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mviethlarshg
mvieth
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larshg
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Add google benchmark for NormalEstimation (#4506)
* Add google benchmark for NormalEstimation * Add benchmarks step to ubuntu and windows ci * Suggested changes. * More suggestions. * Add NormalEstimationOMP * Make cmake set lowercase * Change macro to function * Fix unit test->benchmark Co-authored-by: Lars Glud <[email protected]> * Restructure benchmarks * Add more benchmark variants for NormalEstimation * Correct use of ArgumentWarningShown * Hopefully fix build error on 18.04 GCC * Improve formatting * Fix Windows tests/benchmarks * Do not run benchmarks on CIs Co-authored-by: Lars Glud <[email protected]>
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‎.ci/azure-pipelines/build/macos.yaml

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# find the commit hash on a quick non-forced update too
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fetchDepth: 10
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- script: |
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brew install cmake pkg-config boost eigen flann glew libusb qhull vtk glew qt5 libpcap libomp
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brew install cmake pkg-config boost eigen flann glew libusb qhull vtk glew qt5 libpcap libomp google-benchmark
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brew install brewsci/science/openni
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git clone https://github.com/abseil/googletest.git $GOOGLE_TEST_DIR # the official endpoint changed to abseil/googletest
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cd $GOOGLE_TEST_DIR && git checkout release-1.8.1
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-DPCL_ONLY_CORE_POINT_TYPES=ON \
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-DBUILD_simulation=ON \
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-DBUILD_global_tests=ON \
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-DBUILD_benchmarks=ON \
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-DBUILD_examples=ON \
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-DBUILD_tools=ON \
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-DBUILD_apps=ON \

‎.ci/azure-pipelines/build/ubuntu.yaml

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-DBUILD_simulation=ON \
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-DBUILD_surface_on_nurbs=ON \
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-DBUILD_global_tests=ON \
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-DBUILD_benchmarks=ON \
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-DBUILD_examples=ON \
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-DBUILD_tools=ON \
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-DBUILD_apps=ON \

‎.ci/azure-pipelines/build/windows.yaml

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-DPCL_BUILD_WITH_FLANN_DYNAMIC_LINKING_WIN32=ON ^
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-DPCL_BUILD_WITH_QHULL_DYNAMIC_LINKING_WIN32=ON ^
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-DBUILD_global_tests=ON ^
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-DBUILD_benchmarks=ON ^
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-DBUILD_tools=OFF ^
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-DBUILD_surface_on_nurbs=ON ^
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-DPCL_DISABLE_VISUALIZATION_TESTS=ON

‎.dev/format.sh

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format() {
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# don't use a directory with whitespace
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local whitelist="apps/3d_rec_framework apps/include apps/modeler apps/src 2d geometry ml octree simulation stereo tracking registration gpu/containers"
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local whitelist="apps/3d_rec_framework apps/include apps/modeler apps/src benchmarks 2d geometry ml octree simulation stereo tracking registration gpu/containers"
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local PCL_DIR="${2}"
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local formatter="${1}"

‎benchmarks/CMakeLists.txt

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set(SUBSYS_NAME benchmarks)
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set(SUBSYS_DESC "Point cloud library benchmarks")
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set(SUBSYS_DEPS common features search kdtree io)
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set(DEFAULT OFF)
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set(build TRUE)
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set(REASON "Disabled by default")
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PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
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PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
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if(NOT build)
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return()
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endif()
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find_package(benchmark REQUIRED)
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add_custom_target(run_benchmarks)
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PCL_ADD_BENCHMARK(features_normal_3d FILES features/normal_3d.cpp
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LINK_WITH pcl_io pcl_search pcl_features
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ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd"
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"${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd")

