Fix ZED wrapper correctness and optimization issues - #301
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…lish raw image data if depth_mode=NONE. Replaced std::swap() and move/copy operators with custom performant swap(). Decreased size of critical section for faster ZED frame retrieval. Added comments for better documentation.
Is this actually measurably slower? It should only be touching pointers which are cheap to edit. Having to move around the entire image would be actually slow. |
I haven't measured it (and it probably isn't much faster). Regardless, each call in the current wrapper to std::swap() results in 1 call to move constructor and 2+1 calls to the move assignment operator resulting in three times the amount of calls to sl::Mat::swap() than necessary. I feel like a custom swap() function that only calls sl::Mat::swap() on each matrix once seems both syntactically and functionally cleaner. |
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Summary
Closes #(Your issue number here)
Not tested on rover since it hasn't been rebuilt, will test once done
What features did you add, bugs did you fix, etc?
Fixed bug where ZED wouldn't stream raw frames if depth was disabled. Optimized parts of the critical section to retrieve ZED frame data at a faster rate. Replaced calls to std::swap() with performant class method swap(), saving redundant calls to move assignment operator and move constructor. Added comments documenting what was changed.
Did you add documentation to the wiki?
No, overall structure did not change. Modifications are commented in the source code.
How was this code tested?
Ran individual binaries
ros2 run mrover zedandros2 topic echoandros2 topic hzto verify the topics were publishing properly. Ran camera streamer locally to verify everything worked properly. Ran stereo object detector as a test to confirm it still works.Did you test this in sim?
No, does not apply
Did you test this on the rover?
No, rover has not been rebuilt yet. Will test once it has.
Did you add unit tests?
No, ran different parts as detailed in testing section to ensure it worked.