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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include "open3d/geometry/KDTreeFlann.h"
#include <benchmark/benchmark.h>
#include "open3d/geometry/PointCloud.h"
#include "open3d/geometry/TriangleMesh.h"
namespace open3d {
namespace benchmarks {
class TestKDTreeLine0 {
constexpr static double step = .139;
geometry::PointCloud pc_;
geometry::KDTreeFlann kdtree_;
int pos_ = 0;
int size_ = 0;
public:
void setup(int size) {
if (this->size_ == size) return;
utility::LogInfo("setup KDTree size={:d}", size);
pc_.Clear();
this->size_ = size;
for (int i = 0; i < size; ++i) {
pc_.points_.push_back({double(i) * step, 0., 0.});
}
kdtree_.SetGeometry(pc_);
pos_ = size / 2;
}
void search(int radiusInSteps) {
pos_ += 2 * radiusInSteps;
if (pos_ >= size_ - radiusInSteps) {
pos_ = radiusInSteps;
}
Eigen::Vector3d query = {(pos_ + 0.1) * step, 0., 0.};
double radius = radiusInSteps * step;
std::vector<int> indices;
std::vector<double> distance2;
int result = kdtree_.SearchRadius<Eigen::Vector3d>(query, radius,
indices, distance2);
if (result != radiusInSteps * 2) {
utility::LogError("size={:d} radiusInSteps={:d} pos={:d} num={:d}",
size_, radiusInSteps, pos_, result);
}
}
};
// reuse the same instance so we don't recreate the kdtree every time
TestKDTreeLine0 testKDTreeLine0;
static void BM_TestKDTreeLine0(benchmark::State& state) {
// state.range(n) are arguments that are passed to us
int radius = state.range(0);
int size = state.range(1);
testKDTreeLine0.setup(size);
for (auto _ : state) {
testKDTreeLine0.search(radius);
}
}
// a few specific sized tests, each ->Args({params}) will be a test
BENCHMARK(BM_TestKDTreeLine0)->Args({1 << 5, 1 << 10})->Args({1 << 9, 1 << 11});
// let benchmark vary parameters for us; run each test only for 0.1sec so it
// doesn't take too long
BENCHMARK(BM_TestKDTreeLine0)
->MinTime(0.1)
->Ranges({{1 << 0, 1 << 14}, {1 << 16, 1 << 22}});
} // namespace benchmarks
} // namespace open3d
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