mirror
/
ros_pointcloud2
mirror of https://github.com/stelzo/ros_pointcloud2.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

perf add src

This commit is contained in:
stelzo 2024-05-13 18:19:45 +02:00
parent e73e6ae79d
commit 221e8913b9
1 changed files with 6 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
README.md
View File

@ -86,11 +86,13 @@ Please open an issue or PR if you need other integrations.
## 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.
`vec` conversions are on average ~7.5x faster than PCL while the single core iteration `_iter` APIs are around 2x faster.
Parallelization with `_par_iter` showcases a 10.5x speed up compared to an OpenMP accelerated PCL pipeline.
This library offers a speed up when compared to PointCloudLibrary (PCL) conversions but the specific factor depends heavily on the use case and system.
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` 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