Feature.cpp File Reference

#include "cloudViewer/t/pipelines/registration/Feature.h"
#include <benchmark/benchmark.h>
#include <ecvFeature.h>
#include "cloudViewer/core/CUDAUtils.h"
#include "cloudViewer/data/Dataset.h"
#include "cloudViewer/geometry/PointCloud.h"
#include "cloudViewer/t/geometry/PointCloud.h"
#include "cloudViewer/t/io/PointCloudIO.h"

Include dependency graph for Feature.cpp:

Go to the source code of this file.

Namespaces
	cloudViewer
	Generic file read and write utility for python interface.
	cloudViewer::t
	cloudViewer::t::pipelines
	cloudViewer::t::pipelines::registration

Macros
#define	ENUM_FPFH_METHOD_DEVICE(METHOD_NAME, MAX_NN, RADIUS, INDICES, DEVICE)

Functions
void	cloudViewer::t::pipelines::registration::LegacyComputeFPFHFeature (benchmark::State &state, utility::optional< int > max_nn, utility::optional< double > radius, utility::optional< double > ratio_indices)
void	cloudViewer::t::pipelines::registration::ComputeFPFHFeature (benchmark::State &state, const core::Device &device, const core::Dtype &dtype, utility::optional< int > max_nn, utility::optional< double > radius, utility::optional< double > ratio_indices)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (LegacyComputeFPFHFeature, Legacy Hybrid[0.01|100], 100, 0.01, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (LegacyComputeFPFHFeature, Legacy Hybrid[0.02|50], 50, 0.02, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (LegacyComputeFPFHFeature, Legacy Hybrid[0.02|100], 100, 0.02, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (LegacyComputeFPFHFeature, Legacy KNN[50], 50, utility::nullopt, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (LegacyComputeFPFHFeature, Legacy KNN[100], 100, utility::nullopt, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (LegacyComputeFPFHFeature, Legacy Radius[0.01], utility::nullopt, 0.01, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (LegacyComputeFPFHFeature, Legacy Radius[0.02], utility::nullopt, 0.02, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (LegacyComputeFPFHFeature, Legacy Hybrid Indices[0.02|50|null], 50, 0.02, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (LegacyComputeFPFHFeature, Legacy Hybrid Indices[0.02|50|0.0001], 50, 0.02, 0.0001) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (LegacyComputeFPFHFeature, Legacy Hybrid Indices[0.02|50|0.001], 50, 0.02, 0.001) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (LegacyComputeFPFHFeature, Legacy Hybrid Indices[0.02|50|0.01], 50, 0.02, 0.01) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (LegacyComputeFPFHFeature, Legacy Hybrid Indices[0.02|50|0.1], 50, 0.02, 0.1) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (LegacyComputeFPFHFeature, Legacy Hybrid Indices[0.02|50|1.0], 50, 0.02, 1.0) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.01|100] Hybrid_Float32, core::Device("CPU:0"), core::Float32, 100, 0.01, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.01|100] Hybrid_Float64, core::Device("CPU:0"), core::Float64, 100, 0.01, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02|50] Hybrid_Float32, core::Device("CPU:0"), core::Float32, 50, 0.02, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02|50] Hybrid_Float64, core::Device("CPU:0"), core::Float64, 50, 0.02, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02|100] Hybrid_Float32, core::Device("CPU:0"), core::Float32, 100, 0.02, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02|100] Hybrid_Float64, core::Device("CPU:0"), core::Float64, 100, 0.02, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[50] KNN_Float32, core::Device("CPU:0"), core::Float32, 50, utility::nullopt, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[50] KNN_Float64, core::Device("CPU:0"), core::Float64, 50, utility::nullopt, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[100] KNN_Float32, core::Device("CPU:0"), core::Float32, 100, utility::nullopt, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[100] KNN_Float64, core::Device("CPU:0"), core::Float64, 100, utility::nullopt, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.01] Radius_Float32, core::Device("CPU:0"), core::Float32, utility::nullopt, 0.01, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.01] Radius_Float64, core::Device("CPU:0"), core::Float64, utility::nullopt, 0.01, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02] Radius_Float32, core::Device("CPU:0"), core::Float32, utility::nullopt, 0.02, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02] Radius_Float64, core::Device("CPU:0"), core::Float64, utility::nullopt, 0.02, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02|50|null] Hybrid Indices_Float32, core::Device("CPU:0"), core::Float32, 50, 0.02, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02|50|null] Hybrid Indices_Float64, core::Device("CPU:0"), core::Float64, 50, 0.02, utility::nullopt) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02|50|0.0001] Hybrid Indices_Float32, core::Device("CPU:0"), core::Float32, 50, 0.02, 0.0001) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02|50|0.0001] Hybrid Indices_Float64, core::Device("CPU:0"), core::Float64, 50, 0.02, 0.0001) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02|50|0.001] Hybrid Indices_Float32, core::Device("CPU:0"), core::Float32, 50, 0.02, 0.001) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02|50|0.001] Hybrid Indices_Float64, core::Device("CPU:0"), core::Float64, 50, 0.02, 0.001) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02|50|0.01] Hybrid Indices_Float32, core::Device("CPU:0"), core::Float32, 50, 0.02, 0.01) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02|50|0.01] Hybrid Indices_Float64, core::Device("CPU:0"), core::Float64, 50, 0.02, 0.01) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02|50|0.1] Hybrid Indices_Float32, core::Device("CPU:0"), core::Float32, 50, 0.02, 0.1) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02|50|0.1] Hybrid Indices_Float64, core::Device("CPU:0"), core::Float64, 50, 0.02, 0.1) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02|50|1.0] Hybrid Indices_Float32, core::Device("CPU:0"), core::Float32, 50, 0.02, 1.0) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (ComputeFPFHFeature, CPU[0.02|50|1.0] Hybrid Indices_Float64, core::Device("CPU:0"), core::Float64, 50, 0.02, 1.0) -> Unit(benchmark::kMillisecond)

Variables
data::BunnyMesh	cloudViewer::t::pipelines::registration::pointcloud_ply
static const std::string	cloudViewer::t::pipelines::registration::path = pointcloud_ply.GetPath()

Macro Definition Documentation

ENUM_FPFH_METHOD_DEVICE

#define ENUM_FPFH_METHOD_DEVICE	(		METHOD_NAME,
			MAX_NN,
			RADIUS,
			INDICES,
			DEVICE
	)

Value:

    BENCHMARK_CAPTURE(ComputeFPFHFeature, METHOD_NAME##_Float32,              \
                      core::Device(DEVICE), core::Float32, MAX_NN, RADIUS,    \
                      INDICES)                                                \
            ->Unit(benchmark::kMillisecond);                                  \
    BENCHMARK_CAPTURE(ComputeFPFHFeature, METHOD_NAME##_Float64,              \
                      core::Device(DEVICE), core::Float64, MAX_NN, RADIUS,    \
                      INDICES)                                                \
            ->Unit(benchmark::kMillisecond);

Definition at line 188 of file Feature.cpp.