pointcloud_serdes.cpp

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/*
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#include "test_roscpp/PointCloud.h"
#include <cstdlib>
#include <cstdio>
 
using namespace ros::serialization;
 
ros::WallTime t;
 
inline void tic()
{
  t = ros::WallTime::now();
}
 
inline double toc()
{
  return (ros::WallTime::now() - t).toSec();
}
 
int main(int, char **)
{
  test_roscpp::PointCloud pc;
 
  const int NUM_ITER = 100;
  const int NUM_PTS = 1000000;
  pc.pts.resize(NUM_PTS);
  pc.chan.resize(2);
  pc.chan[0].vals.resize(NUM_PTS);
  pc.chan[1].vals.resize(NUM_PTS);
 
  ros::SerializedMessage m;
  m.num_bytes = serializationLength(pc);
  m.buf.reset(new uint8_t[m.num_bytes]);
 
  tic();
  for (int i = 0; i < NUM_ITER; ++i)
  {
    OStream s(m.buf.get(), m.num_bytes);
    serialize(s, pc);
    m.message_start = m.buf.get();
  }
  printf("avg serialization took %.6f sec\n", toc() / (double)NUM_ITER);
 
  tic();
  for (int i = 0; i < NUM_ITER; i++)
  {
    test_roscpp::PointCloud pc2;
    deserializeMessage(m, pc2);
  }
  printf("avg deserization time %.6f sec\n", toc() / (double)NUM_ITER);
 
  return 0;
}