Convolution3D: use dynamic schedule for OpenMP #6155
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Each iteration does a radius search, which does not take the same amount of time for each point. Specifying no schedule usually results in a static schedule. Related to PointCloudLibrary#5775 Benchmarks with table_scene_mug_stereo_textured.pcd (nan points removed before convolution) on Intel Core i7-9850H: GCC: threads | 1 | 2 | 3 | 4 | 5 | 6 | before | 2267 | 1725 | 1283 | 1039 | 863 | 744 | dynamic | 2269 | 1155 | 795 | 611 | 497 | 427 | MSVC 2022 (release configuration): threads | 1 | 2 | 3 | 4 | 5 | 6 | before | 2400 | 1886 | 1478 | 1176 | 972 | 857 | dynamic | 2501 | 1281 | 919 | 704 | 593 | 537 |
mvieth
added
changelog: enhancement
larshg
approved these changes
Oct 19, 2024
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Each iteration does a radius search, which does not take the same amount of time for each point. Specifying no schedule usually results in a static schedule. Related to #5775
Benchmarks with table_scene_mug_stereo_textured.pcd (nan points removed before convolution) on Intel Core i7-9850H:
GCC:
MSVC 2022 (release configuration):