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Improve VoxelGrid filter runtime by ~20% by using spread sort #3853

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merged 8 commits into from
Apr 27, 2020
Merged

Improve VoxelGrid filter runtime by ~20% by using spread sort #3853

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c1b3040
Optimize VoxelGrid
Apr 3, 2020
c0dcad0
change reverted (should have no effect on results)
facontidavide Apr 5, 2020
6f99de8
Applying suggested changes
facontidavide Apr 5, 2020
8bd2e15
applying suggested changes
facontidavide Apr 5, 2020
d47d174
cleaunp
facontidavide Apr 5, 2020
17e9cc4
Update voxel_grid.hpp
facontidavide Apr 5, 2020
802536b
Update voxel_grid.cpp
facontidavide Apr 5, 2020
270b6f3
Remove commented out code
kunaltyagi Apr 27, 2020
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7 changes: 5 additions & 2 deletions filters/include/pcl/filters/impl/voxel_grid.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@
#include <pcl/common/common.h>
#include <pcl/common/io.h>
#include <pcl/filters/voxel_grid.h>
#include <boost/sort/spreadsort/integer_sort.hpp>

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
Expand Down Expand Up @@ -205,6 +206,7 @@ struct cloud_point_index_idx
unsigned int idx;
unsigned int cloud_point_index;

cloud_point_index_idx() = default;
cloud_point_index_idx (unsigned int idx_, unsigned int cloud_point_index_) : idx (idx_), cloud_point_index (cloud_point_index_) {}
bool operator < (const cloud_point_index_idx &p) const { return (idx < p.idx); }
};
Expand Down Expand Up @@ -339,8 +341,9 @@ pcl::VoxelGrid<PointT>::applyFilter (PointCloud &output)

// Second pass: sort the index_vector vector using value representing target cell as index
// in effect all points belonging to the same output cell will be next to each other
std::sort (index_vector.begin (), index_vector.end (), std::less<cloud_point_index_idx> ());

auto rightshift_func = [](const cloud_point_index_idx &x, const unsigned offset) { return x.idx >> offset; };
boost::sort::spreadsort::integer_sort(index_vector.begin(), index_vector.end(), rightshift_func);

// Third pass: count output cells
// we need to skip all the same, adjacent idx values
unsigned int total = 0;
Expand Down
5 changes: 3 additions & 2 deletions filters/src/voxel_grid.cpp
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Expand Up @@ -41,6 +41,7 @@
#include <iostream>
#include <pcl/common/io.h>
#include <pcl/filters/impl/voxel_grid.hpp>
#include <boost/sort/spreadsort/integer_sort.hpp>

using Array4size_t = Eigen::Array<std::size_t, 4, 1>;

Expand Down Expand Up @@ -377,7 +378,8 @@ pcl::VoxelGrid<pcl::PCLPointCloud2>::applyFilter (PCLPointCloud2 &output)

// Second pass: sort the index_vector vector using value representing target cell as index
// in effect all points belonging to the same output cell will be next to each other
std::sort (index_vector.begin (), index_vector.end (), std::less<cloud_point_index_idx> ());
auto rightshift_func = [](const cloud_point_index_idx &x, const unsigned offset) { return x.idx >> offset; };
boost::sort::spreadsort::integer_sort(index_vector.begin(), index_vector.end(), rightshift_func);

// Third pass: count output cells
// we need to skip all the same, adjacenent idx values
Expand Down Expand Up @@ -549,4 +551,3 @@ PCL_INSTANTIATE(getMinMax3D, PCL_XYZ_POINT_TYPES)
PCL_INSTANTIATE(VoxelGrid, PCL_XYZ_POINT_TYPES)

#endif // PCL_NO_PRECOMPILE