loadPCDfile function is too slow

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loadPCDfile function is too slow

kaichiro
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Hi all
I am Kaichiro

I compared PCD file's loding speed in same computer.

PCDFile:8.08MB

Source Code:
        clock_t start = clock();    // start
        pcl::io::loadPCDFile<pcl::PointXYZRGB>("Test.pcd", *cloud);
        clock_t end = clock();     // end
        std::cout << "duration = " << (double)(end - start) / CLOCKS_PER_SEC << "sec.\n";

@PCL ver1.6.0
duration = 3.917sec

@PCL ver1.7.2
duration = 18.637sec


Why ver1.7.2 loding function is too slow?
Please teach me reason.
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Re: loadPCDfile function is too slow

kaichiro
Add more information

I know that ASCII file loading  is too slow

File size
ASCII:8.08MB
Binary: 2.36MB

Loading time

@PCL 1.6.0
Binary:0.024sec
BinaryCompressed:0.032sec
ASCII:4.07sec

@PCL1.7.2
Binary:0.037sec
BinaryCompressed:0.041sec
ASCII:18.572sec

Why ver1.7.2 loding function is slow?
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Re: loadPCDfile function is too slow

VictorLamoine
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This post was updated on .
Hello,

How were PCL 1.6 and 1.7.2 compiled ? Debug, release mode ?

Bye
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Re: loadPCDfile function is too slow

kaichiro
Thanks for your reply.

I tried release mode on Visual studio.

But,
PCL1.6.0 works on visual studio 2010
PCL1.7.2 works on visual studio 2013

Does the difference of visual studio version affect process time?

Best Regards,
Kaichiro
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Re: loadPCDfile function is too slow

nenadpol
This post was updated on .
Hi,

I work with PCL1.7.2 on visual studio 2012

If you attach your files I can test it on my PC

cheers
Nenad
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Re: loadPCDfile function is too slow

kaichiro
Ok, I share PCD file on Dropbox.
(If you know good sharing  method, please tell me.)
PCD file on DropBox

But this PCD file is different scene.
Because the PCD file which tested yesterday contains my private...

File size
Binary: 2.6MB
BinaryCompressed: 2.4MB
ASCII:8.2MB

Loading time
@PCL 1.6.0
Binary:0.026sec
BinaryCompressed:0.032sec
ASCII:3.887sec

@PCL1.7.2
Binary:0.030sec
BinaryCompressed:0.047sec
ASCII:19.744sec

If you tested this file, pleae tell me about PCL, Visual studio, OS version and loading time.

Best Regards,
Kaichiro

PCD file
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Re: loadPCDfile function is too slow

nenadpol
This post was updated on .
@PCL1.7.2 (32bit)release mode,   windows 7 (x64) , vs 2012


Binary:  fastest = 0.015 , slowest =0.065sec
BinaryCompressed:  0.045sec
ASCII:12.281sec (+- 0.5sec, tested several times)

cheers
Nenad