pointcloud_serdes.cpp
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00001 /*
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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 


test_roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 03:45:23