feat: changed the way the image is read

prime-slam · Oct 25, 2023 · a71553d · a71553d
1 parent 63998cc
commit a71553d
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Showing 3 changed files with 17 additions and 9 deletions.
diff --git a/benchmark/python-benchmark/benchmark_process_cloud.py b/benchmark/python-benchmark/benchmark_process_cloud.py
@@ -11,6 +11,7 @@
 config_path = data_dir / Path("config") / Path("TUM_fr3_long_val.ini")
 intrinsics_path = data_dir / Path("config") / Path("intrinsics.K")
 
+
 def benchmarkProcessCloud():
     NUMBER_OF_RUNS = 10
 
@@ -22,11 +23,13 @@ def benchmarkProcessCloud():
 
     print("Image Height:", image.height, "Image Width:", image.width, '\n')
 
+    coarse_algorithm = deplex.PlaneExtractor(image_height=image.height, image_width=image.width, config=config)
+
     for i in range(NUMBER_OF_RUNS):
         start_time = timeit.default_timer()
 
         pcd_points = image.transform_to_pcd(camera_intrinsic)
-        coarse_algorithm = deplex.PlaneExtractor(image_height=image.height, image_width=image.width, config=config)
+
         labels = coarse_algorithm.process(pcd_points)
 
         end_time = timeit.default_timer()
@@ -56,7 +59,8 @@ def benchmarkProcessCloud():
     print('Elapsed time (ms.) (mean):', f"{elapsed_time_mean:.5f}")
     print('FPS (max):', f"{1000 / elapsed_time_min:.5f}")
     print('FPS (min):', f"{1000 / elapsed_time_max:.5f}")
-    print('FPS (mean):', f"{1000 /elapsed_time_mean:.5f}")
+    print('FPS (mean):', f"{1000 / elapsed_time_mean:.5f}")
+
 
 if __name__ == '__main__':
-    benchmarkProcessCloud()
+    benchmarkProcessCloud()
diff --git a/benchmark/python-benchmark/benchmark_process_sequence.py b/benchmark/python-benchmark/benchmark_process_sequence.py
@@ -12,8 +12,9 @@
 config_path = data_dir / Path("config") / Path("TUM_fr3_long_val.ini")
 intrinsics_path = data_dir / Path("config") / Path("intrinsics.K")
 
+
 def benchmarkProcessSequence():
-    NUMBER_OF_SNAPSHOT = 50
+    NUMBER_OF_SNAPSHOT = 1
 
     execution_time = []
 
@@ -26,12 +27,13 @@ def benchmarkProcessSequence():
 
     print("Image Height:", image.height, "Image Width:", image.width, '\n')
 
+    coarse_algorithm = deplex.PlaneExtractor(image_height=image.height, image_width=image.width, config=config)
+
     for i in range(NUMBER_OF_SNAPSHOT):
         start_time = timeit.default_timer()
 
-        image = DepthImage(str(os.path.join(data_dir / Path("depth"), images[i])))
+        image.reset(str(os.path.join(data_dir / Path("depth"), images[i])))
         pcd_points = image.transform_to_pcd(camera_intrinsic)
-        coarse_algorithm = deplex.PlaneExtractor(image_height=image.height, image_width=image.width, config=config)
         labels = coarse_algorithm.process(pcd_points)
 
         end_time = timeit.default_timer()
@@ -61,7 +63,8 @@ def benchmarkProcessSequence():
     print('Elapsed time (ms.) (mean):', f"{elapsed_time_mean:.5f}")
     print('FPS (max):', f"{1000 / elapsed_time_min:.5f}")
     print('FPS (min):', f"{1000 / elapsed_time_max:.5f}")
-    print('FPS (mean):', f"{1000 /elapsed_time_mean:.5f}")
+    print('FPS (mean):', f"{1000 / elapsed_time_mean:.5f}")
+
 
 if __name__ == '__main__':
-    benchmarkProcessSequence()
+    benchmarkProcessSequence()
diff --git a/cpp/pybind/utils/utils.cpp b/cpp/pybind/utils/utils.cpp
@@ -31,6 +31,7 @@ void pybind_depth_image(py::module& m) {
       .def(py::init<std::string>(), py::arg("image_path"))
       .def_property_readonly("height", &utils::DepthImage::getHeight)
       .def_property_readonly("width", &utils::DepthImage::getWidth)
-      .def("transform_to_pcd", &utils::DepthImage::toPointCloud, py::arg("intrinsics"));
+      .def("transform_to_pcd", &utils::DepthImage::toPointCloud, py::arg("intrinsics"))
+      .def("reset", &utils::DepthImage::reset, py::arg("image_path"));
 }
 }  // namespace deplex