got 370 fps with pixels calc (previous was for pixels / 4)

6 files changed, 72 insertions, 26 deletions

diff --git a/src/camera/innomakerov9281.cpp b/src/camera/innomakerov9281.cpp
index 01f485d..184601a 100644
--- a/src/camera/innomakerov9281.cpp
+++ b/src/camera/innomakerov9281.cpp
@@ -33,6 +33,7 @@ extern uint64_t corr_elapsed_ns;
 extern uint64_t max_elapsed_ns;
 extern uint64_t value_elapsed_ns;
 extern uint64_t rot_elapsed_ns;
+extern uint64_t pix_elapsed_ns;
 extern uint64_t dropped_count;
 
 // constexpr char videoDevice[] = "/dev/video0";
@@ -426,7 +427,8 @@ bool InnoMakerOV9281::getImage(size_t &imageIndex)
     if (elapsedTime > 1000.)
     {
         fprintf(stderr,
-                "fps: %d\tdropped: %d\tsec: %d\tdq: %d\tget: %d\trot: %d\tsum: %d,\tcorr: "
+                "fps: %d\tdropped: %d\tsec: %d\t"
+                "dq: %d\tget: %d\trot: %d\tpix: %d\tsum: %d,\tcorr: "
                 "%d,\tval: %d\n",
                 counter,
                 dropped_count,
@@ -434,6 +436,7 @@ bool InnoMakerOV9281::getImage(size_t &imageIndex)
                 dq_elapsed_ns / 1000 / counter,
                 get_elapsed_ns / 1000 / counter,
                 rot_elapsed_ns / 1000 / counter,
+                pix_elapsed_ns / 1000 / counter,
                 sum_elapsed_ns / 1000 / counter,
                 corr_elapsed_ns / 1000 / counter,
                 // max_elapsed_ns / 1000 / counter,
@@ -446,6 +449,7 @@ bool InnoMakerOV9281::getImage(size_t &imageIndex)
         max_elapsed_ns = 0;
         value_elapsed_ns = 0;
         rot_elapsed_ns = 0;
+        pix_elapsed_ns = 0;
         dropped_count = 0;
 
         counter = 0;
diff --git a/src/camera/veyeimx287m.cpp b/src/camera/veyeimx287m.cpp
index c821997..dee3c6a 100644
--- a/src/camera/veyeimx287m.cpp
+++ b/src/camera/veyeimx287m.cpp
@@ -33,6 +33,7 @@ extern uint64_t corr_elapsed_ns;
 extern uint64_t max_elapsed_ns;
 extern uint64_t value_elapsed_ns;
 extern uint64_t rot_elapsed_ns;
+extern uint64_t pix_elapsed_ns;
 extern uint64_t dropped_count;
 
 // constexpr char videoDevice[] = "/dev/video0";
@@ -356,6 +357,8 @@ void VeyeIMX287m::dequeueFrameLoop(std::stop_token stopToken)
 
 void VeyeIMX287m::calcFrameLoop(std::stop_token stopToken)
 {
+    QElapsedTimer t;
+
     while (!stopToken.stop_requested()) {
         size_t bufferIdx{};
 
@@ -368,7 +371,6 @@ void VeyeIMX287m::calcFrameLoop(std::stop_token stopToken)
         auto &image = m_images[bufferIdx];
 
         {
-            QElapsedTimer t;
             t.start();
             // std::lock_guard buffer_lock{m_bufferMutexes[bufferIdx]};
             memcpy(&image.data, m_videoBuffers[bufferIdx], img_size);
@@ -378,7 +380,7 @@ void VeyeIMX287m::calcFrameLoop(std::stop_token stopToken)
         image.rotate();
         image.pixels();
 
-        setCamParam(V4L2_CID_EXPOSURE, 18);
+        // setCamParam(V4L2_CID_EXPOSURE, 18);
     }
 }
 
