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kai-waangkai-waang
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change test file, add uniform sampling
1 parent 704416a commit f44d576

2 files changed

Lines changed: 54 additions & 39 deletions

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‎benchmarks/CMakeLists.txt‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -20,7 +20,7 @@ PCL_ADD_BENCHMARK(features_normal_3d FILES features/normal_3d.cpp
2020

2121
PCL_ADD_BENCHMARK(features_shot FILES features/shot.cpp
2222
LINK_WITH pcl_io pcl_search pcl_features
23-
ARGUMENTS "${PCL_SOURCE_DIR}/test/milk.pcd")
23+
ARGUMENTS "${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd")
2424

2525
PCL_ADD_BENCHMARK(filters_voxel_grid FILES filters/voxel_grid.cpp
2626
LINK_WITH pcl_io pcl_filters

‎benchmarks/features/shot.cpp‎

Lines changed: 53 additions & 38 deletions
Original file line numberDiff line numberDiff line change
@@ -1,11 +1,16 @@
11
#include <pcl/features/normal_3d_omp.h>
22
#include <pcl/features/shot_omp.h>
3+
#include <pcl/filters/uniform_sampling.h>
34
#include <pcl/io/pcd_io.h>
45
#include <pcl/point_cloud.h>
56
#include <pcl/point_types.h>
67

78
#include <benchmark/benchmark.h>
89

10+
constexpr float lrf_radius = 0.04f;
11+
constexpr float shot_search_radius = 0.04f;
12+
constexpr float uniform_sampling_radius = 0.03f;
13+
914
static void
1015
BM_SHOT352(benchmark::State& state, const std::string& file)
1116
{
@@ -19,10 +24,18 @@ BM_SHOT352(benchmark::State& state, const std::string& file)
1924
pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
2025
ne.compute(*normals);
2126

27+
pcl::UniformSampling<pcl::PointXYZ> uniform_sampling;
28+
uniform_sampling.setInputCloud(cloud);
29+
uniform_sampling.setRadiusSearch(uniform_sampling_radius);
30+
pcl::PointCloud<pcl::PointXYZ>::Ptr keypoints(new pcl::PointCloud<pcl::PointXYZ>);
31+
uniform_sampling.filter(*keypoints);
32+
2233
pcl::SHOTEstimation<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> shot;
23-
shot.setInputCloud(cloud);
34+
shot.setInputCloud(keypoints);
2435
shot.setInputNormals(normals);
25-
shot.setRadiusSearch(0.04);
36+
shot.setSearchSurface(cloud);
37+
shot.setRadiusSearch(shot_search_radius);
38+
shot.setLRFRadius(lrf_radius);
2639

2740
pcl::PointCloud<pcl::SHOT352>::Ptr output(new pcl::PointCloud<pcl::SHOT352>);
2841
for (auto _ : state) {
@@ -43,12 +56,20 @@ BM_SHOT352_OMP(benchmark::State& state, const std::string& file)
4356
pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
4457
ne.compute(*normals);
4558

59+
pcl::UniformSampling<pcl::PointXYZ> uniform_sampling;
60+
uniform_sampling.setInputCloud(cloud);
61+
uniform_sampling.setRadiusSearch(uniform_sampling_radius);
62+
pcl::PointCloud<pcl::PointXYZ>::Ptr keypoints(new pcl::PointCloud<pcl::PointXYZ>);
63+
uniform_sampling.filter(*keypoints);
64+
4665
pcl::SHOTEstimationOMP<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> shot(
4766
0, state.range(0) //
4867
);
49-
shot.setInputCloud(cloud);
68+
shot.setInputCloud(keypoints);
5069
shot.setInputNormals(normals);
51-
shot.setRadiusSearch(0.04);
70+
shot.setSearchSurface(cloud);
71+
shot.setRadiusSearch(shot_search_radius);
72+
shot.setLRFRadius(lrf_radius);
5273

5374
pcl::PointCloud<pcl::SHOT352>::Ptr output(new pcl::PointCloud<pcl::SHOT352>);
5475
for (auto _ : state) {
@@ -59,34 +80,31 @@ BM_SHOT352_OMP(benchmark::State& state, const std::string& file)
5980
static void
6081
BM_SHOT1344(benchmark::State& state, const std::string& file)
6182
{
62-
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz(new pcl::PointCloud<pcl::PointXYZ>);
83+
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_rgba(
84+
new pcl::PointCloud<pcl::PointXYZRGBA>);
6385
pcl::PCDReader reader;
64-
reader.read(file, *cloud_xyz);
86+
reader.read(file, *cloud_rgba);
6587

