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* reduce to functions * fix msg not found * impl par iterator * clippy * pre endian * derive as feat only * custom conversions * tidy * test with all feats * indent
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,164 @@ | ||
| use criterion::{black_box, criterion_group, criterion_main, Criterion}; | ||
| use ros_pointcloud2::prelude::*; | ||
|
|
||
| use rand::Rng; | ||
|
|
||
| pub fn generate_random_pointcloud(num_points: usize, min: f32, max: f32) -> Vec<PointXYZ> { | ||
| let mut rng = rand::thread_rng(); | ||
| let mut pointcloud = Vec::with_capacity(num_points); | ||
| for _ in 0..num_points { | ||
| let point = PointXYZ { | ||
| x: rng.gen_range(min..max), | ||
| y: rng.gen_range(min..max), | ||
| z: rng.gen_range(min..max), | ||
| }; | ||
| pointcloud.push(point); | ||
| } | ||
| pointcloud | ||
| } | ||
|
|
||
| #[cfg(feature = "derive")] | ||
| fn roundtrip_vec(cloud: Vec<PointXYZ>) -> bool { | ||
| let orig_len = cloud.len(); | ||
| let internal_msg = PointCloud2Msg::try_from_vec(cloud).unwrap(); | ||
| let total = internal_msg | ||
| .try_into_iter() | ||
| .unwrap() | ||
| .collect::<Vec<PointXYZ>>(); | ||
| orig_len == total.len() | ||
| } | ||
|
|
||
| fn roundtrip(cloud: Vec<PointXYZ>) -> bool { | ||
| let orig_len = cloud.len(); | ||
| let internal_msg = PointCloud2Msg::try_from_iter(cloud).unwrap(); | ||
| let total = internal_msg | ||
| .try_into_iter() | ||
| .unwrap() | ||
| .collect::<Vec<PointXYZ>>(); | ||
| orig_len == total.len() | ||
| } | ||
|
|
||
| #[cfg(feature = "derive")] | ||
| fn roundtrip_filter_vec(cloud: Vec<PointXYZ>) -> bool { | ||
| let orig_len = cloud.len(); | ||
| let internal_msg = PointCloud2Msg::try_from_vec(cloud).unwrap(); | ||
| let total = internal_msg | ||
| .try_into_iter() | ||
| .unwrap() | ||
| .filter(|point: &PointXYZ| { | ||
| (point.x.powi(2) + point.y.powi(2) + point.z.powi(2)).sqrt() < 1.9 | ||
| }) | ||
| .fold(PointXYZ::default(), |acc, point| PointXYZ { | ||
| x: acc.x + point.x, | ||
| y: acc.y + point.y, | ||
| z: acc.z + point.z, | ||
| }); | ||
| orig_len == total.x as usize | ||
| } | ||
|
|
||
| fn roundtrip_filter(cloud: Vec<PointXYZ>) -> bool { | ||
| let orig_len = cloud.len(); | ||
| let internal_msg = PointCloud2Msg::try_from_iter(cloud).unwrap(); | ||
| let total = internal_msg | ||
| .try_into_iter() | ||
| .unwrap() | ||
| .filter(|point: &PointXYZ| { | ||
| (point.x.powi(2) + point.y.powi(2) + point.z.powi(2)).sqrt() < 1.9 | ||
| }) | ||
| .fold(PointXYZ::default(), |acc, point| PointXYZ { | ||
| x: acc.x + point.x, | ||
| y: acc.y + point.y, | ||
| z: acc.z + point.z, | ||
| }); | ||
| orig_len == total.x as usize | ||
| } | ||
|
|
||
| #[cfg(feature = "rayon")] | ||
| fn roundtrip_par(cloud: Vec<PointXYZ>) -> bool { | ||
| let orig_len = cloud.len(); | ||
| let internal_msg = PointCloud2Msg::try_from_iter(cloud).unwrap(); | ||
| let total = internal_msg | ||
| .try_into_par_iter() | ||
| .unwrap() | ||
| .collect::<Vec<PointXYZ>>(); | ||
| orig_len != total.len() | ||
| } | ||
|
|
||
| #[cfg(feature = "rayon")] | ||
| fn roundtrip_filter_par(cloud: Vec<PointXYZ>) -> bool { | ||
| let orig_len: usize = cloud.len(); | ||
| let internal_msg = PointCloud2Msg::try_from_iter(cloud).unwrap(); | ||
| let total = internal_msg | ||
| .try_into_par_iter() | ||
| .unwrap() | ||
| .filter(|point: &PointXYZ| { | ||
| (point.x.powi(2) + point.y.powi(2) + point.z.powi(2)).sqrt() < 1.9 | ||
| }) | ||
| .reduce(PointXYZ::default, |acc, point| PointXYZ { | ||
| x: acc.x + point.x, | ||
| y: acc.y + point.y, | ||
| z: acc.z + point.z, | ||
| }); | ||
| orig_len == total.x as usize | ||
| } | ||
|
|
||
| fn roundtrip_benchmark(c: &mut Criterion) { | ||
| let cloud_points_500k = generate_random_pointcloud(500_000, f32::MIN / 2.0, f32::MAX / 2.0); | ||
| let cloud_points_1_5m = generate_random_pointcloud(1_500_000, f32::MIN / 2.0, f32::MAX / 2.0); | ||
|
|
||
| c.bench_function("roundtrip 500k", |b| { | ||
| b.iter(|| { | ||
| black_box(roundtrip(cloud_points_500k.clone())); | ||
| }) | ||
| }); | ||
|
|
||
| #[cfg(feature = "rayon")] | ||
| c.bench_function("roundtrip_par 500k", |b| { | ||
| b.iter(|| { | ||
| black_box(roundtrip_par(cloud_points_500k.clone())); | ||
| }) | ||
| }); | ||
|
|
||
| #[cfg(feature = "derive")] | ||
| c.bench_function("roundtrip_vec 500k", |b| { | ||
| b.iter(|| { | ||
| black_box(roundtrip_vec(cloud_points_500k.clone())); | ||
| }) | ||
| }); | ||
|
|
||
| c.bench_function("roundtrip_filter 500k", |b| { | ||
| b.iter(|| { | ||
| roundtrip_filter(black_box(cloud_points_500k.clone())); | ||
| }) | ||
| }); | ||
|
|
||
| #[cfg(feature = "rayon")] | ||
| c.bench_function("roundtrip_filter_par 500k", |b| { | ||
| b.iter(|| { | ||
| roundtrip_filter_par(black_box(cloud_points_500k.clone())); | ||
| }) | ||
| }); | ||
|
|
||
| c.bench_function("roundtrip_filter 1.5m", |b| { | ||
| b.iter(|| { | ||
| roundtrip_filter(black_box(cloud_points_1_5m.clone())); | ||
| }) | ||
| }); | ||
|
|
||
| #[cfg(feature = "rayon")] | ||
| c.bench_function("roundtrip_filter_par 1.5m", |b| { | ||
| b.iter(|| { | ||
| black_box(roundtrip_filter_par(cloud_points_1_5m.clone())); | ||
| }) | ||
| }); | ||
|
|
||
| #[cfg(feature = "derive")] | ||
| c.bench_function("roundtrip_filter_vec 1.5m", |b| { | ||
| b.iter(|| { | ||
| roundtrip_filter_vec(black_box(cloud_points_1_5m.clone())); | ||
| }) | ||
| }); | ||
| } | ||
|
|
||
| criterion_group!(benches, roundtrip_benchmark); | ||
| criterion_main!(benches); |
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