@@ -396,14 +398,16 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
 
     if (elapsedTime > 1000.) {
         fprintf(stderr,
-                "fps: %d\tdropped: %d\tsec: %d\tdq: %d\tget: %d\trot: %d\tsum: %d,\tcorr: "
-                "%d,\tval: %d\n",
+                "fps: %d\tdropped: %d sec: %d "
+                "dq: %d get: %d rot: %d pix: %d sum: %d corr: "
+                "%d val: %d\n",
                 counter,
                 dropped_count,
                 curr.tv_sec % 1000,
                 dq_elapsed_ns / 1000 / counter,
                 get_elapsed_ns / 1000 / counter,
                 rot_elapsed_ns / 1000 / counter,
+                pix_elapsed_ns / 1000 / counter,
                 sum_elapsed_ns / 1000 / counter,
                 corr_elapsed_ns / 1000 / counter,
                 // max_elapsed_ns / 1000 / counter,
@@ -416,6 +420,7 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
         max_elapsed_ns = 0;
         value_elapsed_ns = 0;
         rot_elapsed_ns = 0;
+        pix_elapsed_ns = 0;
         dropped_count = 0;
 
         counter = 0;
diff --git a/src/constants.h b/src/constants.h
index ba17382..303e728 100644
--- a/src/constants.h
+++ b/src/constants.h
@@ -16,7 +16,7 @@ constexpr size_t img_height = 544;
 
 constexpr size_t img_size = img_width * img_height;
 
-constexpr uint32_t patternSize = 10;
+constexpr uint32_t patternSize = 16;
 
 constexpr float hardcodedZRangeMm{175.f};
 constexpr size_t calibrationTableHeight{0x4000}; // 16384
diff --git a/src/image.cpp b/src/image.cpp
index e22c9bb..f0c16aa 100644
--- a/src/image.cpp
+++ b/src/image.cpp
@@ -16,12 +16,14 @@ uint64_t corr_elapsed_ns = 0;
 uint64_t max_elapsed_ns = 0;
 uint64_t value_elapsed_ns = 0;
 uint64_t rot_elapsed_ns = 0;
+uint64_t pix_elapsed_ns = 0;
 uint64_t dropped_count = 0;
 
 // float process_column(const uint8_t (&column)[])
 // float process_column(const Image::row_t &column)
 float process_column(const Image::column_t &column)
 {
+    // Image::column_t c = column;
     start_timer(process_column);
     QElapsedTimer t;
     t.start();
@@ -39,11 +41,50 @@ float process_column(const Image::column_t &column)
     int32_t y1 = 0;
     int32_t y2 = 0;
 
+    static_assert((img_height % patternSize) == 0, "img_height % patternSize should be 0");
+    std::array<uint16_t, img_height / patternSize> sums;
+    uint16_t maxLALASum{0};
+    size_t maxLALAIdx{0};
+    // uint16_t sum{0};
+
+    for (size_t i = 0; i < img_height; i += patternSize) {
+        // const auto sum = std::accumulate(column.cbegin() + i,
+        //                                  column.cbegin() + i + patternSize,
+        //                                  0,
+        //                                  std::plus<uint16_t>());
+        uint16_t sum{0};
+
+        for (size_t j = i; j < i + patternSize; ++j)
+            sum += column[j];
+        // if ((i % patternSize) == 0)
+        //     sum = 0;
+        // sum += column[i];
+
+        // if (sum > 0xff)
+        // std::cout << sum << ' ';
+
+        if (sum > maxLALASum) {
+            maxLALASum = sum;
+            maxLALAIdx = i;
+        }
+    }
+
+    // maxLALAIdx = patternSize * 32 - 14; // crash
+    // maxLALAIdx = patternSize * 32 - 14; // no crash
+
+    maxLALAIdx = std::clamp(uint32_t(maxLALAIdx),
+                            uint32_t(patternSize),
+                            uint32_t(img_height - patternSize * 2 - 14));
+
+    // std::cout << maxLALAIdx << ' ';
     memset(correlation, 0, img_height * sizeof(correlation[0]));
     // memset(correlation, 0, patternSize / 2);
-    integralSum[0] = 0;
+    // integralSum[0] = 0;
+    // integralSum[maxLALAIdx] = 0;
+    memset(integralSum, 0, img_height * sizeof(integralSum[0]));
 
