Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, 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 00036 #ifndef PCL_TIME_H_ 00037 #define PCL_TIME_H_ 00038 00039 #include <cmath> 00040 #include <string> 00041 #include <boost/date_time/posix_time/posix_time.hpp> 00042 00050 namespace pcl 00051 { 00052 00057 class StopWatch 00058 { 00059 public: 00060 StopWatch() 00061 { 00062 start_time_ = boost::posix_time::microsec_clock::local_time(); 00063 } 00064 00066 inline float 00067 getTime() 00068 { 00069 boost::posix_time::ptime end_time = boost::posix_time::microsec_clock::local_time(); 00070 return (float)((end_time - start_time_).total_milliseconds()); 00071 } 00072 00074 inline float 00075 getTimeSeconds() 00076 { 00077 return (getTime() * 0.001f); 00078 } 00079 00081 inline void 00082 reset() 00083 { 00084 start_time_ = boost::posix_time::microsec_clock::local_time(); 00085 } 00086 00087 protected: 00088 boost::posix_time::ptime start_time_; 00089 }; 00090 00098 class ScopeTime : public StopWatch 00099 { 00100 public: 00101 inline ScopeTime (const char* title) 00102 { 00103 title_ = std::string(title); 00104 } 00105 00106 inline ~ScopeTime () 00107 { 00108 std::cerr << title_ << " took " << getTime() << "ms.\n"; 00109 } 00110 00111 private: 00112 std::string title_; 00113 }; 00114 00115 00116 #ifndef MEASURE_FUNCTION_TIME 00117 #define MEASURE_FUNCTION_TIME \ 00118 ScopeTime scopeTime(__func__) 00119 #endif 00120 00121 inline double getTime () 00122 { 00123 boost::posix_time::ptime epoch_time(boost::gregorian::date(1970,1,1)); 00124 boost::posix_time::ptime current_time = boost::posix_time::microsec_clock::local_time(); 00125 return (current_time - epoch_time).total_nanoseconds() * 1.0e-9; 00126 } 00127 00129 #ifndef DO_EVERY_TS 00130 #define DO_EVERY_TS(secs, currentTime, code) \ 00131 if (1) {\ 00132 static double s_lastDone_ = 0.0; \ 00133 double s_now_ = (currentTime); \ 00134 if (s_lastDone_ > s_now_) \ 00135 s_lastDone_ = s_now_; \ 00136 if ((s_now_ - s_lastDone_) > (secs)) { \ 00137 code; \ 00138 s_lastDone_ = s_now_; \ 00139 }\ 00140 } else \ 00141 (void)0 00142 #endif 00143 00145 #ifndef DO_EVERY 00146 #define DO_EVERY(secs, code) \ 00147 DO_EVERY_TS(secs, pcl::getTime(), code) 00148 #endif 00149 00150 } // end namespace 00153 #endif //#ifndef PCL_NORMS_H_