Add google benchmark for NormalEstimation

.ci/azure-pipelines/build/macos.yaml

@@ -3,7 +3,7 @@ steps:
     # find the commit hash on a quick non-forced update too
     fetchDepth: 10
   - script: |
-      brew install cmake pkg-config boost eigen flann glew libusb qhull vtk glew qt5 libpcap libomp brewsci/science/openni
+      brew install cmake pkg-config boost eigen flann glew libusb qhull vtk glew qt5 libpcap libomp google-benchmark brewsci/science/openni
       git clone https://github.com/abseil/googletest.git $GOOGLE_TEST_DIR # the official endpoint changed to abseil/googletest
       cd $GOOGLE_TEST_DIR && git checkout release-1.8.1
     displayName: 'Install Dependencies'
@@ -19,6 +19,7 @@ steps:
         -DPCL_ONLY_CORE_POINT_TYPES=ON \
         -DBUILD_simulation=ON \
         -DBUILD_global_tests=ON \
+        -DBUILD_benchmarks=ON \
         -DBUILD_examples=ON \
         -DBUILD_tools=ON \
         -DBUILD_apps=ON \
@@ -34,6 +35,8 @@ steps:
     displayName: 'Build Library'
   - script: cd $BUILD_DIR && cmake --build . -- tests
     displayName: 'Run Unit Tests'
+  - script: cd $BUILD_DIR && cmake --build . -- run_benchmarks
+    displayName: 'Run Benchmarks'
   - task: PublishTestResults@2
     inputs:
       testResultsFormat: 'CTest'

.ci/azure-pipelines/build/ubuntu.yaml

@@ -12,6 +12,7 @@ steps:
       -DBUILD_simulation=ON \
       -DBUILD_surface_on_nurbs=ON \
       -DBUILD_global_tests=ON \
+      -DBUILD_benchmarks=ON \
       -DBUILD_examples=ON \
       -DBUILD_tools=ON \
       -DBUILD_apps=ON \

.ci/azure-pipelines/build/windows.yaml

@@ -11,7 +11,7 @@ steps:
   - pwsh: Get-PSDrive
     displayName: "Check free space"
   - script: |
-      vcpkg.exe install eigen3 flann gtest qhull --triplet %PLATFORM%-windows && vcpkg.exe list
+      vcpkg.exe install eigen3 flann gtest qhull benchmark --triplet %PLATFORM%-windows && vcpkg.exe list
     displayName: 'Install C++ Dependencies Via Vcpkg'
   - script: |
       mkdir %BUILD_DIR% && cd %BUILD_DIR%
@@ -24,6 +24,7 @@ steps:
         -DPCL_BUILD_WITH_FLANN_DYNAMIC_LINKING_WIN32=ON ^
         -DPCL_BUILD_WITH_QHULL_DYNAMIC_LINKING_WIN32=ON ^
         -DBUILD_global_tests=ON ^
+        -DBUILD_benchmarks=ON ^
         -DBUILD_tools=OFF ^
         -DBUILD_surface_on_nurbs=ON
     displayName: 'CMake Configuration'

benchmarks/CMakeLists.txt

@@ -0,0 +1,20 @@
+set(SUBSYS_NAME benchmarks)
+set(SUBSYS_DESC "Point cloud library benchmarks")
+set(SUBSYS_DEPS common features search kdtree io)
+set(DEFAULT OFF)
+set(build TRUE)
+set(REASON "Disabled by default")
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
+if(NOT build)
+  return()
+endif()
+
+find_package(benchmark REQUIRED)
+add_executable(benchmark_features features.cpp)
+target_link_libraries(benchmark_features benchmark::benchmark pcl_io pcl_search pcl_features)
+set_target_properties(benchmark_features PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+#add_test(NAME benchmark_features COMMAND benchmark_features ${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd CONFIGURATIONS benchmarks)
+add_custom_target(run_benchmark_features benchmark_features ${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd)
+add_custom_target(run_benchmarks)
+add_dependencies(run_benchmarks run_benchmark_features)

benchmarks/features.cpp

@@ -0,0 +1,29 @@
+#include <benchmark/benchmark.h>
+#include <pcl/features/normal_3d.h> // for NormalEstimation
+#include <pcl/io/pcd_io.h> // for PCDReader
+
+static void BM_NormalEstimation(benchmark::State& state, const std::string& file) {
+  // Perform setup here
+  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
+  pcl::PCDReader reader;
+  reader.read (file, *cloud);
+  pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
+  ne.setInputCloud (cloud);
+  ne.setKSearch (100);
+  pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal>);
+  for (auto _ : state) {
+    // This code gets timed
+    ne.compute (*cloud_normals);
+  }
+}
+
+int main(int argc, char** argv) {
+  if (argc < 2)
+  {
+    std::cerr << "No test file given. Please download `table_scene_mug_stereo_textured.pcd` and pass its path to the test." << std::endl;
+    return (-1);
+  }
+  benchmark::RegisterBenchmark("BM_NormalEstimation", BM_NormalEstimation, argv[1]);
+  benchmark::Initialize(&argc, argv);
+  benchmark::RunSpecifiedBenchmarks();
+}