[features] change SHOT estimation to a dynamic schedule

benchmarks/CMakeLists.txt

@@ -18,6 +18,10 @@ PCL_ADD_BENCHMARK(features_normal_3d FILES features/normal_3d.cpp
                   ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd"
                             "${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd")
 
+PCL_ADD_BENCHMARK(features_shot FILES features/shot.cpp
+                  LINK_WITH pcl_io pcl_search pcl_features
+                  ARGUMENTS "${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd")
+
 PCL_ADD_BENCHMARK(filters_voxel_grid FILES filters/voxel_grid.cpp
                   LINK_WITH pcl_io pcl_filters
                   ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd"

benchmarks/features/shot.cpp

@@ -0,0 +1,184 @@
+#include <pcl/features/normal_3d_omp.h>
+#include <pcl/features/shot_omp.h>
+#include <pcl/filters/uniform_sampling.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+
+#include <benchmark/benchmark.h>
+
+constexpr float lrf_radius = 0.04f;
+constexpr float shot_search_radius = 0.04f;
+constexpr float uniform_sampling_radius = 0.03f;
+
+static void
+BM_SHOT352(benchmark::State& state, const std::string& file)
+{
+  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
+  pcl::PCDReader reader;
+  reader.read(file, *cloud);
+
+  pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;
+  ne.setInputCloud(cloud);
+  ne.setKSearch(10);
+  pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
+  ne.compute(*normals);
+
+  pcl::UniformSampling<pcl::PointXYZ> uniform_sampling;
+  uniform_sampling.setInputCloud(cloud);
+  uniform_sampling.setRadiusSearch(uniform_sampling_radius);
+  pcl::PointCloud<pcl::PointXYZ>::Ptr keypoints(new pcl::PointCloud<pcl::PointXYZ>);
+  uniform_sampling.filter(*keypoints);
+
+  pcl::SHOTEstimation<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> shot;
+  shot.setInputCloud(keypoints);
+  shot.setInputNormals(normals);
+  shot.setSearchSurface(cloud);
+  shot.setRadiusSearch(shot_search_radius);
+  shot.setLRFRadius(lrf_radius);
+
+  pcl::PointCloud<pcl::SHOT352>::Ptr output(new pcl::PointCloud<pcl::SHOT352>);
+  for (auto _ : state) {
+    shot.compute(*output);
+  }
+}
+
+static void
+BM_SHOT352_OMP(benchmark::State& state, const std::string& file)
+{
+  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
+  pcl::PCDReader reader;
+  reader.read(file, *cloud);
+
+  pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;
+  ne.setInputCloud(cloud);
+  ne.setKSearch(10);
+  pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
+  ne.compute(*normals);
+
+  pcl::UniformSampling<pcl::PointXYZ> uniform_sampling;
+  uniform_sampling.setInputCloud(cloud);
+  uniform_sampling.setRadiusSearch(uniform_sampling_radius);
+  pcl::PointCloud<pcl::PointXYZ>::Ptr keypoints(new pcl::PointCloud<pcl::PointXYZ>);
+  uniform_sampling.filter(*keypoints);
+
+  pcl::SHOTEstimationOMP<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> shot(
+      0, state.range(0) //
+  );
+  shot.setInputCloud(keypoints);
+  shot.setInputNormals(normals);
+  shot.setSearchSurface(cloud);
+  shot.setRadiusSearch(shot_search_radius);
+  shot.setLRFRadius(lrf_radius);
+
+  pcl::PointCloud<pcl::SHOT352>::Ptr output(new pcl::PointCloud<pcl::SHOT352>);
+  for (auto _ : state) {
+    shot.compute(*output);
+  }
+}
+
+static void
+BM_SHOT1344(benchmark::State& state, const std::string& file)
+{
+  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_rgba(
+      new pcl::PointCloud<pcl::PointXYZRGBA>);
+  pcl::PCDReader reader;
+  reader.read(file, *cloud_rgba);
+
+  pcl::NormalEstimationOMP<pcl::PointXYZRGBA, pcl::Normal> ne;
+  ne.setInputCloud(cloud_rgba);
+  ne.setKSearch(10);
+  pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
+  ne.compute(*normals);
+
+  pcl::UniformSampling<pcl::PointXYZRGBA> uniform_sampling;
+  uniform_sampling.setInputCloud(cloud_rgba);
+  uniform_sampling.setRadiusSearch(uniform_sampling_radius);
+  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr keypoints(
+      new pcl::PointCloud<pcl::PointXYZRGBA>);
+  uniform_sampling.filter(*keypoints);
+
+  pcl::SHOTColorEstimation<pcl::PointXYZRGBA, pcl::Normal, pcl::SHOT1344> shot(true,
+                                                                               true);
+  shot.setInputCloud(keypoints);
+  shot.setInputNormals(normals);
+  shot.setSearchSurface(cloud_rgba);
+  shot.setRadiusSearch(shot_search_radius);
+  shot.setLRFRadius(lrf_radius);
+
+  pcl::PointCloud<pcl::SHOT1344>::Ptr output(new pcl::PointCloud<pcl::SHOT1344>);
+  for (auto _ : state) {
+    shot.compute(*output);
+  }
+}
+
+static void
+BM_SHOT1344_OMP(benchmark::State& state, const std::string& file)
+{
+  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_rgba(
+      new pcl::PointCloud<pcl::PointXYZRGBA>);
+  pcl::PCDReader reader;
+  reader.read(file, *cloud_rgba);
+
+  pcl::NormalEstimationOMP<pcl::PointXYZRGBA, pcl::Normal> ne;
+  ne.setInputCloud(cloud_rgba);
+  ne.setKSearch(10);
+  pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
+  ne.compute(*normals);
+
+  pcl::UniformSampling<pcl::PointXYZRGBA> uniform_sampling;
+  uniform_sampling.setInputCloud(cloud_rgba);
+  uniform_sampling.setRadiusSearch(uniform_sampling_radius);
+  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr keypoints(
+      new pcl::PointCloud<pcl::PointXYZRGBA>);
+  uniform_sampling.filter(*keypoints);
+
+  pcl::SHOTColorEstimationOMP<pcl::PointXYZRGBA, pcl::Normal, pcl::SHOT1344> shot(
+      true, true, 0, state.range(0));
+  shot.setInputCloud(keypoints);
+  shot.setInputNormals(normals);
+  shot.setSearchSurface(cloud_rgba);
+  shot.setRadiusSearch(shot_search_radius);
+  shot.setLRFRadius(lrf_radius);
+
+  pcl::PointCloud<pcl::SHOT1344>::Ptr output(new pcl::PointCloud<pcl::SHOT1344>);
+  for (auto _ : state) {
+    shot.compute(*output);
+  }
+}
+
+int
+main(int argc, char** argv)
+{
+  if (argc < 2) {
+    std::cerr << "No test files given. Please provide a PCD file path to use for "
+                 "both SHOT352 and SHOT1344 benchmarks."
+              << std::endl;
+    return (-1);
+  }
+
+  constexpr int runs = 100;
+
+  benchmark::RegisterBenchmark("BM_SHOT352", &BM_SHOT352, argv[1])
+      ->Unit(benchmark::kMillisecond)
+      ->Iterations(runs);
+  benchmark::RegisterBenchmark("BM_SHOT352_OMP", &BM_SHOT352_OMP, argv[1])
+      ->Arg(64)
+      ->Arg(128)
+      ->Arg(256)
+      ->Unit(benchmark::kMillisecond)
+      ->Iterations(runs);
+
+  benchmark::RegisterBenchmark("BM_SHOT1344", &BM_SHOT1344, argv[1])
+      ->Unit(benchmark::kMillisecond)
+      ->Iterations(runs);
+  benchmark::RegisterBenchmark("BM_SHOT1344_OMP", &BM_SHOT1344_OMP, argv[1])
+      ->Arg(64)
+      ->Arg(128)
+      ->Arg(256)
+      ->Unit(benchmark::kMillisecond)
+      ->Iterations(runs);
+
+  benchmark::Initialize(&argc, argv);
+  benchmark::RunSpecifiedBenchmarks();
+}

