1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
|
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/io/pcd_io.h> // for PCDReader
#include <benchmark/benchmark.h>
static void
BM_RadiusOutlierRemoval(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::RadiusOutlierRemoval<pcl::PointXYZ> ror;
ror.setInputCloud(cloud);
ror.setRadiusSearch(0.02);
ror.setMinNeighborsInRadius(14);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_voxelized(
new pcl::PointCloud<pcl::PointXYZ>);
for (auto _ : state) {
// This code gets timed
ror.filter(*cloud_voxelized);
}
}
static void
BM_RadiusOutlierRemovalOpenMP(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::RadiusOutlierRemoval<pcl::PointXYZ> ror;
ror.setInputCloud(cloud);
ror.setRadiusSearch(0.02);
ror.setMinNeighborsInRadius(14);
ror.setNumberOfThreads(0);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_voxelized(
new pcl::PointCloud<pcl::PointXYZ>);
for (auto _ : state) {
// This code gets timed
ror.filter(*cloud_voxelized);
}
}
int
main(int argc, char** argv)
{
constexpr int runs = 100;
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_RadiusOutlierRemoval_milk", &BM_RadiusOutlierRemoval, argv[2])
->Unit(benchmark::kMillisecond)
->Iterations(runs);
benchmark::RegisterBenchmark(
"BM_RadiusOutlierRemoval_mug", &BM_RadiusOutlierRemoval, argv[1])
->Unit(benchmark::kMillisecond)
->Iterations(runs);
benchmark::RegisterBenchmark(
"BM_RadiusOutlierRemovalOpenMP_milk", &BM_RadiusOutlierRemovalOpenMP, argv[2])
->Unit(benchmark::kMillisecond)
->Iterations(runs);
benchmark::RegisterBenchmark(
"BM_RadiusOutlierRemovalOpenMP_mug", &BM_RadiusOutlierRemovalOpenMP, argv[1])
->Unit(benchmark::kMillisecond)
->Iterations(runs);
benchmark::Initialize(&argc, argv);
benchmark::RunSpecifiedBenchmarks();
}
|
