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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "open3d/io/PointCloudIO.h"
#include <benchmark/benchmark.h>
#include "open3d/core/Tensor.h"
#include "open3d/data/Dataset.h"
#include "open3d/t/geometry/PointCloud.h"
#include "open3d/t/io/PointCloudIO.h"
namespace open3d {
namespace t {
namespace geometry {
// The `Read` benchmark functions are dependent on the corresponding `Write`
// benchmark functions to generate the point cloud file in the required format.
// To run benchmarks in this file, run the following command from inside the
// build directory: ./bin/benchmarks --benchmark_filter=".*IO.*"
// This file is just used to load the `point cloud` data. So, format of this
// file is not important.
data::PLYPointCloud pointcloud_ply_data;
static const std::string input_path_pcd = pointcloud_ply_data.GetPath();
void IOWriteLegacyPointCloud(benchmark::State& state,
const std::string& input_file_path,
const std::string& output_file_path,
const bool write_ascii,
const bool write_compressed) {
open3d::geometry::PointCloud pcd;
open3d::io::ReadPointCloud(input_file_path, pcd,
{"auto", false, false, false});
open3d::io::WritePointCloud(
output_file_path, pcd,
open3d::io::WritePointCloudOption(write_ascii, write_compressed,
false, {}));
for (auto _ : state) {
open3d::io::WritePointCloud(
output_file_path, pcd,
open3d::io::WritePointCloudOption(write_ascii, write_compressed,
false, {}));
}
}
void IOReadLegacyPointCloud(benchmark::State& state,
const std::string& input_file_path) {
open3d::geometry::PointCloud pcd;
open3d::io::ReadPointCloud(input_file_path, pcd,
{"auto", false, false, false});
for (auto _ : state) {
open3d::io::ReadPointCloud(input_file_path, pcd,
{"auto", false, false, false});
}
}
void IOWriteTensorPointCloud(benchmark::State& state,
const std::string& input_file_path,
const std::string& output_file_path,
const bool write_ascii,
const bool write_compressed) {
t::geometry::PointCloud pcd;
t::io::ReadPointCloud(input_file_path, pcd, {"auto", false, false, false});
t::io::WritePointCloud(output_file_path, pcd,
open3d::io::WritePointCloudOption(
write_ascii, write_compressed, false, {}));
for (auto _ : state) {
t::io::WritePointCloud(
output_file_path, pcd,
open3d::io::WritePointCloudOption(write_ascii, write_compressed,
false, {}));
}
}
void IOReadTensorPointCloud(benchmark::State& state,
const std::string& input_file_path) {
t::geometry::PointCloud pcd;
t::io::ReadPointCloud(input_file_path, pcd, {"auto", false, false, false});
for (auto _ : state) {
t::io::ReadPointCloud(input_file_path, pcd,
{"auto", false, false, false});
}
}
#define ENUM_BM_IO_EXTENSION_FORMAT(EXTENSION_NAME, FILE_NAME, FORMAT_NAME, \
ASCII, COMPRESSED) \
BENCHMARK_CAPTURE(IOWriteLegacyPointCloud, EXTENSION_NAME##_##FORMAT_NAME, \
input_path_pcd, \
std::string("tensor_") + std::string(FILE_NAME), ASCII, \
COMPRESSED) \
->Unit(benchmark::kMillisecond); \
BENCHMARK_CAPTURE(IOReadLegacyPointCloud, EXTENSION_NAME##_##FORMAT_NAME, \
std::string("tensor_") + std::string(FILE_NAME)) \
->Unit(benchmark::kMillisecond); \
BENCHMARK_CAPTURE(IOWriteTensorPointCloud, EXTENSION_NAME##_##FORMAT_NAME, \
input_path_pcd, \
std::string("legacy_") + std::string(FILE_NAME), ASCII, \
COMPRESSED) \
->Unit(benchmark::kMillisecond); \
BENCHMARK_CAPTURE(IOReadTensorPointCloud, EXTENSION_NAME##_##FORMAT_NAME, \
std::string("legacy_") + std::string(FILE_NAME)) \
->Unit(benchmark::kMillisecond);
#define ENUM_BM_IO_EXTENSION(EXTENSION_NAME, EXTENSION) \
ENUM_BM_IO_EXTENSION_FORMAT( \
EXTENSION_NAME, std::string("pcd_ascii") + std::string(EXTENSION), \
ASCII_UNCOMPRESSED, true, false) \
ENUM_BM_IO_EXTENSION_FORMAT( \
EXTENSION_NAME, std::string("pcd_bin") + std::string(EXTENSION), \
BINARY_UNCOMPRESSED, false, false) \
ENUM_BM_IO_EXTENSION_FORMAT( \
EXTENSION_NAME, \
std::string("pcd_bin_compressed") + std::string(EXTENSION), \
BINARY_COMPRESSED, false, true)
ENUM_BM_IO_EXTENSION(PCD, ".pcd")
ENUM_BM_IO_EXTENSION(PLY, ".ply")
ENUM_BM_IO_EXTENSION(PTS, ".pts")
} // namespace geometry
} // namespace t
} // namespace open3d
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