Try 1nn instead of knn on gpu

SBPL-Cruz / perception

PERCH 2.0 : Fast and Accurate GPU-based Perception via Search for Object Pose Estimation

https://sbpl-cruz.github.io/perception/

BSD 3-Clause "New" or "Revised" License

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Try 1nn instead of knn on gpu #107

Closed aditya2592 closed 4 years ago

aditya2592 commented 4 years ago

Test case - crate images with big gap between total runtime and icp runtime, for large number of points (650k) in all rendered poses the KNN time is large

aditya2592 commented 4 years ago

Tested on 6dof