mirror of https://github.com/koide3/small_gicp.git
70 lines
2.1 KiB
C++
70 lines
2.1 KiB
C++
#ifdef BUILD_WITH_TBB
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#include <small_gicp/benchmark/benchmark_odom.hpp>
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#include <tbb/tbb.h>
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#include <small_gicp/factors/gicp_factor.hpp>
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#include <small_gicp/points/point_cloud.hpp>
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#include <small_gicp/ann/kdtree_tbb.hpp>
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#include <small_gicp/util/normal_estimation_tbb.hpp>
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#include <small_gicp/registration/reduction_tbb.hpp>
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#include <small_gicp/registration/registration.hpp>
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namespace small_gicp {
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class SmallGICPOnlineOdometryEstimationTBB : public OnlineOdometryEstimation {
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public:
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explicit SmallGICPOnlineOdometryEstimationTBB(const OdometryEstimationParams& params)
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: OnlineOdometryEstimation(params),
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control(tbb::global_control::max_allowed_parallelism, params.num_threads),
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T(Eigen::Isometry3d::Identity()) {}
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Eigen::Isometry3d estimate(const PointCloud::Ptr& points) override {
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Stopwatch sw;
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sw.start();
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auto tree = std::make_shared<KdTreeTBB<PointCloud>>(points);
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estimate_covariances_tbb(*points, *tree, params.num_neighbors);
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if (target_points == nullptr) {
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target_points = points;
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target_tree = tree;
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return T;
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}
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Registration<GICPFactor, ParallelReductionTBB> registration;
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registration.rejector.max_dist_sq = params.max_correspondence_distance * params.max_correspondence_distance;
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auto result = registration.align(*target_points, *points, *target_tree, Eigen::Isometry3d::Identity());
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sw.stop();
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reg_times.push(sw.msec());
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T = T * result.T_target_source;
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target_points = points;
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target_tree = tree;
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return T;
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}
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void report() override { //
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std::cout << "registration_time_stats=" << reg_times.str() << " [msec/scan] total_throughput=" << total_times.str() << " [msec/scan]" << std::endl;
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}
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private:
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tbb::global_control control;
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Summarizer reg_times;
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PointCloud::Ptr target_points;
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KdTreeTBB<PointCloud>::Ptr target_tree;
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Eigen::Isometry3d T;
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};
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static auto small_gicp_tbb_registry =
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register_odometry("small_gicp_tbb", [](const OdometryEstimationParams& params) { return std::make_shared<SmallGICPOnlineOdometryEstimationTBB>(params); });
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} // namespace small_gicp
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#endif |