray_t *detections = apriltag_detector_detect(td, im);
int total_quads = 0;
int total_detections = 0;
int total_hamm_hist[hamm_hist_max];
memset(total_hamm_hist, 0, sizeof(total_hamm_hist));
double total_time = 0;

for (int i = 0; i < zarray_size(detections); i++) {
apriltag_detection_t *det;
zarray_get(detections, i, &det);
for (int iter = 0; iter < maxiters; iter++) {
if (maxiters > 1 && (iter % 100) == 0)
printf("iter %d / %d\n", iter + 1, maxiters);

if (!quiet)
printf("detection %3d: id (%2dx%2d)-%-4d, hamming %d, margin %8.3f\n",
i, det->family->nbits, det->family->h, det->id, det->hamming, det->decision_margin);
image_u8_t *im = NULL;
for (int i = 0; i < zarray_size(images); ++i) {
zarray_get(images, i, &im);
int hamm_hist[hamm_hist_max];
memset(hamm_hist, 0, sizeof(hamm_hist));

zarray_t *detections = apriltag_detector_detect(td, im);
int sz = zarray_size(detections);
total_detections += sz;
for (int di = 0; di < sz; ++di) {
apriltag_detection_t *det;
zarray_get(detections, di, &det);
if (!quiet) {
printf("detection %3d: id (%2dx%2d)-%-4d, hamming %d, margin %8.3f\n",
di, det->family->nbits, det->family->h, det->id, det->hamming, det->decision_margin);
}
hamm_hist[det->hamming]++;
total_hamm_hist[det->hamming]++;
}

apriltag_detections_destroy(detections);

if (!quiet) {
timeprofile_display(td->tp);
}

total_quads += td->nquads;
double t = timeprofile_total_ms(td->tp);
total_time += t;

if (!quiet)
if (!quiet) {
printf("hamm ");

for (int i = 0; i < hamm_hist_max; i++)
printf("%5d ", hamm_hist[i]);

double t = timeprofile_total_utime(td->tp) / 1.0E3;
total_time += t;
printf("%12.3f ", t);
printf("%5d", td->nquads);
for (int hi = 0; hi < hamm_hist_max; hi++)
printf("%5d ", hamm_hist[hi]);

printf("\n");
printf("\ntime %.2fms ", t);
printf("quads %5d", td->nquads);

image_u8_destroy(im);
printf("\n");
}
}


printf("Summary\n");

printf("hamm ");

for (int i = 0; i < hamm_hist_max; i++)
printf("%5d ", total_hamm_hist[i]);
printf("%12.3f ", total_time);
printf("%5d", total_quads);
printf("\n");

}
printf("Summary\n");
printf("hamm ");
for (int hi = 0; hi < hamm_hist_max; hi++)
printf("%5d ", total_hamm_hist[hi]);
printf("\ntime %.2fms ", total_time);
printf("avg_time %.2fms ", total_time / maxiters);
printf("quads %5d ", total_quads);
printf("avg_quads %5d ", total_quads / maxiters);
printf("detections %5d ", total_detections);
printf("avg_detections %5d", total_detections / maxiters);
printf("\n");
for (int i = 0 ; i < zarray_size(images); ++i) {
image_u8_t *im;
zarray_get(images, i, &im);
image_u8_destroy(im);
}
zarray_destroy(images);

// don't deallocate contents of inputs; those are the argv
apriltag_detector_destroy(td);
Expand Down