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perf add src

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stelzo 2024-05-13 18:19:45 +02:00
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@ -86,11 +86,13 @@ Please open an issue or PR if you need other integrations.
## Performance ## Performance
The library offers a speed up when compared to PointCloudLibrary (PCL) conversions but the specific factor depends heavily on the use case and system. This library offers a speed up when compared to PointCloudLibrary (PCL) conversions but the specific factor depends heavily on the use case and system.
`vec` conversions are on average ~7.5x faster than PCL while the single core iteration `_iter` APIs are around 2x faster. The `_vec` conversions are on average ~7.5x faster than PCL while the single core iteration `_iter` functions are around 2x faster.
Parallelization with `_par_iter` showcases a 10.5x speed up compared to an OpenMP accelerated PCL pipeline. Parallelization with `_par_iter` gives a 10.5x speed up compared to an OpenMP accelerated PCL pipeline.
The full benchmarks are publicly available in this [repository](https://github.com/stelzo/ros_pcl_conv_bench). The results are measured with benchmarks in this [repository](https://github.com/stelzo/ros_pcl_conv_bench) and are evaluated on a i7-14700.
For minimizing the ROS overhead, always use the functions that best fit your use case.
## License ## License