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set(SUBSYS_NAME benchmarks)
set(SUBSYS_DESC "Point cloud library benchmarks")
set(SUBSYS_DEPS common filters features search kdtree io)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" OFF)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
if(NOT build)
return()
endif()
find_package(benchmark REQUIRED)
get_target_property(BenchmarkBuildType benchmark::benchmark TYPE)
add_custom_target(run_benchmarks)
PCL_ADD_BENCHMARK(features_normal_3d FILES features/normal_3d.cpp
LINK_WITH pcl_io pcl_search pcl_features
ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd"
"${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd")
PCL_ADD_BENCHMARK(filters_voxel_grid FILES filters/voxel_grid.cpp
LINK_WITH pcl_io pcl_filters
ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd"
"${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd")
PCL_ADD_BENCHMARK(filters_radius_outlier_removal FILES filters/radius_outlier_removal.cpp
LINK_WITH pcl_io pcl_filters
ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd"
"${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd")
PCL_ADD_BENCHMARK(search_radius_search FILES search/radius_search.cpp
LINK_WITH pcl_io pcl_search
ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd"
"${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd")
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