implement and test camera prototype #16
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| double TicTocStatsTime(std::string query) { | ||
| tictoc_t tictocs = global_tic_toc_bank.GetLCM(); | ||
| // sort according to keys + find maximum channel name length | ||
| for (tictoc_channel_t &tictoc: tictocs.tictoc_channels) { | ||
| if (tictoc.name == query) | ||
| return ((TicTocStats)(tictoc.tictoc_stats)).TotalTime(); | ||
| } | ||
| return -1; // not found | ||
| } | ||
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make this a TicTocBank method, and for generalization purposes, return the entire stats for the channel. Key access should be hash mapped not queried.
| imwrite("./test.jpg", test_frame); | ||
| } | ||
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| void BenchmarkTest() { |
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Is this test necessary? It does not seem to verify the correctness of anything.
| std::vector<cv::Mat> _buffer; | ||
| mutex _index_lock; |
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| std::vector<cv::Mat> _buffer; | |
| mutex _index_lock; | |
| std::vector<cv::Mat> buffer_; | |
| std::mutex index_lock_; |
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| include(${LCM_USE_FILE}) # lcm related cmake helper functions | ||
| include_directories(${OpenCV_INLUCDE_DIRS}) # OpenCV headers |
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include_directories should not be used unless this is required for every source file. use target_include_directories instead, for the module that actually depends on it.
| * @param sleep time (in ms) to sleep between each capture. Default to zero | ||
| * @return none | ||
| */ | ||
| void _start_capture(unsigned int sleep = 0); |
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| void _start_capture(unsigned int sleep = 0); | |
| void start_capture_(unsigned int sleep = 0); |
| } | ||
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| void CameraBase::get_img(cv::Mat &dst) { | ||
| this->_index_lock.lock(); |
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consider using modern C++ lock guard instead of this raw locking mechanism
| // this can be potentially improved by taking (diminishing) tradeoff with thread safety | ||
| // but on Jetson TX2, this implementation already runs faster than 120fps | ||
| // which is faster than almost every camera... | ||
| this->_buffer[ind_to_read].copyTo(dst); |
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If the circular buffer is big enough and the processing frequency is faster than the circular capture frequency, we could get rid of this copy.
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