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  • Committer: Julian Ryde
  • Date: 2012-02-29 04:28:57 UTC
  • mto: (16.1.12 trunk) (29.1.2 trunk)
  • mto: This revision was merged to the branch mainline in revision 21.
  • Revision ID: julian_ryde-20120229042857-2omi9vjjezsdenif
Trying to improve the speed of transformPoints by combining operations. Refactor of transformPoints and related functions.

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test/speed_test.py
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        self.testpose = (-2., 42., 80., 0.2, 0.1, 2.6)
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        self.testposeinv = poseutil.inverse(self.testpose)
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        self.Pxformed = poseutil.check_and_transform_points(self.P, self.testpose)[0]
 
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        self.Pxformed = poseutil.transformPoints(self.P, self.testpose)[0]
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        self.ol = occupiedlist.OccupiedList(self.resolution, use_bloom=False)
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        self.ol.add_points(self.M)
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        return overlap
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    def bench_rotate_translate_quantise(self):
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        transformedpts, pose = poseutil.check_and_transform_points(self.Pxformed, self.testposeinv)
 
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        transformedpts, pose = poseutil.transformPoints(self.Pxformed, self.testposeinv)
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        transformedvoxels = occupiedlist.pointstovoxels(transformedpts, resolution=self.resolution)
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        ids = occupiedlist._pack(transformedvoxels)
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