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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/TriangleMesh.h"
#include <benchmark/benchmark.h>
#include "open3d/data/Dataset.h"
#include "open3d/io/PointCloudIO.h"
namespace open3d {
namespace pipelines {
namespace registration {
// This pcd does not contains non-finite points.
// TODO: Change this to pcd with non-finite points.
static void BenchmarkCreateFromPointCloudBallPivoting(
benchmark::State& state, const bool remove_non_finite_points) {
data::PCDPointCloud sample_pcd;
auto pcd = io::CreatePointCloudFromFile(sample_pcd.GetPath());
if (remove_non_finite_points) {
pcd->RemoveNonFinitePoints();
}
std::vector<double> distance = pcd->ComputeNearestNeighborDistance();
size_t n = distance.size();
double dist_average = 0.0;
if (n != 0) {
dist_average =
std::accumulate(distance.begin(), distance.end(), 0.0) / n;
}
double radius = 1.5 * dist_average;
std::vector<double> radii = {radius, radius * 1};
std::shared_ptr<geometry::TriangleMesh> mesh;
mesh = geometry::TriangleMesh::CreateFromPointCloudBallPivoting(*pcd,
radii);
for (auto _ : state) {
mesh = geometry::TriangleMesh::CreateFromPointCloudBallPivoting(*pcd,
radii);
}
}
BENCHMARK_CAPTURE(BenchmarkCreateFromPointCloudBallPivoting,
Without Non Finite Points,
/*remove_non_finite_points*/ true)
->Unit(benchmark::kMillisecond);
// TODO: Add BENCHMARK for case `With Non Finite Points`.
} // namespace registration
} // namespace pipelines
} // namespace open3d
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