OpenMP VS Std::for_each

加速这一段代码#include <thread> #include <mutex> // 用于保护m_vpdEdgePoints和m_vdEdgeGradient的锁 std::mutex g_mutex; void process_edges(const cv::Mat& RoiMat, const std::vector<cv::Point2d>& m_vpdEquinoxPoints, const double m_dMeasureLength, const double m_dMeasureHeight, const double m_dSigma, const int m_nThresholdCircle, const int m_nTranslationCircle, const std::vector<double>& m_vdMeasureAngle, std::vector<cv::Point2d>& m_vpdEdgePoints, std::vector<double>& m_vdEdgeGradient, int start_idx, int end_idx, Extract1DEdgeCircle Extract1DEdgeCircle) { std::vector<Edge1D_Result> edges; for (int i = start_idx; i < end_idx; i++) { edges = Extract1DEdgeCircle.Get1DEdge(RoiMat, m_vpdEquinoxPoints[i], m_dMeasureLength, m_dMeasureHeight,m_vdMeasureAngle[i], m_dSigma, m_nThresholdCircle, m_nTranslationCircle == 1 ? Translation::Poisitive : Translation::Negative, Selection::Strongest); // 使用锁保护m_vpdEdgePoints和m_vdEdgeGradient //std::lock_guard<std::mutex> lock(g_mutex); for (int j = 0; j < edges.size(); j++) { m_vpdEdgePoints.push_back(edges[j].m_pdEdgePoint); m_vdEdgeGradient.push_back(edges[j].m_dGradient); } } } const int num_threads = 10; std::vector<std::thread> threads(num_threads); std::vector<std::vector<cv::Point2d>> edge_points(num_threads); std::vector<std::vector<double>> edge_gradients(num_threads); for (int i = 0; i < num_threads; i++) { int start_idx = i * m / num_threads; int end_idx = (i + 1) * m / num_threads; threads[i] = std::thread(process_edges, std::ref(RoiMat), std::ref(m_vpdEquinoxPoints), m_dMeasureLength, m_dMeasureHeight, m_dSigma, m_nThresholdCircle, m_nTranslationCircle, std::ref(m_vdMeasureAngle), std::ref(edge_points[i]), std::ref(edge_gradients[i]), start_idx, end_idx, Extract1DEdgeCircle); } for (int i = 0; i < num_threads; i++) { threads[i].join(); // 合并结果 m_vpdEdgePoints.insert(m_vpdEdgePoints.end(), edge_points[i].begin(), edge_points[i].end()); m_vdEdgeGradient.insert(m_vdEdgeGradient.end(), edge_gradients[i].begin(), edge_gradients[i].end()); }

C++ std::array<uint8_t, 32> 转string

void DataPipeline::get_noground(const PointCloudTPtr& cloud_in, PointCloudTPtr& obg, PointCloudTPtr& ground) { obg->reserve(cloud_in->size()); ground->reserve(cloud_in->size() / 2); // 1. 构建xy栅格并存储z值 std::unordered_map<Key, std::vector<float>> grid_z_values; // 存储每个栅格的z值 const float range = 0.05f; // 分析范围 const float z_threshold = 0.05f; // z变化阈值 for (const auto& p : *cloud_in) { if (p.z < 0.4f) { Key k = make_key(p.x, p.y,range); grid_z_values[k].push_back(p.z); } } // 2. 预处理：计算每个栅格的z值变化 std::unordered_map<Key, bool> has_large_z_variation; for (auto& [key, z_values] : grid_z_values) { if (z_values.size() < 8) { has_large_z_variation[key] = false; continue; } // 计算z值范围和变化 auto [min_it, max_it] = std::minmax_element(z_values.begin(), z_values.end()); float z_range = *max_it - *min_it; has_large_z_variation[key] = (z_range > z_threshold); } // 3. 分类点云 for (const auto& p : *cloud_in) { if (p.z <= -0.3f) { continue; // 忽略过低点 } if (p.z >= 0.4f) { obg->push_back(p); // 高处点直接归为障碍物 continue; } Key k = make_key(p.x, p.y); if (has_large_z_variation[k]) { obg->push_back(p); // z变化大的区域归为障碍物 } else { ground->push_back(p); // z变化小的区域归为地面 } }优化耗时

torch at::parallel_for