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#include <pcl/filters/approximate_voxel_grid.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/pcd_io.h> // for PCDReader
#include <benchmark/benchmark.h>
static void
BM_VoxelGrid(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::VoxelGrid<pcl::PointXYZ> vg;
vg.setLeafSize(0.01, 0.01, 0.01);
vg.setInputCloud(cloud);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_voxelized(
new pcl::PointCloud<pcl::PointXYZ>);
for (auto _ : state) {
// This code gets timed
vg.filter(*cloud_voxelized);
}
}
static void
BM_ApproxVoxelGrid(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::ApproximateVoxelGrid<pcl::PointXYZ> avg;
avg.setLeafSize(0.01, 0.01, 0.01);
avg.setInputCloud(cloud);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_voxelized(
new pcl::PointCloud<pcl::PointXYZ>);
for (auto _ : state) {
// This code gets timed
avg.filter(*cloud_voxelized);
}
}
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_VoxelGrid_milk", &BM_VoxelGrid, argv[2])
->Unit(benchmark::kMillisecond);
benchmark::RegisterBenchmark(
"BM_ApproximateVoxelGrid_milk", &BM_ApproxVoxelGrid, argv[2])
->Unit(benchmark::kMillisecond);
benchmark::RegisterBenchmark("BM_VoxelGrid_mug", &BM_VoxelGrid, argv[1])
->Unit(benchmark::kMillisecond);
benchmark::RegisterBenchmark(
"BM_ApproximateVoxelGrid_mug", &BM_ApproxVoxelGrid, argv[1])
->Unit(benchmark::kMillisecond);
benchmark::Initialize(&argc, argv);
benchmark::RunSpecifiedBenchmarks();
}
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