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vectr-ucla / direct_lidar_inertial_odometry

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.
MIT License
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runtime issues when compiling with clang #35

Open JanQuenzel opened 8 months ago

JanQuenzel commented 8 months ago

Hey there, when I compile dlio (and dlo) with clang, the average computation time more than triples in comparison to using gcc ( ~100ms instead of ~30ms for an Ouster OS0 128). I tried this on a AMD Ryzen 7 5800H with ubuntu 20.04 using clang 12.0 and gcc 9.4. With clang, the CPU was running at full core utilization (x16) and a CPU load around 99% while dropping around 30% of the scans. With gcc, the CPU runs at around 8% and slightly above 1 CPU utilized. Any idea were this problem may come from?

Best regards, Jan

kennyjchen commented 4 months ago

Hmm, probably has something to do with OpenMP when compiling with gcc.