VisCortx_Tester now brute-force optimizes settings for the disparity …

…mapping :) , more work to be done on successfully classifying the ouput
AmmarkoV · Dec 13, 2012 · 941c990 · 941c990
1 parent 017d75c
commit 941c990
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Showing 5 changed files with 84 additions and 6 deletions.
diff --git a/VisualCortex/VisCortx_Tester/main.c b/VisualCortex/VisCortx_Tester/main.c
@@ -72,15 +72,92 @@ char * LoadRegisterFromFileInternal(char * filename,unsigned int * width,unsigne
 
 int DisparityMappingSettingsBenchmark()
 {
+    /*
+    VisCortx_SetSetting(DEPTHMAP_COMPARISON_THRESHOLD,4000);
+    VisCortx_SetSetting(DEPTHMAP_COMPARISON_THRESHOLD_LARGE_PATCH,4000);
+    VisCortx_SetSetting(DEPTHMAP_COMPARISON_THRESHOLD_EXTRALARGE_PATCH,4000);
+    VisCortx_SetSetting(DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_RIGHT,9);
+    VisCortx_SetSetting(DEPTHMAP_COMPARISON_DECIDES_FOR_MORE_PIXELS_DOWN,18);
+    VisCortx_SetSetting(DEPTHMAP_INSTANT_DETAIL,2);
+    VisCortx_SetSetting(PATCH_COMPARISON_SCORE_MIN,33000);
+    VisCortx_SetSetting(PATCH_COMPARISON_EDGES_PERCENT_REQUIRED,3);
+    VisCortx_SetSetting(PATCH_COMPARISON_EDGES_PERCENT_REQUIRED_LARGE_PATCH,5);
+    VisCortx_SetSetting(PATCH_COMPARISON_EDGES_PERCENT_REQUIRED_EXTRALARGE_PATCH,8);
+    VisCortx_SetSetting(PATCH_HIST_THRESHOLD_R,7);
+    VisCortx_SetSetting(PATCH_HIST_THRESHOLD_G,7);
+    VisCortx_SetSetting(PATCH_HIST_THRESHOLD_B,7);
+
+
+    VisCortx_SetMetric(HORIZONTAL_BUFFER,9);
+    VisCortx_SetMetric(VERTICAL_BUFFER,9);
+    VisCortx_SetMetric(HORIZONTAL_BUFFER_LARGE,15);
+    VisCortx_SetMetric(VERTICAL_BUFFER_LARGE,15);
+    VisCortx_SetMetric(HORIZONTAL_BUFFER_EXTRALARGE,21);
+    VisCortx_SetMetric(VERTICAL_BUFFER_EXTRALARGE,21);*/
+
     VisCortx_FullDepthMap(0);
 
     ExecutePipeline();
 
     VisCortX_SaveVideoRegisterToFile(DEPTH_LEFT_VIDEO,out_filename);
 
-    VisCortx_GetMetric(DEPTHMAP_DELAY_MICROSECONDS);
+    unsigned int delay  = VisCortx_GetMetric(DEPTHMAP_DELAY_MICROSECONDS);
+    unsigned int coverage  = VisCortx_GetMetric(LAST_DEPTH_MAP_COVERAGE);
+    unsigned int too_close  = VisCortx_GetMetric(LAST_DEPTH_MAP_TOO_CLOSE_COVERAGE);
+
+    unsigned int wndx=VisCortx_GetMetric(HORIZONTAL_BUFFER);
+    unsigned int wndy=VisCortx_GetMetric(VERTICAL_BUFFER);
+    unsigned int wndx_l=VisCortx_GetMetric(HORIZONTAL_BUFFER_LARGE);
+    unsigned int wndy_l=VisCortx_GetMetric(VERTICAL_BUFFER_LARGE);
+    unsigned int wndx_xl=VisCortx_GetMetric(HORIZONTAL_BUFFER_EXTRALARGE);
+    unsigned int wndy_xl=VisCortx_GetMetric(VERTICAL_BUFFER_EXTRALARGE);
+
+    unsigned int best_window_step=0;
+    unsigned int window_step=0;
+
+    unsigned int best_detail=1;
+    unsigned int detail=1;
+
+ for (detail=1; detail<10; detail++)
+   {
+    for (window_step=1; window_step<10; window_step++)
+     {
+        VisCortx_SetMetric(HORIZONTAL_BUFFER,wndx+window_step);                 VisCortx_SetMetric(VERTICAL_BUFFER,wndy+window_step);
+        VisCortx_SetMetric(HORIZONTAL_BUFFER_LARGE,wndx_l+2*window_step);       VisCortx_SetMetric(VERTICAL_BUFFER_LARGE,wndy_l+2*window_step);
+        VisCortx_SetMetric(HORIZONTAL_BUFFER_EXTRALARGE,wndx_xl+3*window_step); VisCortx_SetMetric(VERTICAL_BUFFER_EXTRALARGE,wndy_xl+3*window_step);
+
+
+        VisCortx_FullDepthMap(0);
+
+        ExecutePipeline();
+
+
+        if (
+              ( delay < VisCortx_GetMetric(DEPTHMAP_DELAY_MICROSECONDS) ) &&
+              ( coverage < VisCortx_GetMetric(LAST_DEPTH_MAP_COVERAGE) ) &&
+              ( too_close < VisCortx_GetMetric(LAST_DEPTH_MAP_TOO_CLOSE_COVERAGE) )
+            )
+            {
+                VisCortX_SaveVideoRegisterToFile(DEPTH_LEFT_VIDEO,out_filename);
+
+                delay  = VisCortx_GetMetric(DEPTHMAP_DELAY_MICROSECONDS);
+                coverage  = VisCortx_GetMetric(LAST_DEPTH_MAP_COVERAGE);
+                too_close  = VisCortx_GetMetric(LAST_DEPTH_MAP_TOO_CLOSE_COVERAGE);
+
+                best_detail=detail;
+                best_window_step=window_step;
+            }
+     }
+   }
+
+
+  VisCortx_GetHyperVisorStatus(1,0,0);
+
+
+  fprintf(stderr,"Best Detail = %u \n",best_detail);
+  fprintf(stderr,"Best Window Step = %u \n",best_window_step);
+  fprintf(stderr,"Best output delay %u ms , coverage %u %% , too close %u %%\n",delay,coverage,too_close);
 
