Improve Runtime by reshaping the DataAssociation #411
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tizianoGuadagnino
requested review from
nachovizzo and
benemer
as code owners
tizianoGuadagnino
changed the base branch from
main
to
tiziano/reduce_allocations
| }, | ||
| // 2nd lambda: Parallel reduction | ||
| [](Correspondences a, const Correspondences &b) -> Correspondences { | ||
| a.insert(a.end(), // |
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This seems to be the problematic operation. It might require more investigation, though. Anyway, I feel that this reduction was inappropriate for the task here.
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What do you mean by problematic? Regarding the runtime?
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Motivation
By simply switching the
Correspondencesto atbb::concurrent_vectorand performing theDataAssocationwith aparallel_forinstead of using a reduction, the pipeline's runtime decreased by 25% when I ran it in a single thread. The fantastic side effect is that the code is also much more readable.Results
Main
This PR
This is a follow-up PR from #410