search

AprilRobotics / apriltag

AprilTag is a visual fiducial system popular for robotics research.
https://april.eecs.umich.edu/software/apriltag
Other
1.56k stars 535 forks source link

Split work up in gradient_clusters more finely #271

Closed AustinSchuh closed 1 year ago

AustinSchuh commented 1 year ago

In other chunks of work split into thread pools, the work is split up more finely than the number of CPUs. This makes it so that if a thread gets behind (in a big.little architecture, this is expected, or in the case of preemption), the threads that are ahead can pick up the extra work.

gradient_clusters was missing this split. This saved 5-10ms of processing time on my Rock Pi 4b and reduced the outliers.

christian-rauch commented 1 year ago

Thanks. Your change is in line with other uses of td->nthreads.