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  • Committer: Vikas Dhiman
  • Date: 2012-11-16 19:59:46 UTC
  • Revision ID: vikasdhi@buffalo.edu-20121116195946-fwfdqevt3h3eqoyg
Manually added julians changes after merge failed. "Added function to save point cloud in the .ply format"; "Got speed_test working again after API changes.

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test/speed_test.py
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        self.npts = 100000
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        self.high = 50
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        self.M = np.random.randint(0, self.high, (self.mpts, 3)).astype(np.int16)
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        self.P = np.random.randint(0, self.high, (self.npts, 3)).astype(np.int16)
 
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        self.P = np.zeros((self.npts, 4), dtype=np.int16)
 
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        self.P[:, :3] = np.random.randint(0, self.high, (self.npts, 3)).astype(np.int16)
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        self.testpose = (-2., 42., 80., 0.2, 0.1, 2.6)
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        self.testposeinv = poseutil.inverse(self.testpose)
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        self.Pxformed = poseutil.transformPoints(self.P, self.testpose)[0]
 
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        self.Pxformed = poseutil.transformPoints(self.P[:, :3], self.testpose)[0]
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        self.ol = occupiedlist.OccupiedList(self.resolution, use_bloom=False)
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        self.ol.add_points(self.M)
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        self.maparray[self.M[:, 0], self.M[:, 1], self.M[:, 2]] = True
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        # set up packed arrays map
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        ids = occupiedlist._pack(self.M)
 
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        ids = np.zeros((len(self.M), 4), dtype=np.int16)
 
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        ids[:, :3] = self.M
 
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        occupiedlist._pack(ids)
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        self.mapvoxels_int16 = dict.fromkeys(ids, 1)
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        self.mapset = set(ids)
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        #self.mapvoxels_int16 = collections.defaultdict(int)
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        # bloom map
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        self.bloom = occupiedlist.BloomFilter(self.mpts)
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        self.bloom.add_voxel_ids(occupiedlist._pack(self.M))
 
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        self.bloom.add_voxel_ids(ids)
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        # dictionary of dictionaries
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        #D = dict.fromkeys(self.mpts[:,0], dict())
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        return sum(dists < 1)
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    def bench_lookup_bloom(self):
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        #PV = occupiedlist.pointstovoxels(self.P, 1)
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        #ids = occupiedlist._pack(PV)
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        ids = occupiedlist._pack(self.P)
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        overlaps = self.bloom.contains(ids)
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        #return len(overlap)
 
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        occupiedlist._pack(self.P)
 
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        overlaps = self.bloom.contains(self.P)
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        return np.sum(overlaps)
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    def bench_lookup_dense_array(self):
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    def bench_lookup_set_intersection(self):
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        '''If many points fall in the same voxel this will return only overlap 
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        of one for all those points.'''
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        Pset = occupiedlist._pack(self.P)
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        overlap = self.mapset.intersection(Pset)
 
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        occupiedlist._pack(self.P)
 
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        overlap = self.mapset.intersection(self.P)
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        return len(overlap)
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    def bench_lookup_hashtable(self):
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        ids = occupiedlist._pack(self.P)
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        overlap = sum(ID in self.mapvoxels_int16 for ID in ids)
 
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        occupiedlist._pack(self.P)
 
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        overlap = sum(ID in self.mapvoxels_int16 for ID in self.P)
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        return overlap
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    def bench_rotate_translate_quantise(self):
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        funcs = dir(self)
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        funcs = [getattr(self, func) for func in funcs if func.startswith('bench_')]
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        self.setUp()
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        expected_overlap = self.bench_lookup_dense_array()
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        overlaps = []
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        results = []
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            exec_times = []
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            for i in range(runs):
 
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                print 'Setting up', name, '...',
 
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                self.setUp() # rerun setup each time
 
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                print 'Running'
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                start = time.time()
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                if profile:
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                    cProfile.runctx('func()', globals(), locals(), 'speed_test.profile')
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if __name__ == '__main__':
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    st = SpeedTest()
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    st.setUp()
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    st.test_map_query()