[apriltag_demo] improving perf testing #218
Open
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
When running multiple iterations we want to focus the profiling time on the core algorithm. This change separates image loading from detection. Each iteration is over each image. A summary is printed at the end. Of note is the improvement to running with -i N -q which allows iterations of 1000-10000 to be easily in a console on modest hardware. An additional cleanup to the called functions for profiling to include units for clarity. ``` ./apriltag_demo -i 1000 -q nori-5-640.jpg loaded image: nori-5-640.jpg 480x640 iter 1 / 1000 iter 101 / 1000 iter 201 / 1000 iter 301 / 1000 iter 401 / 1000 iter 501 / 1000 iter 601 / 1000 iter 701 / 1000 iter 801 / 1000 iter 901 / 1000 Summary hamm 1000 0 0 0 0 0 0 0 0 0 time 12700.00ms avg_time 12.70ms quads 18000 avg_quads 18 detections 1000 avg_detections 1 ```
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
When running multiple iterations we want to focus the profiling time on the core algorithm. This change separates image loading from detection. Each iteration is the array of loaded images. A summary is printed at the end.
Improvements to running with -i N -q which allows iterations
of 1000-10000 to be easily tested in a console on modest hardware and prevents measuring the print time (around .8ms on my machine)
An additional cleanup to the called functions for profiling to place them in ms for parity with the existing reporting.