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Proposed speedup edits as described in pull request comments

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This commit is contained in:
Titus
2017-04-03 11:47:11 +02:00
parent ab8cf6f607
commit 2ac81ac855
1 changed files with 2 additions and 3 deletions
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sw/airborne/modules/computer_vision/lib/vision/edge_flow.c
+2 -3
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@@ -121,7 +121,7 @@ void calculate_edge_histogram(struct image_t *img, int32_t edge_histogram[],
for (y = 0; y < image_height; y++) { for (y = 0; y < image_height; y++) {
sobel_sum = 0; sobel_sum = 0;
for (c = -1; c <= 1; c++) { for (c = -1; c <= 1; c+=2) {
idx = interlace * (image_width * y + (x + c)); idx = interlace * (image_width * y + (x + c));
sobel_sum += Sobel[c + 1] * (int32_t)img_buf[idx]; sobel_sum += Sobel[c + 1] * (int32_t)img_buf[idx];
@@ -140,7 +140,7 @@ void calculate_edge_histogram(struct image_t *img, int32_t edge_histogram[],
for (x = 0; x < image_width; x++) { for (x = 0; x < image_width; x++) {
sobel_sum = 0; sobel_sum = 0;
for (c = -1; c <= 1; c++) { for (c = -1; c <= 1; c+=2) {
idx = interlace * (image_width * (y + c) + x); idx = interlace * (image_width * (y + c) + x);
sobel_sum += Sobel[c + 1] * (int32_t)img_buf[idx]; sobel_sum += Sobel[c + 1] * (int32_t)img_buf[idx];
@@ -198,7 +198,6 @@ void calculate_edge_displacement(int32_t *edge_histogram, int32_t *edge_histogra
} }
// TODO: replace with arm offset subtract // TODO: replace with arm offset subtract
for (x = border[0]; x < border[1]; x++) { for (x = border[0]; x < border[1]; x++) {
displacement[x] = 0;
if (!SHIFT_TOO_FAR) { if (!SHIFT_TOO_FAR) {
for (c = -D; c <= D; c++) { for (c = -D; c <= D; c++) {
SAD_temp[c + D] = 0; SAD_temp[c + D] = 0;