first commit: a performance test for FLANN and kd-trees with 3D point clouds

COPYING

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+Software License Agreement (BSD License)
+
+Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+Copyright 2011 Jose L. Blanco (joseluisblancoc@gmail.com). All rights reserved.
+
+THE BSD LICENSE
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+1. Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
+IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+

perf-tests/flann/Makefile

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+# Set up basic variables:
+CC         = g++
+CFLAGS     = -c -Wall -O2
+LDFLAGS    =
+
+# List of sources:
+SOURCES    = test_flann.cpp
+OBJECTS    = $(SOURCES:.cpp=.o)
+
+# Name of executable target:
+EXECUTABLE = test_flann
+
+CFLAGS     += `pkg-config --cflags flann`
+#LDFLAGS    += `pkg-config --libs flann`
+LDFLAGS    += -lflann_cpp
+
+all: $(SOURCES) $(EXECUTABLE)
+	
+$(EXECUTABLE): $(OBJECTS)
+	$(CC) $(LDFLAGS) $(OBJECTS) -o $@
+
+.cpp.o:
+	$(CC) $(CFLAGS) $< -o $@
+
+clean:
+	rm $(OBJECTS) $(EXECUTABLE)
+	

perf-tests/flann/test_flann.cpp

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+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2011 Jose Luis Blanco (joseluisblancoc@gmail.com). 
+ *   All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
+ * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+ * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *************************************************************************/
+
+#include <flann/flann.hpp>
+#include <cstdlib>
+#include <iostream>
+#include <sys/time.h>
+
+using namespace std;
+using namespace flann;
+
+template <typename T>
+struct PointCloud
+{
+	struct Point 
+	{
+		T  x,y,z;
+	};
+	
+	std::vector<Point>  pts;
+};
+
+double get_time()
+{
+	struct timeval tv;
+	gettimeofday(&tv,NULL);
+	return tv.tv_sec+tv.tv_usec/1000000.0;
+}
+
+template <typename T>
+void generateRandomPointCloud(PointCloud<T> &point, const size_t N, const T max_range = 10)
+{
+	cout << "Generating "<< N << " point cloud...";cout.flush();
+	const double t0=get_time();
+	
+	point.pts.resize(N);
+	for (size_t i=0;i<N;i++)
+	{
+		point.pts[i].x = max_range * (rand() % 1000) / T(1000);
+		point.pts[i].y = max_range * (rand() % 1000) / T(1000);
+		point.pts[i].z = max_range * (rand() % 1000) / T(1000);
+	}
+	
+	const double t1=get_time();
+	cout << "done in "<< (t1-t0)*1e3 << " ms\n";
+}
+
+template <typename num_t>
+void perf_test(const size_t N)
+{
+	PointCloud<num_t> cloud;
+		
+	// Generate points:
+	generateRandomPointCloud(cloud, N);
+	
+	// Convert to Matrix<>: 
+	double t0=get_time();
+	num_t *cloud_pts = new num_t[N*3];
+	{
+		num_t *ptr = cloud_pts;
+		for (size_t i=0;i<N;i++)
+		{
+			*ptr++ = cloud.pts[i].x;
+			*ptr++ = cloud.pts[i].y;
+			*ptr++ = cloud.pts[i].z;
+		}
+	}
+	Matrix<float> dataset(cloud_pts,cloud.pts.size(),3);
+	double t1=get_time();
+	cout << "Convert to Matrix<>: " << (t1-t0)*1e3 << " ms\n";
+
+	num_t query_pt[3] = { 0.5, 0.5, 0.5};
+	Matrix<num_t> query(query_pt,1,3);
+	
+	const size_t num_results = 1;
+
+	Matrix<int> indices(new int[query.rows*num_results], query.rows, num_results);
+	Matrix<float> dists(new float[query.rows*num_results], query.rows, num_results);
+
+	// construct an randomized kd-tree index using 4 kd-trees
+	t0=get_time();
+	Index<L2<float> > index(dataset, flann::KDTreeIndexParams(4));
+	index.buildIndex();                                                                                               
+	t1=get_time();
+	cout << "Build Index<>: " << (t1-t0)*1e3 << " ms\n";
+
+	// do a knn search
+	t0=get_time();
+	index.knnSearch(query, indices, dists, num_results, flann::SearchParams(10));
+	t1=get_time();
+	cout << "knnSearch(nn="<<num_results<<"): " << (t1-t0)*1e3 << " ms\n";
+
+	dataset.free();
+	indices.free();
+	dists.free();
+}
+
+
+int main(int argc, char** argv)
+{
+	perf_test<float>(100000);
+	perf_test<float>(1000000);
+
+	return 0;
+}
+

perf-tests/nanoflann/Makefile

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+# Set up basic variables:
+CC         = g++
+CFLAGS     = -c -Wall
+LDFLAGS    =
+
+# List of sources:
+SOURCES    = test_flann.cpp
+OBJECTS    = $(SOURCES:.cpp=.o)
+
+# Name of executable target:
+EXECUTABLE = test_flann
+
+# MRPT specific flags:
+#  Here we invoke "pkg-config" passing it as argument the list of the 
+#  MRPT libraries needed by our program (see available libs 
+#   with "pkg-config --list-all | grep mrpt").
+#
+CFLAGS     += `pkg-config --cflags mrpt-base`
+LDFLAGS    += `pkg-config --libs mrpt-base`
+
+
+all: $(SOURCES) $(EXECUTABLE)
+	
+$(EXECUTABLE): $(OBJECTS)
+	$(CC) $(LDFLAGS) $(OBJECTS) -o $@
+
+.cpp.o:
+	$(CC) $(CFLAGS) $< -o $@
+
+clean:
+	rm $(OBJECTS) $(EXECUTABLE)