void run()
{
std::mt19937 generator(randomSeed());
std::uniform_int_distribution<size_t> distribution(0, queries.size() - 1);
for (size_t i = 0; i < concurrency; ++i)
pool.schedule(std::bind(&Benchmark::thread, this, connections.get()));
InterruptListener interrupt_listener;
info_per_interval.watch.restart();
delay_watch.restart();
/// Push queries into queue
for (size_t i = 0; !max_iterations || i < max_iterations; ++i)
{
size_t query_index = randomize ? distribution(generator) : i % queries.size();
if (!tryPushQueryInteractively(queries[query_index], interrupt_listener))
break;
}
shutdown = true;
pool.wait();
info_total.watch.stop();
if (!json_path.empty())
reportJSON(info_total, json_path);
printNumberOfQueriesExecuted(info_total.queries);
report(info_total);
}
void printNumberOfQueriesExecuted(size_t num)
{
std::cerr << "\nQueries executed: " << num;
if (queries.size() > 1)
std::cerr << " (" << (num * 100.0 / queries.size()) << "%)";
std::cerr << ".\n";
}
void pcl::gpu::Octree::approxNearestSearch(const Queries& queries, NeighborIndices& results) const
{
assert(queries.size() > 0);
results.create(static_cast<int> (queries.size()), 1);
const OctreeImpl::Queries& q = (const OctreeImpl::Queries&)queries;
static_cast<OctreeImpl*>(impl)->approxNearestSearch(q, results);
}
void pcl::gpu::Octree::radiusSearch(const Queries& queries, float radius, int max_results, NeighborIndices& results) const
{
assert(queries.size() > 0);
results.create(static_cast<int> (queries.size()), max_results);
results.sizes.create(queries.size());
const OctreeImpl::Queries& q = (const OctreeImpl::Queries&)queries;
static_cast<OctreeImpl*>(impl)->radiusSearch(q, radius, results);
}
void pcl::gpu::Octree::nearestKSearchBatch(const Queries& queries, int k, NeighborIndices& results) const
{
if (k != 1)
throw pcl::PCLException("OctreeGPU::knnSearch is supported only for k == 1", __FILE__, "", __LINE__);
assert(queries.size() > 0);
results.create(static_cast<int> (queries.size()), k);
const OctreeImpl::Queries& q = (const OctreeImpl::Queries&)queries;
static_cast<OctreeImpl*>(impl)->nearestKSearchBatch(q, k, results);
}
void readQueries()
{
ReadBufferFromFileDescriptor in(STDIN_FILENO);
while (!in.eof())
{
std::string query;
readText(query, in);
assertChar('\n', in);
if (!query.empty())
queries.emplace_back(query);
}
if (queries.empty())
throw Exception("Empty list of queries.");
std::cerr << "Loaded " << queries.size() << " queries.\n";
}