mirror of https://github.com/koide3/small_gicp.git
120 lines
5.3 KiB
Markdown
120 lines
5.3 KiB
Markdown
# Benchmark
|
|
|
|
## Build
|
|
|
|
```bash
|
|
cd small_gicp
|
|
mkdir build && cd build
|
|
|
|
cmake .. -DBUILD_WITH_TBB=ON -DBUILD_WITH_PCL=ON -DBUILD_BENCHMARKS=ON
|
|
|
|
# [optional] Build with Iridescence (visualization)
|
|
git clone https://github.com/koide3/iridescence --recursive
|
|
mkdir iridescence/build && cd iridescence/build
|
|
cmake .. && make -j
|
|
sudo make install
|
|
|
|
cmake .. -DBUILD_WITH_IRIDESCENCE=ON
|
|
|
|
# [optional] Build with fast_gicp
|
|
export FAST_GICP_INCLUDE_DIR=/your/fast_gicp/include
|
|
cmake .. -DBUILD_WITH_FAST_GICP=ON
|
|
|
|
# Build
|
|
make -j
|
|
|
|
# Test
|
|
# Show options
|
|
./odometry_benchmark
|
|
|
|
# USAGE: odometry_benchmark <dataset_path> <output_path> [options]
|
|
# OPTIONS:
|
|
# --visualize
|
|
# --num_threads <value> (default: 4)
|
|
# --num_neighbors <value> (default: 20)
|
|
# --downsampling_resolution <value> (default: 0.25)
|
|
# --voxel_resolution <value> (default: 2.0)
|
|
# --engine <pcl|small_gicp|small_gicp_omp|small_vgicp_omp|small_gicp_tbb|small_vgicp_tbb|small_vgicp_model_tbb|small_gicp_tbb_flow> (default: small_gicp)
|
|
|
|
# Run odometry benchmark
|
|
./odometry_benchmark /your/kitti/dataset/velodyne /tmp/traj_lidar.txt --visualize --num_threads 16 --engine small_gicp_tbb
|
|
```
|
|
|
|
## Results
|
|
|
|
All benchmarks were conducted on the KITTI 00 sequence.
|
|
|
|
### Downsampling
|
|
|
|
```bash
|
|
cd small_gicp/scripts
|
|
./run_downsampling_benchmark.sh /path/to/kitti/velodyne
|
|
python3 plot_downsampling.py
|
|
```
|
|
|
|
- Single-threaded `small_gicp::voxelgrid_sampling` is about **1.3x faster** than `pcl::VoxelGrid`.
|
|
- Multi-threaded `small_gicp::voxelgrid_sampling_tbb` (6 threads) is about **3.2x faster** than `pcl::VoxelGrid`.
|
|
- `small_gicp::voxelgrid_sampling` gives accurate downsampling results (almost identical to those of `pcl::VoxelGrid`) while `pcl::ApproximateVoxelGrid` yields spurious points (up to 2x points).
|
|
- `small_gicp::voxelgrid_sampling` can process a larger point cloud with a fine voxel resolution compared to `pcl::VoxelGrid` (for a point cloud of 1000m width, minimum voxel resolution can be 0.5 mm).
|
|
|
|
|
|
|
|
- While TBB shows slightly better scalability, both the parallelism backends do not obtain a speed gain for the cases with threads more than 16.
|
|
|
|
|
|
|
|
### KdTree construction
|
|
|
|
```bash
|
|
cd small_gicp/scripts
|
|
./run_kdtree_benchmark.sh /path/to/kitti/velodyne
|
|
python3 plot_kdtree.py
|
|
```
|
|
|
|
- Multi-threaded implementation (TBB and OMP) can be up to **4x faster** than the single-threaded one (All the implementations are based on nanoflann).
|
|
- ~~The processing speed gets faster as the number of threads increases, but the speed gain is not monotonic sometimes (because of the scheduling algorithm or some CPU(AMD 5995WX)-specific issues?)~~.
|
|
- The new KdTree implementation shows a good scalability thanks to its well balanced task assignment.
|
|
- This benchmark only compares the construction time (query time is not included).
|
|
|
|
|
|
|
|
### Odometry estimation
|
|
|
|
```bash
|
|
cd small_gicp/scripts
|
|
./run_odometry_benchmark.sh /path/to/kitti/velodyne
|
|
python3 plot_odometry.py
|
|
```
|
|
|
|
- Single-thread `small_gicp::GICP` is about **2.4x and 1.9x faster** than `pcl::GICP` and `fast_gicp::GICP`, respectively.
|
|
- `small_gicp::(GICP|VGICP)` shows a better multi-thread scalability compared to `fast_gicp::(GICP|VGICP)`.
|
|
- `small_gicp::GICP` parallelized with [TBB flow graph](src/odometry_benchmark_small_gicp_tbb_flow.cpp) shows an excellent scalability to many-threads situations (**~128 threads**) but with latency degradation.
|
|
|
|
|
|
|
|
**SIMD intrinsics (-march=native)** (We recommend keeping this feature disabled unless you are 100% sure what it is)
|
|
|
|
- `BUILD_WITH_MARCH_NATIVE=ON` enables platform-specific intrinsics and squeezing the performance (**1.1x speedup for free**).
|
|
- However, you must ensure that all involved libraries are built with `-march=native`, otherwise the program will crash.
|
|
- Generally, it is difficult to properly set `-march=native` for all libraries, and we recommend keeping `BUILD_WITH_MARCH_NATIVE=OFF`.
|
|
|
|
Results:
|
|
- `BUILD_WITH_MARCH_NATIVE=OFF` : `Eigen::SimdInstructionSetsInUse()=SSE, SSE2`
|
|
- `BUILD_WITH_MARCH_NATIVE=ON` : `Eigen::SimdInstructionSetsInUse()=AVX, SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2`
|
|
|
|
|
|
|
|
**Accuracy**
|
|
|
|
- `small_gicp::GICP` outputs mostly identical results to those of `fast_gicp::GICP`.
|
|
- The results of `small_gicp::VGICP` slightly differ from `fast_gicp::VGICP`. Although the difference is marginal, it needs to be investigated.
|
|
|
|
```
|
|
pcl_gicp : APE=6.451 +- 3.421 RPE(100)=2.424 +- 1.707 RPE(400)=8.416 +- 4.284 RPE(800)=12.652 +- 6.799
|
|
fast_gicp : APE=6.118 +- 3.078 RPE(100)=1.212 +- 0.717 RPE(400)=6.058 +- 3.128 RPE(800)=10.356 +- 6.335
|
|
fast_vgicp : APE=6.791 +- 3.215 RPE(100)=1.253 +- 0.734 RPE(400)=6.315 +- 3.011 RPE(800)=10.367 +- 6.147
|
|
small_gicp : APE=6.096 +- 3.056 RPE(100)=1.211 +- 0.717 RPE(400)=6.057 +- 3.123 RPE(800)=10.364 +- 6.336
|
|
small_gicp (tbb) : APE=6.096 +- 3.056 RPE(100)=1.211 +- 0.717 RPE(400)=6.057 +- 3.123 RPE(800)=10.364 +- 6.336
|
|
small_gicp (omp) : APE=6.096 +- 3.056 RPE(100)=1.211 +- 0.717 RPE(400)=6.057 +- 3.123 RPE(800)=10.364 +- 6.336
|
|
small_vgicp : APE=5.956 +- 2.725 RPE(100)=1.315 +- 0.762 RPE(400)=6.849 +- 3.401 RPE(800)=10.396 +- 6.972
|
|
``` |