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ndt_omp package from ndt_omp repo

ndt_omp

Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/koide3/ndt_omp.git
VCS Type git
VCS Version master
Last Updated 2024-08-31
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

OpenMP boosted NDT and GICP algorithms

Additional Links

No additional links.

Maintainers

  • koide

Authors

No additional authors.

ndt_omp

This package provides an OpenMP-boosted Normal Distributions Transform (and GICP) algorithm derived from pcl. The NDT algorithm is modified to be SSE-friendly and multi-threaded. It can run up to 10 times faster than its original version in pcl.

For using this package in non-ROS1 projects (ROS2 or without ROS), see forked repositories: dfki-ric/pclomp tier4/ndt_omp.

Build

Benchmark (on Core i7-6700K)

$ roscd ndt_omp/data
$ rosrun ndt_omp align 251370668.pcd 251371071.pcd
--- pcl::NDT ---
single : 282.222[msec]
10times: 2921.92[msec]
fitness: 0.213937

--- pclomp::NDT (KDTREE, 1 threads) ---
single : 207.697[msec]
10times: 2059.19[msec]
fitness: 0.213937

--- pclomp::NDT (DIRECT7, 1 threads) ---
single : 139.433[msec]
10times: 1356.79[msec]
fitness: 0.214205

--- pclomp::NDT (DIRECT1, 1 threads) ---
single : 34.6418[msec]
10times: 317.03[msec]
fitness: 0.208511

--- pclomp::NDT (KDTREE, 8 threads) ---
single : 54.9903[msec]
10times: 500.51[msec]
fitness: 0.213937

--- pclomp::NDT (DIRECT7, 8 threads) ---
single : 63.1442[msec]
10times: 343.336[msec]
fitness: 0.214205

--- pclomp::NDT (DIRECT1, 8 threads) ---
single : 17.2353[msec]
10times: 100.025[msec]
fitness: 0.208511

Several methods for neighbor voxel search are implemented. If you select pclomp::KDTREE, results will be completely the same as that of the original pcl::NDT. We recommend using pclomp::DIRECT7 which is faster and stable. If you need extremely fast registration, choose pclomp::DIRECT1, but it might be a bit unstable.


Red: target, Green: source, Blue: aligned

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ndt_omp at Robotics Stack Exchange

No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.

ndt_omp package from ndt_omp repo

ndt_omp

Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/koide3/ndt_omp.git
VCS Type git
VCS Version master
Last Updated 2024-08-31
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

OpenMP boosted NDT and GICP algorithms

Additional Links

No additional links.

Maintainers

  • koide

Authors

No additional authors.

ndt_omp

This package provides an OpenMP-boosted Normal Distributions Transform (and GICP) algorithm derived from pcl. The NDT algorithm is modified to be SSE-friendly and multi-threaded. It can run up to 10 times faster than its original version in pcl.

For using this package in non-ROS1 projects (ROS2 or without ROS), see forked repositories: dfki-ric/pclomp tier4/ndt_omp.

Build

Benchmark (on Core i7-6700K)

$ roscd ndt_omp/data
$ rosrun ndt_omp align 251370668.pcd 251371071.pcd
--- pcl::NDT ---
single : 282.222[msec]
10times: 2921.92[msec]
fitness: 0.213937

--- pclomp::NDT (KDTREE, 1 threads) ---
single : 207.697[msec]
10times: 2059.19[msec]
fitness: 0.213937

--- pclomp::NDT (DIRECT7, 1 threads) ---
single : 139.433[msec]
10times: 1356.79[msec]
fitness: 0.214205

--- pclomp::NDT (DIRECT1, 1 threads) ---
single : 34.6418[msec]
10times: 317.03[msec]
fitness: 0.208511

--- pclomp::NDT (KDTREE, 8 threads) ---
single : 54.9903[msec]
10times: 500.51[msec]
fitness: 0.213937

--- pclomp::NDT (DIRECT7, 8 threads) ---
single : 63.1442[msec]
10times: 343.336[msec]
fitness: 0.214205

--- pclomp::NDT (DIRECT1, 8 threads) ---
single : 17.2353[msec]
10times: 100.025[msec]
fitness: 0.208511

Several methods for neighbor voxel search are implemented. If you select pclomp::KDTREE, results will be completely the same as that of the original pcl::NDT. We recommend using pclomp::DIRECT7 which is faster and stable. If you need extremely fast registration, choose pclomp::DIRECT1, but it might be a bit unstable.


Red: target, Green: source, Blue: aligned

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ndt_omp at Robotics Stack Exchange

No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.