features/include/pcl/features/impl/shot_omp.hpp

@@ -153,7 +153,8 @@ pcl::SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::computeFeature (
 #pragma omp parallel for \
   default(none) \
   shared(output) \
-  num_threads(threads_)
+  num_threads(threads_) \
+  schedule(dynamic, chunk_size_)
   for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
   {
 
@@ -240,7 +241,8 @@ pcl::SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT>::computeFeat
 #pragma omp parallel for \
   default(none) \
   shared(output) \
-  num_threads(threads_)
+  num_threads(threads_) \
+  schedule(dynamic, chunk_size_)
   for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
   {
     Eigen::VectorXf shot;

features/include/pcl/features/shot_omp.h

@@ -94,8 +94,12 @@ namespace pcl
       using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
       using PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn;
 
-      /** \brief Empty constructor. */
-      SHOTEstimationOMP (unsigned int nr_threads = 0) : SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> ()
+      /** \brief Empty constructor.
+         * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
+         * \param chunk_size PCL will use dynamic scheduling with this chunk size. Setting it too low will lead to more parallelization overhead. Setting it too high will lead to a worse balancing between the threads.
+         */
+      SHOTEstimationOMP (unsigned int nr_threads = 0, int chunk_size = 256)
+        : SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> (), chunk_size_(chunk_size)
       {
         setNumberOfThreads(nr_threads);
       };
@@ -122,6 +126,9 @@ namespace pcl
 
       /** \brief The number of threads the scheduler should use. */
       unsigned int threads_;
+
+      /** \brief Chunk size for (dynamic) scheduling. */
+      int chunk_size_;
   };
 
   /** \brief SHOTColorEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset
@@ -176,11 +183,16 @@ namespace pcl
       using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
       using PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn;
 
-      /** \brief Empty constructor. */
+      /** \brief Empty constructor.
+         * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
+         * \param chunk_size PCL will use dynamic scheduling with this chunk size. Setting it too low will lead to more parallelization overhead. Setting it too high will lead to a worse balancing between the threads.
+         */
       SHOTColorEstimationOMP (bool describe_shape = true,
                               bool describe_color = true,
-                              unsigned int nr_threads = 0)
-        : SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> (describe_shape, describe_color)
+                              unsigned int nr_threads = 0,
+                              int chunk_size = 64)
+        : SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> (describe_shape, describe_color),
+          chunk_size_(chunk_size)
       {
         setNumberOfThreads(nr_threads);
       }
@@ -207,6 +219,9 @@ namespace pcl
 
       /** \brief The number of threads the scheduler should use. */
       unsigned int threads_;
+
+      /** \brief Chunk size for (dynamic) scheduling. */
+      int chunk_size_;
   };
 
 }