Performance optimization for Align post processing block #2040
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aangerma
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ev-mp
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Jul 16, 2018
src/proc/align.cpp
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| @@ -310,13 +683,33 @@ namespace librealsense | |||
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| byte* other_aligned_to_depth = const_cast<byte*>(aligned_frame.frame->get_frame_data()); | |||
| memset(other_aligned_to_depth, 0, depth_intrinsics.height * depth_intrinsics.width * aligned_bytes_per_pixel); | |||
| #ifdef __SSSE3__ | |||
| auto uid = other_frame->get_stream()->get_unique_id(); | |||
src/proc/align.cpp
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| auto data = (int16_t*)depth_frame->get_frame_data(); | ||
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| #ifdef __SSSE3__ | ||
| auto uid = other_frame->get_stream()->get_unique_id(); |
| @@ -363,4 +773,5 @@ namespace librealsense | |||
| auto callback = new internal_frame_processor_callback<decltype(cb)>(cb); | |||
| processing_block::set_processing_callback(std::shared_ptr<rs2_frame_processor_callback>(callback)); | |||
| } | |||
| } | |||
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| } | |||
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Indentation + add empty line at the end of file
ev-mp
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Jul 16, 2018
src/proc/align.cpp
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| { | ||
| } | ||
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| void image_transform::pre_compute_x_y_map(float offset) |
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Please add comments what the pre-compute comprise of
ev-mp
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Jul 16, 2018
| bottom_right = _pixel_bottom_right_int; | ||
| } | ||
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| switch (bpp) |
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The switch case seem to be redundant
ev-mp
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Jul 16, 2018
src/proc/align.cpp
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| template<> | ||
| inline void image_transform::distorte_x_y<RS2_DISTORTION_MODIFIED_BROWN_CONRADY>(const __m128& x, const __m128& y, __m128* distorted_x, __m128* distorted_y, const rs2_intrinsics& to) | ||
| { | ||
| __m128 c[5]; |
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Please add comments for the hard-coded values - [5] == distortion coefficients,
for maintainability
ev-mp
reviewed
Jul 16, 2018
| const rs2_intrinsics& to, | ||
| const rs2_extrinsics& from_to_other) | ||
| { | ||
| //mask for shuffle |
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Please add pseudo-code to describe the flow for maintainability
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This pull-request improves latency and CPU utilization of
alignprocessing block.The solution combines SSE4 optimization for Intel architecture with changes to the algorithm to reduce overhead.
Following-up on: #1189, #1105
OS Microsoft Windows 10 Enterprise
Processor Intel(R) Core(TM) i5-5300U CPU @ 2.30GHz, 2301 Mhz, 2 Core(s), 4 Logical Processor(s)
Align depth to color
Align color to depth
Ubuntu 16.04
Intel® Core™ i7-6700 CPU @ 3.40GHz × 8
Align depth to color
Align color to depth