Add benchmark

test/CMakeLists.txt

@@ -47,3 +47,6 @@ if (FCL_HAVE_OCTOMAP)
   PKG_CONFIG_USE_DEPENDENCY(test_fcl_octomap octomap)
 endif()
 
+## Benchmark
+add_executable(benchmark benchmark.cpp test_fcl_utility.cpp)
+target_link_libraries(benchmark hpp-fcl ${Boost_LIBRARIES})

test/benchmark.cpp

+// Copyright (c) 2016, Joseph Mirabel
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// This file is part of hpp-fcl.
+// hpp-fcl is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// hpp-fcl is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Lesser Public License for more details.  You should have
+// received a copy of the GNU Lesser General Public License along with
+// hpp-fcl. If not, see <http://www.gnu.org/licenses/>.
+
+#include <hpp/fcl/traversal/traversal_node_setup.h>
+#include <hpp/fcl/traversal/traversal_node_bvhs.h>
+#include <hpp/fcl/collision_node.h>
+#include "test_fcl_utility.h"
+#include "fcl_resources/config.h"
+#include <boost/filesystem.hpp>
+
+#define RUN_CASE(BV,tf,models,split) \
+  run<BV>(tf, models, split, #BV " - " #split ":\t")
+
+using namespace fcl;
+
+bool verbose = false;
+FCL_REAL DELTA = 0.001;
+
+template<typename BV>
+void makeModel (const std::vector<Vec3f>& vertices, const std::vector<Triangle>& triangles,
+    SplitMethodType split_method, BVHModel<BV>& model);
+
+template<typename BV, typename TraversalNode>
+double distance (const std::vector<Transform3f>& tf,
+               const BVHModel<BV>& m1, const BVHModel<BV>& m2,
+               bool verbose);
+
+template<typename BV, typename TraversalNode>
+double collide (const std::vector<Transform3f>& tf,
+               const BVHModel<BV>& m1, const BVHModel<BV>& m2,
+               bool verbose);
+
+template<typename BV>
+double run (const std::vector<Transform3f>& tf,
+    const BVHModel<BV> (&models)[2][3], int split_method,
+          const char* sm_name);
+
+template <typename BV> struct traits {
+};
+
+template <> struct traits <RSS> {
+  typedef MeshCollisionTraversalNodeRSS CollisionTraversalNode;
+  typedef MeshDistanceTraversalNodeRSS  DistanceTraversalNode;
+};
+
+template <> struct traits <kIOS> {
+  typedef MeshCollisionTraversalNodekIOS CollisionTraversalNode;
+  typedef MeshDistanceTraversalNodekIOS  DistanceTraversalNode;
+};
+
+template <> struct traits <OBB> {
+  typedef MeshCollisionTraversalNodeOBB CollisionTraversalNode;
+  // typedef MeshDistanceTraversalNodeOBB  DistanceTraversalNode;
+};
+
+template <> struct traits <OBBRSS> {
+  typedef MeshCollisionTraversalNodeOBBRSS CollisionTraversalNode;
+  typedef MeshDistanceTraversalNodeOBBRSS  DistanceTraversalNode;
+};
+
+template<typename BV>
+void makeModel (const std::vector<Vec3f>& vertices, const std::vector<Triangle>& triangles,
+    SplitMethodType split_method, BVHModel<BV>& model)
+{
+  model.bv_splitter.reset(new BVSplitter<BV>(split_method));
+  model.bv_splitter.reset(new BVSplitter<BV>(split_method));
+
+  model.beginModel();
+  model.addSubModel(vertices, triangles);
