void Evnav::checkCachePerformance()
{
QVector<int> hist(50);
int bin = 10;
QElapsedTimer timer;
timer.start();
computeDistanceHistogram(hist, bin);
auto e1 = timer.nsecsElapsed();
timer.restart();
computeDistanceHistogram(hist, bin);
auto e2 = timer.nsecsElapsed();
qDebug() << "e1:" << e1 << "ms" << " e2:" << e2 << "ms";
qDebug() << "hist:" << hist;
}
template <typename PointInT, typename PointNT, typename PointOutT> void
pcl::GFPFHEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut &output)
{
pcl::octree::OctreePointCloudSearch<PointInT> octree (octree_leaf_size_);
octree.setInputCloud (input_);
octree.addPointsFromInputCloud ();
typename pcl::PointCloud<PointInT>::VectorType occupied_cells;
octree.getOccupiedVoxelCenters (occupied_cells);
// Determine the voxels crosses along the line segments
// formed by every pair of occupied cells.
std::vector< std::vector<int> > line_histograms;
for (size_t i = 0; i < occupied_cells.size (); ++i)
{
Eigen::Vector3f origin = occupied_cells[i].getVector3fMap ();
for (size_t j = i+1; j < occupied_cells.size (); ++j)
{
typename pcl::PointCloud<PointInT>::VectorType intersected_cells;
Eigen::Vector3f end = occupied_cells[j].getVector3fMap ();
octree.getApproxIntersectedVoxelCentersBySegment (origin, end, intersected_cells, 0.5f);
// Intersected cells are ordered from closest to furthest w.r.t. the origin.
std::vector<int> histogram;
for (size_t k = 0; k < intersected_cells.size (); ++k)
{
std::vector<int> indices;
octree.voxelSearch (intersected_cells[k], indices);
int label = emptyLabel ();
if (indices.size () != 0)
{
label = getDominantLabel (indices);
}
histogram.push_back (label);
}
line_histograms.push_back(histogram);
}
}
std::vector< std::vector<int> > transition_histograms;
computeTransitionHistograms (line_histograms, transition_histograms);
std::vector<float> distances;
computeDistancesToMean (transition_histograms, distances);
std::vector<float> gfpfh_histogram;
computeDistanceHistogram (distances, gfpfh_histogram);
output.clear ();
output.width = 1;
output.height = 1;
output.points.resize (1);
std::copy (gfpfh_histogram.begin (), gfpfh_histogram.end (), output.points[0].histogram);
}
