Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2012, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 */ 00038 00039 #ifndef PCL_TIME_H_ 00040 #define PCL_TIME_H_ 00041 00042 #ifdef __GNUC__ 00043 #pragma GCC system_header 00044 #endif 00045 00046 #include <cmath> 00047 #include <string> 00048 #include <boost/date_time/posix_time/posix_time.hpp> 00049 00050 /** 00051 * \file pcl/common/time.h 00052 * Define methods for measuring time spent in code blocks 00053 * \ingroup common 00054 */ 00055 00056 /*@{*/ 00057 namespace pcl 00058 { 00059 /** \brief Simple stopwatch. 00060 * \ingroup common 00061 */ 00062 class StopWatch 00063 { 00064 public: 00065 /** \brief Constructor. */ 00066 StopWatch () : start_time_ (boost::posix_time::microsec_clock::local_time ()) 00067 { 00068 } 00069 00070 /** \brief Destructor. */ 00071 virtual ~StopWatch () {} 00072 00073 /** \brief Retrieve the time in milliseconds spent since the last call to \a reset(). */ 00074 inline double 00075 getTime () 00076 { 00077 boost::posix_time::ptime end_time = boost::posix_time::microsec_clock::local_time (); 00078 return (static_cast<double> (((end_time - start_time_).total_milliseconds ()))); 00079 } 00080 00081 /** \brief Retrieve the time in seconds spent since the last call to \a reset(). */ 00082 inline double 00083 getTimeSeconds () 00084 { 00085 return (getTime () * 0.001f); 00086 } 00087 00088 /** \brief Reset the stopwatch to 0. */ 00089 inline void 00090 reset () 00091 { 00092 start_time_ = boost::posix_time::microsec_clock::local_time (); 00093 } 00094 00095 protected: 00096 boost::posix_time::ptime start_time_; 00097 }; 00098 00099 /** \brief Class to measure the time spent in a scope 00100 * 00101 * To use this class, e.g. to measure the time spent in a function, 00102 * just create an instance at the beginning of the function. Example: 00103 * 00104 * \code 00105 * { 00106 * pcl::ScopeTime t1 ("calculation"); 00107 * 00108 * // ... perform calculation here 00109 * } 00110 * \endcode 00111 * 00112 * \ingroup common 00113 */ 00114 class ScopeTime : public StopWatch 00115 { 00116 public: 00117 inline ScopeTime (const char* title) : 00118 title_ (std::string (title)) 00119 { 00120 start_time_ = boost::posix_time::microsec_clock::local_time (); 00121 } 00122 00123 inline ScopeTime () : 00124 title_ (std::string ("")) 00125 { 00126 start_time_ = boost::posix_time::microsec_clock::local_time (); 00127 } 00128 00129 inline ~ScopeTime () 00130 { 00131 double val = this->getTime (); 00132 std::cerr << title_ << " took " << val << "ms.\n"; 00133 } 00134 00135 private: 00136 std::string title_; 00137 }; 00138 00139 00140 #ifndef MEASURE_FUNCTION_TIME 00141 #define MEASURE_FUNCTION_TIME \ 00142 ScopeTime scopeTime(__func__) 00143 #endif 00144 00145 inline double 00146 getTime () 00147 { 00148 boost::posix_time::ptime epoch_time (boost::gregorian::date (1970, 1, 1)); 00149 boost::posix_time::ptime current_time = boost::posix_time::microsec_clock::local_time (); 00150 return (static_cast<double>((current_time - epoch_time).total_nanoseconds ()) * 1.0e-9); 00151 } 00152 00153 /// Executes code, only if secs are gone since last exec. 00154 #ifndef DO_EVERY_TS 00155 #define DO_EVERY_TS(secs, currentTime, code) \ 00156 if (1) {\ 00157 static double s_lastDone_ = 0.0; \ 00158 double s_now_ = (currentTime); \ 00159 if (s_lastDone_ > s_now_) \ 00160 s_lastDone_ = s_now_; \ 00161 if ((s_now_ - s_lastDone_) > (secs)) { \ 00162 code; \ 00163 s_lastDone_ = s_now_; \ 00164 }\ 00165 } else \ 00166 (void)0 00167 #endif 00168 00169 /// Executes code, only if secs are gone since last exec. 00170 #ifndef DO_EVERY 00171 #define DO_EVERY(secs, code) \ 00172 DO_EVERY_TS(secs, pcl::getTime(), code) 00173 #endif 00174 00175 } // end namespace 00176 /*@}*/ 00177 00178 #endif //#ifndef PCL_NORMS_H_