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OctreeManager and vector operations #17

Merged
merged 55 commits into from
Nov 16, 2023
Merged

OctreeManager and vector operations #17

merged 55 commits into from
Nov 16, 2023

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true-real-michael
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@true-real-michael true-real-michael commented Nov 9, 2023 •
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This PR removes MultiPoseOctree and introduces OctreeManager, which replaces its functionality.
This PR introduces optimisations of point distribution on the stage of distribution into Grid voxels and on the stage of moving points from one OctreeNode the child OctreeNodes

The class diagram is here
and PNG is inserted below
class diagram

Impact of these optimisatons is displayed below (left is the solution in main, right is the solution in this branch)

First point clouds insertion stage
min  | 2.285s  | 1.278s
max  | 2.401s  | 1.296s
mean | 2.326s  | 1.286s
std  | 0.039s  | 0.006s

Subdividers stage
min  | 6.836s  | 5.728s
max  | 8.561s  | 5.84s 
mean | 7.094s  | 5.765s
std  | 0.495s  | 0.036s

Distribution stage
min  | 17.124s | 2.509s
max  | 17.605s | 2.604s
mean | 17.334s | 2.548s
std  | 0.15s   | 0.026s

Segmenters stage
min  | 10.126s | 6.388s
max  | 10.976s | 7.046s
mean | 10.27s  | 6.605s
std  | 0.243s  | 0.274s

Backend stage
min  | 0.08s   | 0.01s 
max  | 0.126s  | 0.012s
mean | 0.088s  | 0.011s
std  | 0.014s  | 0.001s

@true-real-michael true-real-michael changed the title MultiPoseManager OctreeManager and vector opreations Nov 10, 2023
@true-real-michael true-real-michael requested review from pmokeev and removed request for pmokeev November 12, 2023 12:29
pmokeev
pmokeev requested changes Nov 15, 2023
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pmokeev
pmokeev requested changes Nov 15, 2023
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@true-real-michael true-real-michael merged commit 63c8a0e into main Nov 16, 2023
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@pmokeev pmokeev mentioned this pull request Nov 16, 2023
Merged
@true-real-michael true-real-michael deleted the octree-manager-and-vector-operations branch November 21, 2023 16:13
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@pmokeev pmokeev pmokeev approved these changes

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@true-real-michael @pmokeev