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kai-waangkai-waang
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[features] change SHOT estimation to a dynamic schedule
1 parent 4db3dc4 commit 704416a

4 files changed

Lines changed: 197 additions & 7 deletions

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‎benchmarks/CMakeLists.txt‎

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@@ -18,6 +18,10 @@ PCL_ADD_BENCHMARK(features_normal_3d FILES features/normal_3d.cpp
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ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd"
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"${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd")
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PCL_ADD_BENCHMARK(features_shot FILES features/shot.cpp
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LINK_WITH pcl_io pcl_search pcl_features
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ARGUMENTS "${PCL_SOURCE_DIR}/test/milk.pcd")
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PCL_ADD_BENCHMARK(filters_voxel_grid FILES filters/voxel_grid.cpp
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LINK_WITH pcl_io pcl_filters
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ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd"

‎benchmarks/features/shot.cpp‎

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@@ -0,0 +1,169 @@
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#include <pcl/features/normal_3d_omp.h>
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#include <pcl/features/shot_omp.h>
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#include <pcl/io/pcd_io.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <benchmark/benchmark.h>
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static void
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BM_SHOT352(benchmark::State& state, const std::string& file)
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{
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pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
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pcl::PCDReader reader;
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reader.read(file, *cloud);
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pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;
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ne.setInputCloud(cloud);
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ne.setKSearch(10);
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pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
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ne.compute(*normals);
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pcl::SHOTEstimation<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> shot;
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shot.setInputCloud(cloud);
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shot.setInputNormals(normals);
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shot.setRadiusSearch(0.04);
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pcl::PointCloud<pcl::SHOT352>::Ptr output(new pcl::PointCloud<pcl::SHOT352>);
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for (auto _ : state) {
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shot.compute(*output);
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}
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}
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static void
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BM_SHOT352_OMP(benchmark::State& state, const std::string& file)
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{
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pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
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pcl::PCDReader reader;
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reader.read(file, *cloud);
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pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;
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ne.setInputCloud(cloud);
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ne.setKSearch(10);
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pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
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ne.compute(*normals);
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pcl::SHOTEstimationOMP<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> shot(
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0, state.range(0) //
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);
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shot.setInputCloud(cloud);
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shot.setInputNormals(normals);
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shot.setRadiusSearch(0.04);
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pcl::PointCloud<pcl::SHOT352>::Ptr output(new pcl::PointCloud<pcl::SHOT352>);
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for (auto _ : state) {
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shot.compute(*output);
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}
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}
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static void
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BM_SHOT1344(benchmark::State& state, const std::string& file)
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{
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pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz(new pcl::PointCloud<pcl::PointXYZ>);
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pcl::PCDReader reader;
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reader.read(file, *cloud_xyz);
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pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;
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ne.setInputCloud(cloud_xyz);
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ne.setKSearch(10);
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pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
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ne.compute(*normals);
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pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_rgba(
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new pcl::PointCloud<pcl::PointXYZRGBA>);
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for (int i = 0; i < static_cast<int>(cloud_xyz->size()); ++i) {
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pcl::PointXYZRGBA p;
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p.x = (*cloud_xyz)[i].x;
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p.y = (*cloud_xyz)[i].y;
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p.z = (*cloud_xyz)[i].z;
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p.rgba = ((i % 255) << 16) + (((255 - i) % 255) << 8) + ((i * 37) % 255);
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cloud_rgba->push_back(p);
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}
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pcl::SHOTColorEstimation<pcl::PointXYZRGBA, pcl::Normal, pcl::SHOT1344> shot(true,
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true);
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shot.setInputCloud(cloud_rgba);
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shot.setInputNormals(normals);
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shot.setRadiusSearch(0.04);
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pcl::PointCloud<pcl::SHOT1344>::Ptr output(new pcl::PointCloud<pcl::SHOT1344>);
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for (auto _ : state) {
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shot.compute(*output);
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}
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}
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static void
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BM_SHOT1344_OMP(benchmark::State& state, const std::string& file)
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{
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pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz(new pcl::PointCloud<pcl::PointXYZ>);
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pcl::PCDReader reader;
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reader.read(file, *cloud_xyz);
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pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;
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ne.setInputCloud(cloud_xyz);
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ne.setKSearch(10);
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pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
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ne.compute(*normals);
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pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_rgba(
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new pcl::PointCloud<pcl::PointXYZRGBA>);
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for (int i = 0; i < static_cast<int>(cloud_xyz->size()); ++i) {
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pcl::PointXYZRGBA p;
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p.x = (*cloud_xyz)[i].x;
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p.y = (*cloud_xyz)[i].y;
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p.z = (*cloud_xyz)[i].z;
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p.rgba = ((i % 255) << 16) + (((255 - i) % 255) << 8) + ((i * 37) % 255);
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cloud_rgba->push_back(p);
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}
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pcl::SHOTColorEstimationOMP<pcl::PointXYZRGBA, pcl::Normal, pcl::SHOT1344> shot(
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true, true, 0, state.range(0));
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shot.setInputCloud(cloud_rgba);
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shot.setInputNormals(normals);
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shot.setRadiusSearch(0.04);
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pcl::PointCloud<pcl::SHOT1344>::Ptr output(new pcl::PointCloud<pcl::SHOT1344>);
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for (auto _ : state) {
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shot.compute(*output);
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}
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}
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int
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main(int argc, char** argv)
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{
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if (argc < 2) {
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std::cerr << "No test files given. Please provide a PCD file paths for SHOT352 "
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"and SHOT1344 benchmarks."
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<< std::endl;
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return (-1);
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}
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constexpr int runs = 100;
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benchmark::RegisterBenchmark("BM_SHOT352", &BM_SHOT352, argv[1])
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->Unit(benchmark::kMillisecond)
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->Iterations(runs);
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benchmark::RegisterBenchmark("BM_SHOT352_OMP", &BM_SHOT352_OMP, argv[1])
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->Arg(64)
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->Arg(128)
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->Arg(256)
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->Unit(benchmark::kMillisecond)
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->Iterations(runs);
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benchmark::RegisterBenchmark("BM_SHOT1344", &BM_SHOT1344, argv[1])
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->Unit(benchmark::kMillisecond)
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->Iterations(runs);
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benchmark::RegisterBenchmark("BM_SHOT1344_OMP", &BM_SHOT1344_OMP, argv[1])
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->Arg(64)
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->Arg(128)
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->Arg(256)
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->Unit(benchmark::kMillisecond)
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->Iterations(runs);
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benchmark::Initialize(&argc, argv);
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benchmark::RunSpecifiedBenchmarks();
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}