+  model.endModel();
+}
+
+template<typename BV, typename TraversalNode>
+double distance (const std::vector<Transform3f>& tf,
+               const BVHModel<BV>& m1, const BVHModel<BV>& m2,
+               bool verbose)
+{
+  Transform3f pose2;
+
+  DistanceResult local_result;
+  DistanceRequest request(true);
+  TraversalNode node;
+
+  node.enable_statistics = verbose;
+
+  Timer timer;
+  timer.start();
+
+  for (std::size_t i = 0; i < tf.size(); ++i) {
+    if(!initialize(node, m1, tf[i], m2, pose2, request, local_result))
+      std::cout << "initialize error" << std::endl;
+
+    distance(&node, NULL);
+  }
+  timer.stop();
+  return timer.getElapsedTimeInMicroSec();
+}
+
+template<typename BV, typename TraversalNode>
+double collide (const std::vector<Transform3f>& tf,
+               const BVHModel<BV>& m1, const BVHModel<BV>& m2,
+               bool verbose)
+{
+  Transform3f pose2;
+
+  CollisionResult local_result;	
+  CollisionRequest request;
+  TraversalNode node(false);
+
+  node.enable_statistics = verbose;
+
+  Timer timer;
+  timer.start();
+
+  for (std::size_t i = 0; i < tf.size(); ++i) {
+    if(!initialize(node, m1, tf[i], m2, pose2, request, local_result))
+      std::cout << "initialize error" << std::endl;
+
+    FCL_REAL sqrDistLowerBound;
+    collide(&node, sqrDistLowerBound);
+  }
+
+  timer.stop();
+  return timer.getElapsedTimeInMicroSec();
+}
+
+template<typename BV>
+double run (const std::vector<Transform3f>& tf,
+          const BVHModel<BV> (&models)[2][3], int split_method,
+          const char* prefix)
+{
+  double col  = collide <BV, typename traits<BV>::CollisionTraversalNode>
+    (tf, models[0][split_method], models[1][split_method], verbose);
+  double dist = distance<BV, typename traits<BV>::DistanceTraversalNode>
+    (tf, models[0][split_method], models[1][split_method], verbose);
+
+  std::cout << prefix << " (" << col << ", " << dist << ")\n";
+  return col + dist;
+}
+
+template<>
+double run<OBB> (const std::vector<Transform3f>& tf,
+                 const BVHModel<OBB> (&models)[2][3], int split_method,
+                 const char* prefix)
+{
+  double col  = collide <OBB, typename traits<OBB>::CollisionTraversalNode>
+    (tf, models[0][split_method], models[1][split_method], verbose);
+  double dist = 0;
+
+  std::cout << prefix << " (\t" << col << ", \tNaN)\n";
+  return col + dist;
+}
+
+
+int main (int, char*[])
+{
+  std::vector<Vec3f> p1, p2;
+  std::vector<Triangle> t1, t2;
+  boost::filesystem::path path(TEST_RESOURCES_DIR);
+  loadOBJFile((path / "env.obj").string().c_str(), p1, t1);
+  loadOBJFile((path / "rob.obj").string().c_str(), p2, t2);
+
+  // Make models
+  BVHModel<RSS> ms_rss[2][3];
+  makeModel (p1, t1, SPLIT_METHOD_MEAN     , ms_rss[0][SPLIT_METHOD_MEAN     ]);
+  makeModel (p1, t1, SPLIT_METHOD_BV_CENTER, ms_rss[0][SPLIT_METHOD_BV_CENTER]);
+  makeModel (p1, t1, SPLIT_METHOD_MEDIAN   , ms_rss[0][SPLIT_METHOD_MEDIAN   ]);
+  makeModel (p2, t2, SPLIT_METHOD_MEAN     , ms_rss[1][SPLIT_METHOD_MEAN     ]);
