00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #include "test_roscpp/PointCloud.h" 00036 #include <cstdlib> 00037 #include <cstdio> 00038 00039 using namespace ros::serialization; 00040 00041 ros::WallTime t; 00042 00043 inline void tic() 00044 { 00045 t = ros::WallTime::now(); 00046 } 00047 00048 inline double toc() 00049 { 00050 return (ros::WallTime::now() - t).toSec(); 00051 } 00052 00053 int main(int, char **) 00054 { 00055 test_roscpp::PointCloud pc; 00056 00057 const int NUM_ITER = 100; 00058 const int NUM_PTS = 1000000; 00059 pc.pts.resize(NUM_PTS); 00060 pc.chan.resize(2); 00061 pc.chan[0].vals.resize(NUM_PTS); 00062 pc.chan[1].vals.resize(NUM_PTS); 00063 00064 ros::SerializedMessage m; 00065 m.num_bytes = serializationLength(pc); 00066 m.buf.reset(new uint8_t[m.num_bytes]); 00067 00068 tic(); 00069 for (int i = 0; i < NUM_ITER; ++i) 00070 { 00071 OStream s(m.buf.get(), m.num_bytes); 00072 serialize(s, pc); 00073 m.message_start = m.buf.get(); 00074 } 00075 printf("avg serialization took %.6f sec\n", toc() / (double)NUM_ITER); 00076 00077 tic(); 00078 for (int i = 0; i < NUM_ITER; i++) 00079 { 00080 test_roscpp::PointCloud pc2; 00081 deserializeMessage(m, pc2); 00082 } 00083 printf("avg deserization time %.6f sec\n", toc() / (double)NUM_ITER); 00084 00085 return 0; 00086 } 00087