‎features/include/pcl/features/impl/shot_omp.hpp‎

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Original file line numberDiff line numberDiff line change
@@ -153,7 +153,8 @@ pcl::SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::computeFeature (
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#pragma omp parallel for \
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default(none) \
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shared(output) \
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num_threads(threads_)
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num_threads(threads_) \
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schedule(dynamic, chunk_size_)
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for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
158159
{
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@@ -240,7 +241,8 @@ pcl::SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::computeFeat
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#pragma omp parallel for \
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default(none) \
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shared(output) \
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num_threads(threads_)
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num_threads(threads_) \
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schedule(dynamic, chunk_size_)
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for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
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{
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Eigen::VectorXf shot;

‎features/include/pcl/features/shot_omp.h‎

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@@ -94,8 +94,12 @@ namespace pcl
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using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
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using PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn;
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/** \brief Empty constructor. */
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SHOTEstimationOMP (unsigned int nr_threads = 0) : SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> ()
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/** \brief Empty constructor.
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* \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
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* \param chunk_size PCL will use dynamic scheduling with this chunk size. Setting it too low will lead to more parallelization overhead. Setting it too high will lead to a worse balancing between the threads.
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*/
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explicit SHOTEstimationOMP (unsigned int nr_threads = 0, int chunk_size = 256)
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: SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> (), chunk_size_(chunk_size)
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{
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setNumberOfThreads(nr_threads);
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};
@@ -122,6 +126,9 @@ namespace pcl
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/** \brief The number of threads the scheduler should use. */
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unsigned int threads_;
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/** \brief Chunk size for (dynamic) scheduling. */
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int chunk_size_;
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};
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/** \brief SHOTColorEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset
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using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
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using PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn;
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/** \brief Empty constructor. */
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/** \brief Empty constructor.
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* \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
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* \param chunk_size PCL will use dynamic scheduling with this chunk size. Setting it too low will lead to more parallelization overhead. Setting it too high will lead to a worse balancing between the threads.
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*/
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SHOTColorEstimationOMP (bool describe_shape = true,
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bool describe_color = true,
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unsigned int nr_threads = 0)
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: SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> (describe_shape, describe_color)
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unsigned int nr_threads = 0,
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int chunk_size = 64)
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: SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> (describe_shape, describe_color),
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chunk_size_(chunk_size)
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{
185197
setNumberOfThreads(nr_threads);
186198
}
@@ -207,6 +219,9 @@ namespace pcl
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/** \brief The number of threads the scheduler should use. */
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unsigned int threads_;
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/** \brief Chunk size for (dynamic) scheduling. */
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int chunk_size_;
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};
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}

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