public static extern void QTrkScheduleLocalization(IntPtr qtrk, void *data, int pitch, QTRK_PixelDataType pdt, LocalizationJob *jobInfo);
private unsafe void buttonSpeedTest_Click(object sender, EventArgs e)
{
// get lut
// rescale lut
// var lut = new Bitmap("lut000.jpg");
var dlg = new ProgressBarDlg();
dlg.Show(new Action(delegate
{
Bitmap lut = TrackerDlgUtils.Properties.Resources.lut000;
using (QTrkInstance inst = new QTrkInstance(TrackerConfiguration))
{
int total = Math.Max(100000, inst.GetMaxQueueLength() * 4);
Trace.WriteLine(string.Format("Max queue len: {1}, running benchmark with {0} images...", total, inst.GetMaxQueueLength()));
dlg.Update(0.0f, "Generating lookup table...", "Benchmark in progress");
GetTimestamp();
// use LUT to generate images for new rescaled lut table
var lutf = new FloatImg(lut, 0);
using (FloatImg img = QTrkUtil.RescaleAndSetLUT(inst, lutf, lut.Height)) { }
// make sample image
var cfg = inst.Config;
var sample = new FloatImg(cfg.config.width, cfg.config.height);
QTrkUtil.GenerateImageFromLUT(sample, lutf, cfg.config.ZLUT_minradius, cfg.zlut_maxradius, new Vector3(cfg.config.width / 2, cfg.config.height / 2, lutf.h / 2), false, 1);
dlg.Update(0.0f, "Running speed test...", "Benchmark in progress");
// measure tracking speed
double st = GetTimestamp();
ImageData imgd = sample.ImageData;
LocalizationJob job = new LocalizationJob();
LocalizationJob *pj = &job;
int lastUpdate = 0;
for (uint i = 0; i < total; i++)
{
pj->frame = i;
pj->zlutIndex = 0;
inst.ScheduleLocalization(ref imgd, pj);
int rc = inst.GetResultCount();
if (rc - lastUpdate > total / 20)
{
dlg.Update(rc / (float)total, "Running speed test...", "Benchmark in progress");
lastUpdate = rc;
}
}
double st0 = GetTimestamp();
inst.Flush();
// wait for results
while (true)
{
System.Threading.Thread.Sleep(20);
int rc = inst.GetResultCount();
if (rc - lastUpdate > total / 20)
{
dlg.Update(rc / (float)total, "Running speed test...", "Benchmark in progress");
lastUpdate = rc;
}
if (rc == total)
{
break;
}
}
double end = GetTimestamp();
double fps = total / (end - st);
double scheduleTime = (st0 - st) * 1000;
Trace.WriteLine(string.Format("Scheduling time: {0} ms. Per frame: {1} us. Scheduling FPS={2}. Processing FPS={3}",
(int)scheduleTime, (int)(scheduleTime / total * 1000), (int)(total / (st0 - st)), (int)fps));
Invoke(new Action(delegate { labelSpeedResults.Text = string.Format("{0} frames processed in {1} ms. \nFPS={2}",
total, (int)((end - st) * 1000), (int)fps); }));
var results = new LocalizationResult[total];
inst.GetResults(results);
for (int i = 0; i < 10; i++)
{
Vector3 p = results[i].pos;
Trace.WriteLine(string.Format("x={0}, y={1}, z={2}", p.x, p.y, p.z));
}
sample.Dispose();
}
lut.Dispose();
}));
}
public void ScheduleLocalization(ref ImageData img, LocalizationJob *job)
{
QTrkDLL.QTrkScheduleLocalization(inst, img.data, img.Pitch, QTRK_PixelDataType.Float, job);
}
