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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/t/pipelines/registration/Feature.h"
#include <benchmark/benchmark.h>
#include "open3d/core/CUDAUtils.h"
#include "open3d/data/Dataset.h"
#include "open3d/geometry/PointCloud.h"
#include "open3d/pipelines/registration/Feature.h"
#include "open3d/t/geometry/PointCloud.h"
#include "open3d/t/io/PointCloudIO.h"
namespace open3d {
namespace t {
namespace pipelines {
namespace registration {
data::BunnyMesh pointcloud_ply;
static const std::string path = pointcloud_ply.GetPath();
void LegacyComputeFPFHFeature(benchmark::State& state,
utility::optional<int> max_nn,
utility::optional<double> radius) {
auto pcd = open3d::io::CreatePointCloudFromFile(path)->UniformDownSample(3);
pcd->EstimateNormals();
for (auto _ : state) {
if (max_nn.has_value() && radius.has_value()) {
auto fpfh = open3d::pipelines::registration::ComputeFPFHFeature(
*pcd, open3d::geometry::KDTreeSearchParamHybrid(
radius.value(), max_nn.value()));
} else if (max_nn.has_value() && !radius.has_value()) {
auto fpfh = open3d::pipelines::registration::ComputeFPFHFeature(
*pcd,
open3d::geometry::KDTreeSearchParamKNN(max_nn.value()));
} else if (!max_nn.has_value() && radius.has_value()) {
auto fpfh = open3d::pipelines::registration::ComputeFPFHFeature(
*pcd,
open3d::geometry::KDTreeSearchParamRadius(radius.value()));
}
}
}
void ComputeFPFHFeature(benchmark::State& state,
const core::Device& device,
const core::Dtype& dtype,
utility::optional<int> max_nn,
utility::optional<double> radius) {
t::geometry::PointCloud pcd;
t::io::ReadPointCloud(path, pcd);
pcd = pcd.To(device).UniformDownSample(3);
pcd.SetPointPositions(pcd.GetPointPositions().To(dtype));
pcd.EstimateNormals();
core::Tensor fpfh;
// Warm up.
fpfh = t::pipelines::registration::ComputeFPFHFeature(pcd, max_nn, radius);
for (auto _ : state) {
fpfh = t::pipelines::registration::ComputeFPFHFeature(pcd, max_nn,
radius);
core::cuda::Synchronize(device);
}
}
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy Hybrid[0.01 | 100],
100,
0.01)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature, Legacy Hybrid[0.02 | 50], 50, 0.02)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy Hybrid[0.02 | 100],
100,
0.02)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy KNN[50],
50,
utility::nullopt)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy KNN[100],
100,
utility::nullopt)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy Radius[0.01],
utility::nullopt,
0.01)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy Radius[0.02],
utility::nullopt,
0.02)
->Unit(benchmark::kMillisecond);
#define ENUM_FPFH_METHOD_DEVICE(METHOD_NAME, MAX_NN, RADIUS, DEVICE) \
BENCHMARK_CAPTURE(ComputeFPFHFeature, METHOD_NAME##_Float32, \
core::Device(DEVICE), core::Float32, MAX_NN, RADIUS) \
->Unit(benchmark::kMillisecond); \
BENCHMARK_CAPTURE(ComputeFPFHFeature, DEVICE METHOD_NAME##_Float64, \
core::Device(DEVICE), core::Float32, MAX_NN, RADIUS) \
->Unit(benchmark::kMillisecond);
ENUM_FPFH_METHOD_DEVICE(CPU[0.02 | 50] Hybrid, 100, 0.01, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(CPU[0.02 | 50] Hybrid, 50, 0.02, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(CPU[0.02 | 100] Hybrid, 100, 0.02, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(CPU[50] KNN, 50, utility::nullopt, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(CPU[100] KNN, 100, utility::nullopt, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(CPU[0.01] Radius, utility::nullopt, 0.01, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(CPU[0.02] Radius, utility::nullopt, 0.02, "CPU:0")
#ifdef BUILD_CUDA_MODULE
ENUM_FPFH_METHOD_DEVICE(CUDA[0.02 | 50] Hybrid, 100, 0.01, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(CUDA[0.02 | 50] Hybrid, 50, 0.01, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(CUDA[0.02 | 100] Hybrid, 100, 0.02, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(CUDA[50] KNN, 50, utility::nullopt, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(CUDA[100] KNN, 100, utility::nullopt, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(CUDA[0.01] Radius, utility::nullopt, 0.01, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(CUDA[0.02] Radius, utility::nullopt, 0.02, "CUDA:0")
#endif
} // namespace registration
} // namespace pipelines
} // namespace t
} // namespace open3d
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