-    VisCortx_GetHyperVisorStatus(1,0,0);
 
 
 }

diff --git a/VisualCortex/VisCortx_Tester/runTest b/VisualCortex/VisCortx_Tester/runTest
@@ -17,6 +17,6 @@ time ./VisCortx_Tester "$TRIAL_NAME$EXT_0" "$TRIAL_NAME$EXT_1" "$TRIAL_NUMBER$SP
 TRIAL_NAME="huge"
 TRIAL_NUMBER="1"
 
-time ./VisCortx_Tester "$TRIAL_NAME$EXT_0" "$TRIAL_NAME$EXT_1" "$TRIAL_NUMBER$SP$TRIAL_NAME$GUARDDOG_LABEL$PPM"
+#time ./VisCortx_Tester "$TRIAL_NAME$EXT_0" "$TRIAL_NAME$EXT_1" "$TRIAL_NUMBER$SP$TRIAL_NAME$GUARDDOG_LABEL$PPM"
 
 exit 0
diff --git a/VisualCortex/VisionMemory.c b/VisualCortex/VisionMemory.c
@@ -96,7 +96,7 @@ void DefaultSettings()
 
     settings[DEPTHMAP_STARTLEFT_X]=48;// Just like OpenCV :P 16;
     settings[DEPTHMAP_DETAIL]=4;
-    settings[DEPTHMAP_EDGE_LOW_STRICTNESS]=35;
+    settings[DEPTHMAP_EDGE_LOW_STRICTNESS]=40;
     settings[DEPTHMAP_EDGE_HIGH_STRICTNESS]=255; // 255
     settings[DEPTHMAP_INSTANT_DETAIL]=2;
 

diff --git a/VisualCortex/VisualCortex.c b/VisualCortex/VisualCortex.c
@@ -161,6 +161,7 @@ void VisCortx_SetSetting(unsigned int set_num,unsigned int set_val)
     SetSetting(set_num,set_val);
 }
 
+
 void VisCortx_SetDefaultSettings()
 {
     SetDefaultSettings();

diff --git a/VisualCortex/VisualCortex.depend b/VisualCortex/VisualCortex.depend
@@ -180,14 +180,14 @@
 	"VisCortexHeuristics.h"
 	"VisionMemory.h"
 
-1355405170 source:/home/ammar/Documents/Programming/RoboVision/VisualCortex/VisionMemory.c
+1355406352 source:/home/ammar/Documents/Programming/RoboVision/VisualCortex/VisionMemory.c
 	"VisionMemory.h"
 	"Precalculations.h"
 	"VisCortexFilters.h"
 	"VisCortexTimer.h"
 	"StateSetting.h"
 
-1355045920 source:/home/ammar/Documents/Programming/RoboVision/VisualCortex/VisualCortex.c
+1355406747 source:/home/ammar/Documents/Programming/RoboVision/VisualCortex/VisualCortex.c
 	"VisualCortex.h"
 	"VisionMemory.h"
 	"Precalculations.h"