From 091aa463efa4a75b8c55f509337e125bb8907f97 Mon Sep 17 00:00:00 2001
From: "simon.fanetti" <simon.fanetti@etu.hesge.ch>
Date: Tue, 11 Aug 2020 15:42:49 +0200
Subject: [PATCH] add reading perf file app
---
display_levels/Makefile | 4 +--
display_levels/display_levels.cpp | 44 ++++++-------------------------
display_levels/sandbox_conf.yaml | 4 +--
test_perf/read_output.py | 39 +++++++++++++++++++++++++++
4 files changed, 51 insertions(+), 40 deletions(-)
create mode 100644 test_perf/read_output.py
diff --git a/display_levels/Makefile b/display_levels/Makefile
index 9b7a7de..82f5ef5 100644
--- a/display_levels/Makefile
+++ b/display_levels/Makefile
@@ -1,6 +1,6 @@
-include ../../../ar_sandbox_lib/dep.mk
+include ../../ar_sandbox_lib/dep.mk
-API_PATH=../../../ar_sandbox_lib
+API_PATH=../../ar_sandbox_lib
CFLAGS=-std=c++11 -Wall -Wextra -g
CCP=g++
DBG_GPROF=-pg
diff --git a/display_levels/display_levels.cpp b/display_levels/display_levels.cpp
index f5b1f6a..5e25ca4 100644
--- a/display_levels/display_levels.cpp
+++ b/display_levels/display_levels.cpp
@@ -7,12 +7,7 @@
int main(){
Sandbox sandbox;
-
- // Default
- char *sandbox_conf_file = (char*)"../../sandbox_conf.yaml";
-
- // Debug
- //char * sandbox_conf_file = (char *)"../../../sandbox_conf.yaml";
+ char *sandbox_conf_file = (char*)"./sandbox_conf.yaml";
if(sandbox.loadConfig(sandbox_conf_file)){
std::cout << "Failed to load the configuration" << std::endl;
@@ -43,52 +38,29 @@ void displayLevels(Sandbox &sandbox, float top, float height){
cv::setWindowProperty(windowName, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
sandbox.captureFrame();
- cv::Mat depth_cache = sandbox.getDepthFrame();
- cv::Mat new_depth = cv::Mat(depth_cache.size(), CV_32F);
- cv::Mat colorized = cv::Mat(depth_cache.size(), CV_8UC3);
- cv::Mat_<cv::Vec3b> res = cv::Mat(depth_cache.size(), CV_8UC3);
+ cv::Mat1f depth_cache = sandbox.getDepthFrame();
+ cv::Mat1f new_depth = cv::Mat(depth_cache.size(), CV_32F);
+ cv::Mat3b colorized = cv::Mat(depth_cache.size(), CV_8UC3);
+ cv::Mat3b res = cv::Mat(depth_cache.size(), CV_8UC3);
//cv::Mat_<cv::Vec3b> img = cv::imread("index.png");
-
- //std::chrono::milliseconds start_ms = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch() );
- //int cpt_frame = 0;
- //double average = 0;
-
do{
- //for(int i=0; i<200; i++){
sandbox.captureFrame();
new_depth = sandbox.getDepthFrame();
+ // don't show what is above the top of sandox
+ depth_cache.copyTo( new_depth, (new_depth < top) );
+ // don't update little differences due to the camera depth captors
new_depth.copyTo( depth_cache, (cv::abs(depth_cache-new_depth) > DEPTH_MARGIN_ERROR) );
colorized = colorizeDepth(depth_cache, top, height);
cv::cvtColor(colorized, res, CV_RGB2BGR);
- //std::chrono::milliseconds start_adj_ms = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch() );
- //cv::Mat_<cv::Vec3b> result = sandbox.adjustProjection(res);
-
- //std::chrono::milliseconds now_adj_ms = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch() );
- //int time = (now_adj_ms - start_adj_ms).count();
- //average += time;
- //std::cout << time << std::endl;
-
res = sandbox.adjustProjection(res, depth_cache);
cv::imshow(windowName, res);
- /*
- cpt_frame++;
- std::chrono::milliseconds now_ms = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch() );
- if(now_ms-start_ms > std::chrono::milliseconds(1000)){
- std::cout << cpt_frame << std::endl;
- cpt_frame = 0;
- start_ms = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch() );
- }
- */
-
- //}
} while (cv::waitKey(10) != ESCAPE_CHAR);
- //std::cout << "Average " << average/200 << std::endl;
cv::destroyAllWindows();
}
diff --git a/display_levels/sandbox_conf.yaml b/display_levels/sandbox_conf.yaml
index 7b1aa6f..752bef5 100644
--- a/display_levels/sandbox_conf.yaml
+++ b/display_levels/sandbox_conf.yaml
@@ -11,8 +11,8 @@ CroppingMask:
width: 452
height: 338
BeamerResolution:
- width: 1024
- height: 768
+ width: 1400
+ height: 1050
BeamerPosition:
x: 0.05
y: 0.2
diff --git a/test_perf/read_output.py b/test_perf/read_output.py
new file mode 100644
index 0000000..a155945
--- /dev/null
+++ b/test_perf/read_output.py
@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+
+import sys
+
+times = [0,0,0,0]
+average = times
+average_fps = 0
+cnt = 0
+
+if(len(sys.argv) < 2):
+ print("Use case : ./exec [output_file_name]")
+ exit()
+
+with open(sys.argv[1]) as file:
+
+ lines = file.readlines()
+ for i in range(1, len(lines)):
+ line = lines[i]
+ cnt += 1
+ str_values = line.split(",")
+ values = [ int(v.rstrip("\n")) for v in str_values ]
+ for n in range(0, len(times)):
+ times[n] += values[n]
+
+
+if(cnt > 0):
+ average = [ float(time)/cnt for time in times ]
+ average_fps = 1000.0 / sum(average)
+
+
+print("Average times in ms :")
+print("Capture : {}".format(average[0]))
+print("Get depth frame : {}".format(average[1]))
+print("Get color frame : {}".format(average[2]))
+print("Adjust frame : {}".format(average[3]))
+print("With an average fps of : {}".format(average_fps))
+
+
+
--
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