PointCloudLibrary / PointCloudLibrary/pcl
frequently cudaDeviceSynchronize
@haritha-j is already working on this.
Since May 21, 2020.
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Description
The cuda code is full of cudaDeviceSynchronize() (especially KinFu). This reduces the framerate but I don't see any need.
I'm not sure, but I suppose every cudaDeviceSynchronize can be removed.
e.g.: What is the reason for patch https://github.com/PointCloudLibrary/pcl/commit/7e964742d2275dd955073198e3320fcb65eacc95 ?
e.g.: https://github.com/PointCloudLibrary/pcl/blob/master/gpu/kinfu/src/kinfu.cpp#L427 significantly reduces the framerate, because the CPU could go on with the visualization (painting the depth image), there is no need to wait (depending on the GPU ca. 6ms) for the GPU. I see just one advantage: The time effort of the kinfu algorithm can be measured more exactly.
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