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#include <pcl/features/normal_3d.h> // for NormalEstimation
#include <pcl/features/normal_3d_omp.h> // for NormalEstimationOMP
#include <pcl/io/pcd_io.h> // for PCDReader
#include <benchmark/benchmark.h>
static void
BM_NormalEstimation(benchmark::State& state, const std::string& file)
{
// Perform setup here
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PCDReader reader;
reader.read(file, *cloud);
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
ne.setInputCloud(cloud);
ne.setKSearch(state.range(0));
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals(new pcl::PointCloud<pcl::Normal>);
for (auto _ : state) {
// This code gets timed
ne.compute(*cloud_normals);
}
}
#ifdef _OPENMP
static void
BM_NormalEstimationOMP(benchmark::State& state, const std::string& file)
{
// Perform setup here
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PCDReader reader;
reader.read(file, *cloud);
pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;
ne.setInputCloud(cloud);
ne.setKSearch(100);
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals(new pcl::PointCloud<pcl::Normal>);
for (auto _ : state) {
// This code gets timed
ne.compute(*cloud_normals);
}
}
#endif
int
main(int argc, char** argv)
{
if (argc < 3) {
std::cerr
<< "No test files given. Please download `table_scene_mug_stereo_textured.pcd` "
"and `milk_cartoon_all_small_clorox.pcd`, and pass their paths to the test."
<< std::endl;
return (-1);
}
benchmark::RegisterBenchmark("BM_NormalEstimation_mug", &BM_NormalEstimation, argv[1])
->Arg(50)
->Arg(100)
->Unit(benchmark::kMillisecond);
benchmark::RegisterBenchmark(
"BM_NormalEstimation_milk", &BM_NormalEstimation, argv[2])
->Arg(50)
->Arg(100)
->Unit(benchmark::kMillisecond);
#ifdef _OPENMP
benchmark::RegisterBenchmark(
"BM_NormalEstimationOMP", &BM_NormalEstimationOMP, argv[1])
->Unit(benchmark::kMillisecond);
#endif
benchmark::Initialize(&argc, argv);
benchmark::RunSpecifiedBenchmarks();
}
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