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Speed up multi grid ndt build #39

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Speed up multi grid ndt build #39

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anhnv3991
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  • Use multithread to build NDT when there are changes in the map segments
  • Tested on shiojiri dataset
    shiojiri_align_new
    shiojiri_update_new

@anhnv3991
Speeded up ndt build
accb81b 
Signed-off-by: anhnv3991 <[email protected]>
@SakodaShintaro
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SakodaShintaro commented Mar 13, 2024 •
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The results of regression_test also confirm the speedup.
elapsed_milliseconds
https://github.com/tier4/ndt_omp/actions/runs/8246065407/artifacts/1317846806

Great job!

However, I think this pull request is a mixture of multiple elements.

  • speed up align()
  • speed up VoxelGrid construction
  • Refactorings that are unrelated

It will also be displayed if there is a numerical change, so I will check this PR carefully.

@anhnv3991
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This PR a a bit too big. I need to separate it to smaller PRs so I temporarily close this PR.

@anhnv3991 anhnv3991 closed this Mar 13, 2024
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@SakodaShintaro SakodaShintaro Awaiting requested review from SakodaShintaro

@YamatoAndo YamatoAndo Awaiting requested review from YamatoAndo

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@anhnv3991 @SakodaShintaro