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PointCloudLibrary
Faster octree radiusSearch
... by improving the check whether an octree node might contain a point within radius. Previously this was done by a sphere around the node center (some nodes were checked although that would not have been necessary), now this is done exact (like a rounded cube).
Benchmarks: NormalEstimation (without OpenMP) with octree:
| NormalEstimation | Old | New |
|---|---|---|
| r=0.01, cloud=milk | 914 ms | 756 ms |
| r=0.01, cloud=mug | 1133 ms | 881 ms |
| r=0.02, cloud=milk | 1979 ms | 1784 ms |
| r=0.02, cloud=mug | 2642 ms | 2244 ms |
Calling radiusSearch on every (valid) point of a cloud (r is tuned so that 5 and 50 neighbours are found on average, respectively):
| Search | Old | New |
|---|---|---|
| r=0.0016, cloud1 | 267 ms | 175 ms |
| r=0.0022, cloud2 | 319 ms | 210 ms |
| r=0.0072, cloud3 | 421 ms | 293 ms |
| r=0.005, cloud1 | 440 ms | 356 ms |
| r=0.0068, cloud2 | 513 ms | 441 ms |
| r=0.024, cloud3 | 877 ms | 873 ms |
