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fix: optimization "DepthImage" algorithm stage #47

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merged 6 commits into from
Oct 20, 2023
Merged

fix: optimization "DepthImage" algorithm stage #47

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4f3604f
fix: Fixed syntax errors and the use of objects in OpenMP
LevDenisov Sep 2, 2023
f98127d
fix: add std::move
LevDenisov Sep 6, 2023
2dbfcd6
Merge branch 'prime-slam:stable' into stable
LevDenisov Oct 5, 2023
0b27b3a
fix: The initialization of the structure was made to the constructor …
LevDenisov Oct 17, 2023
559f938
fix: the name of the private field of the class has been changed
LevDenisov Oct 20, 2023
9be23db
fix: fixed access to class fields
LevDenisov Oct 20, 2023
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5 changes: 5 additions & 0 deletions cpp/deplex/include/deplex/utils/depth_image.h
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Original file line number Diff line number Diff line change
Expand Up @@ -44,10 +44,15 @@ class DepthImage {
*/
Eigen::MatrixX3f toPointCloud(Eigen::Matrix3f const& intrinsics) const;

void reset(std::string const& image_path);

private:
std::unique_ptr<unsigned short> image_;
int32_t width_;
int32_t height_;

Eigen::VectorXf column_indices_;
Eigen::VectorXf row_indices_;
};
} // namespace utils
} // namespace deplex
32 changes: 24 additions & 8 deletions cpp/deplex/src/deplex/utils/depth_image.cpp
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Expand Up @@ -34,31 +34,47 @@ DepthImage::DepthImage(std::string const& image_path) : width_(0), height_(0) {
throw std::runtime_error("Error: Couldn't read image " + image_path);
}
image_.reset(data_ptr);

column_indices_ = Eigen::VectorXf::LinSpaced(width_, 0.0, width_ - 1).replicate(height_, 1);
row_indices_ = Eigen::VectorXf::LinSpaced(height_, 0.0, height_ - 1).replicate(1, width_).reshaped<Eigen::RowMajor>();
}

void DepthImage::reset(std::string const& image_path) {
int32_t actual_channels = 0;
auto data_ptr = stbi_load_16(image_path.c_str(), &width_, &height_, &actual_channels, STBI_grey);
if (data_ptr == nullptr) {
throw std::runtime_error("Error: Couldn't read image " + image_path);
}
image_.reset(data_ptr);
}

int32_t DepthImage::getWidth() const { return width_; }

int32_t DepthImage::getHeight() const { return height_; }

Eigen::MatrixX3f DepthImage::toPointCloud(Eigen::Matrix3f const& intrinsics) const {
Eigen::VectorXf column_indices = Eigen::VectorXf::LinSpaced(width_, 0.0, width_ - 1).replicate(height_, 1);
Eigen::VectorXf row_indices =
Eigen::VectorXf::LinSpaced(height_, 0.0, height_ - 1).replicate(1, width_).reshaped<Eigen::RowMajor>();

Eigen::Matrix<float, Eigen::Dynamic, 3, Eigen::RowMajor> pcd_points(width_ * height_, 3);

float fx = intrinsics.row(0)[0];
float fy = intrinsics.row(1)[1];
float cx = intrinsics.row(0)[2];
float fy = intrinsics.row(1)[1];
float cy = intrinsics.row(1)[2];

typedef std::remove_reference<decltype(*image_)>::type t_image;
pcd_points.col(2) = Eigen::Map<Eigen::Vector<t_image, Eigen::Dynamic>>(image_.get(), width_ * height_).cast<float>();
pcd_points.col(0) = (column_indices.array() - cx) * pcd_points.col(2).array() / fx;
pcd_points.col(1) = (row_indices.array() - cy) * pcd_points.col(2).array() / fy;

#pragma omp parallel default(none) shared(pcd_points, column_indices, row_indices, cx, cy, fx, fy)
{
#pragma omp sections
{
#pragma omp section
{ pcd_points.col(0) = (column_indices_.array() - cx) * pcd_points.col(2).array() / fx; }
#pragma omp section
{ pcd_points.col(1) = (row_indices_.array() - cy) * pcd_points.col(2).array() / fy; }
}
}

return pcd_points;
}

} // namespace utils
} // namespace deplex