66-
pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;
67-
ne.setInputCloud(cloud_xyz);
88+
pcl::NormalEstimationOMP<pcl::PointXYZRGBA, pcl::Normal> ne;
89+
ne.setInputCloud(cloud_rgba);
6890
ne.setKSearch(10);
6991
pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
7092
ne.compute(*normals);
7193

72-
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_rgba(
94+
pcl::UniformSampling<pcl::PointXYZRGBA> uniform_sampling;
95+
uniform_sampling.setInputCloud(cloud_rgba);
96+
uniform_sampling.setRadiusSearch(uniform_sampling_radius);
97+
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr keypoints(
7398
new pcl::PointCloud<pcl::PointXYZRGBA>);
74-
75-
for (int i = 0; i < static_cast<int>(cloud_xyz->size()); ++i) {
76-
pcl::PointXYZRGBA p;
77-
p.x = (*cloud_xyz)[i].x;
78-
p.y = (*cloud_xyz)[i].y;
79-
p.z = (*cloud_xyz)[i].z;
80-
81-
p.rgba = ((i % 255) << 16) + (((255 - i) % 255) << 8) + ((i * 37) % 255);
82-
cloud_rgba->push_back(p);
83-
}
99+
uniform_sampling.filter(*keypoints);
84100

85101
pcl::SHOTColorEstimation<pcl::PointXYZRGBA, pcl::Normal, pcl::SHOT1344> shot(true,
86102
true);
87-
shot.setInputCloud(cloud_rgba);
103+
shot.setInputCloud(keypoints);
88104
shot.setInputNormals(normals);
89-
shot.setRadiusSearch(0.04);
105+
shot.setSearchSurface(cloud_rgba);
106+
shot.setRadiusSearch(shot_search_radius);
107+
shot.setLRFRadius(lrf_radius);
90108

91109
pcl::PointCloud<pcl::SHOT1344>::Ptr output(new pcl::PointCloud<pcl::SHOT1344>);
92110
for (auto _ : state) {
@@ -97,34 +115,31 @@ BM_SHOT1344(benchmark::State& state, const std::string& file)
97115
static void
98116
BM_SHOT1344_OMP(benchmark::State& state, const std::string& file)
99117
{
100-
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz(new pcl::PointCloud<pcl::PointXYZ>);
118+
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_rgba(
119+
new pcl::PointCloud<pcl::PointXYZRGBA>);
101120
pcl::PCDReader reader;
102-
reader.read(file, *cloud_xyz);
121+
reader.read(file, *cloud_rgba);
103122

104-
pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;
105-
ne.setInputCloud(cloud_xyz);
123+
pcl::NormalEstimationOMP<pcl::PointXYZRGBA, pcl::Normal> ne;
124+
ne.setInputCloud(cloud_rgba);
106125
ne.setKSearch(10);
107126
pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
108127
ne.compute(*normals);
109128

110-
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_rgba(
129+
pcl::UniformSampling<pcl::PointXYZRGBA> uniform_sampling;
130+
uniform_sampling.setInputCloud(cloud_rgba);
131+
uniform_sampling.setRadiusSearch(uniform_sampling_radius);
132+
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr keypoints(
111133
new pcl::PointCloud<pcl::PointXYZRGBA>);
112-
113-
for (int i = 0; i < static_cast<int>(cloud_xyz->size()); ++i) {
114-
pcl::PointXYZRGBA p;
115-
p.x = (*cloud_xyz)[i].x;
116-
p.y = (*cloud_xyz)[i].y;
117-
p.z = (*cloud_xyz)[i].z;
118-
119-
p.rgba = ((i % 255) << 16) + (((255 - i) % 255) << 8) + ((i * 37) % 255);
120-
cloud_rgba->push_back(p);
121-
}
134+
uniform_sampling.filter(*keypoints);
122135

123136
pcl::SHOTColorEstimationOMP<pcl::PointXYZRGBA, pcl::Normal, pcl::SHOT1344> shot(
124137
true, true, 0, state.range(0));
125-
shot.setInputCloud(cloud_rgba);
138+
shot.setInputCloud(keypoints);
126139
shot.setInputNormals(normals);
127-
shot.setRadiusSearch(0.04);
140+
shot.setSearchSurface(cloud_rgba);
141+
shot.setRadiusSearch(shot_search_radius);
142+
shot.setLRFRadius(lrf_radius);
128143

129144
pcl::PointCloud<pcl::SHOT1344>::Ptr output(new pcl::PointCloud<pcl::SHOT1344>);
130145
for (auto _ : state) {

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