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RoboCup-SSL / ssl-vision

Shared Vision System For The RoboCup Small Size League
GNU General Public License v3.0
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WIP: High res camera support #118

Closed g3force closed 5 years ago

g3force commented 5 years ago

Branch, containing overall changes to get high resolution cameras running. This PR is not indented to be directly merged into master. It's just for reference. I'll split this into multiple PRs later.

g3force commented 5 years ago

Debayering a full image (2448x2048) with OpenCV takes 1.9ms on average with this code:

cv::Mat srcMat(height, width, CV_8UC1, data_buf);
cv::Mat dstMat(height, width, CV_8UC3, target.getData());
cvtColor(srcMat, dstMat, cv::COLOR_BayerBG2RGB);

Doing this on a quarter of the image takes 1.2ms. Both on a Intel(R) Core(TM) i7-4790K CPU @ 4.00GHz

joydeep-b commented 5 years ago

@g3force Can you profile that under valgrind to see if there is any large-scale memory allocation / deallocation happening? We should be able to reuse the same source / dest image buffers for each frame, to eliminate memory allocation slowdowns.

g3force commented 5 years ago

the opencv conversion does not allocate any extra memory, according to valgrind. I'm not sure how to check the rest of the vision code. Running valgrind on the vision executable produces a lot of output, then it crashes. I haven't expected much more, though, anyways... =D