-    for (uint32_t i = 1; i < img_height; ++i) {
+    // for (uint32_t i = 1; i < img_height; ++i) {
+    for (uint32_t i = maxLALAIdx + 1; i < maxLALAIdx + patternSize * 3; ++i) {
         integralSum[i] = column[i] + integralSum[i - 1];
     }
 
@@ -51,7 +92,8 @@ float process_column(const Image::column_t &column)
     t.restart();
 
     // pixel * <sum of neighbours>
-    for (uint32_t i = 0; i < correlationSize; ++i)
+    // for (uint32_t i = 0; i < correlationSize; ++i)
+    for (uint32_t i = maxLALAIdx; i < maxLALAIdx + patternSize * 2; ++i)
         correlation[i + patternSize / 2] = column[i + patternSize / 2]
                                            * (integralSum[i + patternOffset] - integralSum[i]);
     // * (integralSum[i + patternSize] - integralSum[i]);
@@ -59,7 +101,8 @@ float process_column(const Image::column_t &column)
     corr_elapsed_ns += t.nsecsElapsed();
     t.restart();
 
-    for (uint32_t i = 3; i < img_height - 2; ++i) {
+    // for (uint32_t i = 3; i < img_height - 2; ++i) {
+    for (uint32_t i = maxLALAIdx + 3; i < maxLALAIdx + patternSize * 3 - 2; ++i) {
         // p - pixel, n - neighbour
         // P - pixel used in sum, N - neighbour used in sum
         // [N P N]
@@ -109,7 +152,6 @@ float process_column(const Image::column_t &column)
 
 void Image::rotate()
 {
-    QElapsedTimer t;
     t.start();
 
     for (size_t j = 0; j < img_width; ++j) {
@@ -121,24 +163,16 @@ void Image::rotate()
     rot_elapsed_ns += t.nsecsElapsed();
 }
 
-Pixels Image::pixels() const
+Pixels Image::pixels()
 {
-    // auto result = std::make_shared<Pixels>();
+    t.start();
+
     Pixels result;
     result.counters = counters;
 
-    start_timer(process_columns);
-    // std::transform(std::execution::par_unseq,
-    //                rotated_cw.cbegin(),
-    //                rotated_cw.cend(),
-    //                result->pixels.begin(),
-    //                [](const auto &column) -> float { return process_column(column); });
+    std::transform(rotated_cw.cbegin(), rotated_cw.cend(), result.pixels.begin(), process_column);
 
-    // #pragma omp chunk
-    // #pragma omp parallel for
-    for (size_t i = 0; i < img_width / 4; i++) {
-        result.pixels[i] = process_column(rotated_cw[i]);
-    }
+    pix_elapsed_ns += t.nsecsElapsed();
 
     return result;
 }
diff --git a/src/image.h b/src/image.h
index 15b5daa..739c3fb 100644
--- a/src/image.h
+++ b/src/image.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <QElapsedTimer>
+
 #include "constants.h"
 #include "typedefs.h"
 
@@ -36,9 +38,10 @@ struct Image
     libcamera::PixelFormat pixelFormat{0};
     Counters counters{};
     bool hasInputData{false};
+    QElapsedTimer t;
 
     void rotate();
-    Pixels pixels() const;
+    Pixels pixels();
     void copyFromData(const void* src, size_t size);
 
 private:
diff --git a/src/main.cpp b/src/main.cpp
index e05262a..9548757 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -470,7 +470,7 @@ int main(int argc, char* argv[])
             return QHttpServerResponse::StatusCode::ServiceUnavailable;
         }
 
-        ::pixels = img.pixels();
+        ::pixels = std::move(img.pixels());
 
         std::lock_guard<std::mutex> lg(pgm_image_mtx);