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[ConditionalEuclideanClustering::segment] std::(multi)thread (only) 21-46% faster on non organzied clouds, much faster appearantly on organized clouds

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Valutazione

Difficoltà
5/5
Tempo stimato
Più di una settimana
Idoneità per principianti
20/100
Tipo di issue
Funzionalità
Chiarezza
Da chiarire
Stato di attività
Ferma
Stack tecnologico
cpp
Ambito
computer-vision, performance

Direzione di ricerca

Inizia con ConditionalEuclideanClustering::segment e analizza l’implementazione multithread nel branch del fork attemptConditionalEuclideanMT. Riproduci le quattro configurazioni di benchmark descritte nell’issue e confronta gli approcci al threading; l’issue non definisce una modifica specifica accettata né un criterio di completamento.

Scritto dal modello di indicizzazione a partire dal testo della issue.

Descrizione

status: triage

I have implemented a std multithread version of ConditionalEuclideanClustering::segment and called it
void
segmentMT (IndicesClusters &clusters, const size_t threadNumber=2);
on my fork branch attemptConditionalEuclideanMT
on my PC it improves of only 21-38% the time to produce the results using 3 or 4 threads
12th Gen Intel(R) Core(TM) i7-12700 2.10 GHz
20 Logical CPUs - 32.0 GB
Windows 10 Pro

Setting1:
cloud is dense and NOT organized and has 2 million points XYZRGB
so the search used is pcl::search::OrganizedNeighbor
which takes 350 msec just to execute searcher_->setInputCloud
11 clusters are segmented

5 threads: 2.1-2.3 sexc
4 threads: 1.9-2.2 sec
3 threads: 1.8-2 sec
2 threads: 2.1 sec
1 thread: 2.4sec
21% improvement

Setting2:
cloud is dense and NOT organized and has 300 000 points XYZRGB
3 threads: 268-295 msec
1 thread: 420msec
4 clusters are found
32% improvement

Setting3:
cloud is NOT dense and NOT organized and has 485 000 points XYZRGB
3 threads: 480-500 msec
1 thread: 790msec
1 clusters is found
38% improvement

Setting 4: like Setting 1 but running on a different computer, a laptop less stable (less reliable for benchmark) because with heavy sw running in background:
4 threads: 2.9-3.4 sec
1 thread: 5.6-6.1 sec
46% improvement

I am still investigating the reasons for this limited improvement. On a first analysis the main reason could be that the algorithm is intinsecally not much parallelizable. I can split in parallel the growing of the clusters by splitting the point sequence in subsequences, but then at the end I have to reconnect the clusters that have grown separately in different threads ( I record the connections to be made at the end)

you can check I have quite optimized the critical scetions using also shared_mutexes

still I think it would be an interesting alternative to openMP or CUDA also for other tools/features that like this one do not look feasible for openMP or CUDA

I have tried 3 versions one with a searcher for each thread, one with a unique searcher prpeared by the main thread and one with a unique searcher prepared by the first launched thread. The latter would be faster but once in a while it gets much slower, probably because I had to implement it with a std::condition_variable that when triggered probably it slows down the thread pool. So in the end I opted for the 2nd solution (no std::condition_variable)

Lingua principale
C++
Stelle
11.2k
Fork
4.7k
Merge medio
5g 8h
PR unite (30g)
10

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