Function TEST

test/gpu/octree/performance.cpp:72–257

TEST(PCL_OctreeGPU, DISABLED_performance)

//TEST(PCL_OctreeGPU, DISABLED_performance)
TEST(PCL_OctreeGPU, performance)
{
    DataGenerator data;
    data.data_size = 871000;
    data.tests_num = 10000;
    data.cube_size = 1024.f;
    data.max_radius    = data.cube_size/15.f;
    data.shared_radius = data.cube_size/15.f;
    data.printParams();

    //const int k = 32;

    std::cout << "sizeof(pcl::gpu::Octree::PointType): " << sizeof(pcl::gpu::Octree::PointType) << std::endl;    
    //std::cout << "k = " << k << std::endl;
    //generate data
    data();

    //prepare device cloud
    pcl::gpu::Octree::PointCloud cloud_device;
    cloud_device.upload(data.points);

    //prepare queries_device
    pcl::gpu::Octree::Queries queries_device;
    pcl::gpu::Octree::Radiuses radiuses_device;
     queries_device.upload(data.queries);  
    radiuses_device.upload(data.radiuses);

    //prepare host cloud
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_host(new pcl::PointCloud<pcl::PointXYZ>);	
    cloud_host->width = data.points.size();
    cloud_host->height = 1;
    cloud_host->resize (cloud_host->width * cloud_host->height);    
    std::transform(data.points.cbegin(), data.points.cend(), cloud_host->begin(), DataGenerator::ConvPoint<pcl::PointXYZ>());

    float host_octree_resolution = 25.f;    
    
    std::cout << "[!] Host octree resolution: " << host_octree_resolution << std::endl << std::endl;    

    std::cout << "======  Build performance =====" << std::endl;
    // build device octree
    pcl::gpu::Octree octree_device;                
    octree_device.setCloud(cloud_device);	    
    {        
        ScopeTime up("gpu-build");	                
        octree_device.build();
    }    
    {
        ScopeTime up("gpu-download");	
        octree_device.internalDownload();
    }

    //build host octree
    pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree_host(host_octree_resolution);
    octree_host.setInputCloud (cloud_host);
    {
        ScopeTime t("host-build");	        
        octree_host.addPointsFromInputCloud();
    }