+  makeModel (p2, t2, SPLIT_METHOD_BV_CENTER, ms_rss[1][SPLIT_METHOD_BV_CENTER]);
+  makeModel (p2, t2, SPLIT_METHOD_MEDIAN   , ms_rss[1][SPLIT_METHOD_MEDIAN   ]);
+
+  BVHModel<kIOS> ms_kios[2][3];
+  makeModel (p1, t1, SPLIT_METHOD_MEAN     , ms_kios[0][SPLIT_METHOD_MEAN     ]);
+  makeModel (p1, t1, SPLIT_METHOD_BV_CENTER, ms_kios[0][SPLIT_METHOD_BV_CENTER]);
+  makeModel (p1, t1, SPLIT_METHOD_MEDIAN   , ms_kios[0][SPLIT_METHOD_MEDIAN   ]);
+  makeModel (p2, t2, SPLIT_METHOD_MEAN     , ms_kios[1][SPLIT_METHOD_MEAN     ]);
+  makeModel (p2, t2, SPLIT_METHOD_BV_CENTER, ms_kios[1][SPLIT_METHOD_BV_CENTER]);
+  makeModel (p2, t2, SPLIT_METHOD_MEDIAN   , ms_kios[1][SPLIT_METHOD_MEDIAN   ]);
+
+  BVHModel<OBB> ms_obb[2][3];
+  makeModel (p1, t1, SPLIT_METHOD_MEAN     , ms_obb[0][SPLIT_METHOD_MEAN     ]);
+  makeModel (p1, t1, SPLIT_METHOD_BV_CENTER, ms_obb[0][SPLIT_METHOD_BV_CENTER]);
+  makeModel (p1, t1, SPLIT_METHOD_MEDIAN   , ms_obb[0][SPLIT_METHOD_MEDIAN   ]);
+  makeModel (p2, t2, SPLIT_METHOD_MEAN     , ms_obb[1][SPLIT_METHOD_MEAN     ]);
+  makeModel (p2, t2, SPLIT_METHOD_BV_CENTER, ms_obb[1][SPLIT_METHOD_BV_CENTER]);
+  makeModel (p2, t2, SPLIT_METHOD_MEDIAN   , ms_obb[1][SPLIT_METHOD_MEDIAN   ]);
+
+  BVHModel<OBBRSS> ms_obbrss[2][3];
+  makeModel (p1, t1, SPLIT_METHOD_MEAN     , ms_obbrss[0][SPLIT_METHOD_MEAN     ]);
+  makeModel (p1, t1, SPLIT_METHOD_BV_CENTER, ms_obbrss[0][SPLIT_METHOD_BV_CENTER]);
+  makeModel (p1, t1, SPLIT_METHOD_MEDIAN   , ms_obbrss[0][SPLIT_METHOD_MEDIAN   ]);
+  makeModel (p2, t2, SPLIT_METHOD_MEAN     , ms_obbrss[1][SPLIT_METHOD_MEAN     ]);
+  makeModel (p2, t2, SPLIT_METHOD_BV_CENTER, ms_obbrss[1][SPLIT_METHOD_BV_CENTER]);
+  makeModel (p2, t2, SPLIT_METHOD_MEDIAN   , ms_obbrss[1][SPLIT_METHOD_MEDIAN   ]);
+
+  std::vector<Transform3f> transforms; // t0
+  FCL_REAL extents[] = {-3000, -3000, -3000, 3000, 3000, 3000};
+  std::size_t n = 10000;
+
+  generateRandomTransforms(extents, transforms, n);
+  double total_time = 0;
+
+  total_time += RUN_CASE(RSS, transforms, ms_rss, SPLIT_METHOD_MEAN);
+  total_time += RUN_CASE(RSS, transforms, ms_rss, SPLIT_METHOD_BV_CENTER);
+  total_time += RUN_CASE(RSS, transforms, ms_rss, SPLIT_METHOD_MEDIAN);
+
+  total_time += RUN_CASE(kIOS, transforms, ms_kios, SPLIT_METHOD_MEAN);
+  total_time += RUN_CASE(kIOS, transforms, ms_kios, SPLIT_METHOD_BV_CENTER);
+  total_time += RUN_CASE(kIOS, transforms, ms_kios, SPLIT_METHOD_MEDIAN);
+
+  total_time += RUN_CASE(OBB, transforms, ms_obb, SPLIT_METHOD_MEAN);
+  total_time += RUN_CASE(OBB, transforms, ms_obb, SPLIT_METHOD_BV_CENTER);
+  total_time += RUN_CASE(OBB, transforms, ms_obb, SPLIT_METHOD_MEDIAN);
+
+  total_time += RUN_CASE(OBBRSS, transforms, ms_obbrss, SPLIT_METHOD_MEAN);
+  total_time += RUN_CASE(OBBRSS, transforms, ms_obbrss, SPLIT_METHOD_BV_CENTER);
+  total_time += RUN_CASE(OBBRSS, transforms, ms_obbrss, SPLIT_METHOD_MEDIAN);
+
+  std::cout << "\n\nTotal time: " << total_time << std::endl;
+}