‎benchmarks/features/normal_3d.cpp

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#include <pcl/features/normal_3d.h> // for NormalEstimation
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#include <pcl/features/normal_3d_omp.h> // for NormalEstimationOMP
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#include <pcl/io/pcd_io.h> // for PCDReader
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#include <benchmark/benchmark.h>
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static void
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BM_NormalEstimation(benchmark::State& state, const std::string& file)
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{
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// Perform setup here
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pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
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pcl::PCDReader reader;
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reader.read(file, *cloud);
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pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
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ne.setInputCloud(cloud);
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ne.setKSearch(state.range(0));
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pcl::PointCloud<pcl::Normal>::Ptr cloud_normals(new pcl::PointCloud<pcl::Normal>);
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for (auto _ : state) {
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// This code gets timed
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ne.compute(*cloud_normals);
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}
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}
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#ifdef _OPENMP
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static void
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BM_NormalEstimationOMP(benchmark::State& state, const std::string& file)
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{
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// Perform setup here
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pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
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pcl::PCDReader reader;
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reader.read(file, *cloud);
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pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;
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ne.setInputCloud(cloud);
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ne.setKSearch(100);
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pcl::PointCloud<pcl::Normal>::Ptr cloud_normals(new pcl::PointCloud<pcl::Normal>);
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for (auto _ : state) {
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// This code gets timed
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ne.compute(*cloud_normals);
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}
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}
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#endif
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int
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main(int argc, char** argv)
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{
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if (argc < 3) {
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std::cerr
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<< "No test files given. Please download `table_scene_mug_stereo_textured.pcd` "
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"and `milk_cartoon_all_small_clorox.pcd`, and pass their paths to the test."
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<< std::endl;
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return (-1);
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}
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benchmark::RegisterBenchmark("BM_NormalEstimation_mug", &BM_NormalEstimation, argv[1])
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->Arg(50)
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->Arg(100)
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->Unit(benchmark::kMillisecond);
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benchmark::RegisterBenchmark(
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"BM_NormalEstimation_milk", &BM_NormalEstimation, argv[2])
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->Arg(50)
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->Arg(100)
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->Unit(benchmark::kMillisecond);
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#ifdef _OPENMP
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benchmark::RegisterBenchmark(
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"BM_NormalEstimationOMP", &BM_NormalEstimationOMP, argv[1])
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->Unit(benchmark::kMillisecond);
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#endif
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benchmark::Initialize(&argc, argv);
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benchmark::RunSpecifiedBenchmarks();
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}

‎cmake/pcl_targets.cmake

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add_dependencies(tests ${_exename})
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endmacro()
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###############################################################################
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# Add a benchmark target.
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# _name The benchmark name.
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# ARGN :
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# FILES the source files for the benchmark
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# ARGUMENTS Arguments for benchmark executable
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# LINK_WITH link benchmark executable with libraries
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function(PCL_ADD_BENCHMARK _name)
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set(options)
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set(oneValueArgs)
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set(multiValueArgs FILES ARGUMENTS LINK_WITH)
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cmake_parse_arguments(PCL_ADD_BENCHMARK "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
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add_executable(benchmark_${_name} ${PCL_ADD_BENCHMARK_FILES})
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set_target_properties(benchmark_${_name} PROPERTIES FOLDER "Benchmarks")
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target_link_libraries(benchmark_${_name} benchmark::benchmark ${PCL_ADD_BENCHMARK_LINK_WITH})
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set_target_properties(benchmark_${_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
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#Only applies to MSVC
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if(MSVC)
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#Requires CMAKE version 3.13.0
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get_target_property(BenchmarkArgumentWarningShown run_benchmarks PCL_BENCHMARK_ARGUMENTS_WARNING_SHOWN)
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if(CMAKE_VERSION VERSION_LESS "3.13.0" AND (NOT BenchmarkArgumentWarningShown))
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message(WARNING "Arguments for benchmark projects are not added - this requires at least CMake 3.13. Can be added manually in \"Project settings -> Debugging -> Command arguments\"")
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set_target_properties(run_benchmarks PROPERTIES PCL_BENCHMARK_ARGUMENTS_WARNING_SHOWN TRUE)
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else()
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#Only add if there are arguments to test
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if(PCL_ADD_BENCHMARK_ARGUMENTS)
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string (REPLACE ";" " " PCL_ADD_BENCHMARK_ARGUMENTS_STR "${PCL_ADD_BENCHMARK_ARGUMENTS}")
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set_target_properties(benchmark_${_name} PROPERTIES VS_DEBUGGER_COMMAND_ARGUMENTS ${PCL_ADD_BENCHMARK_ARGUMENTS_STR})
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endif()
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endif()
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endif()
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add_custom_target(run_benchmark_${_name} benchmark_${_name} ${PCL_ADD_BENCHMARK_ARGUMENTS})
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set_target_properties(run_benchmark_${_name} PROPERTIES FOLDER "Benchmarks")
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add_dependencies(run_benchmarks run_benchmark_${_name})
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endfunction()
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###############################################################################
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# Add an example target.
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# _name The example name.

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