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# Software License Agreement (BSD License)
#
# Copyright (c) 2011, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of the Willow Garage nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from __future__ import print_function
import rostest
import rospy
import numpy
import unittest
import sys
import time
try:
from cStringIO import StringIO
except ImportError:
from io import StringIO
import tf.transformations
import geometry_msgs.msg
from tf.msg import tfMessage
import tf
iterations = 10000
t = tf.Transformer()
def mkm():
m = geometry_msgs.msg.TransformStamped()
m.header.frame_id = "PARENT"
m.child_frame_id = "THISFRAME"
m.transform.translation.y = 5.0
m.transform.rotation = geometry_msgs.msg.Quaternion(*tf.transformations.quaternion_from_euler(0, 0, 0))
return m
tm = tfMessage([mkm() for i in range(20)])
def deserel_to_string(o):
s = StringIO()
o.serialize(s)
return s.getvalue()
mstr = deserel_to_string(tm)
class Timer:
def __init__(self, func):
self.func = func
def mean(self, iterations = 1000000):
started = time.time()
for i in range(iterations):
self.func()
took = time.time() - started
return took / iterations
import tf.msg
import tf.cMsg
for t in [tf.msg.tfMessage, tf.cMsg.tfMessage]:
m2 = t()
m2.deserialize(mstr)
for m in m2.transforms:
print(type(m), sys.getrefcount(m))
assert deserel_to_string(m2) == mstr, "deserel screwed up for type %s" % repr(t)
m2 = t()
print("deserialize only {} us each".format(1e6 * Timer(lambda: m2.deserialize(mstr)).mean())
sys.exit(0)
started = time.time()
for i in range(iterations):
for m in tm.transforms:
t.setTransform(m)
took = time.time() - started
print("setTransform only {} took {} us each".format(iterations, took, (1e6 * took / iterations)))
started = time.time()
for i in range(iterations):
m2 = tfMessage()
m2.deserialize(mstr)
for m in m2.transforms:
t.setTransform(m)
took = time.time() - started
print("deserialize+setTransform {} took {} us each".format(iterations, took, (1e6 * took / iterations)))
from tf import TransformListener
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