Split work up in gradient_clusters more finely#271
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christian-rauch merged 1 commit intoAprilRobotics:masterfrom Dec 29, 2022
Merged
Split work up in gradient_clusters more finely#271christian-rauch merged 1 commit intoAprilRobotics:masterfrom
christian-rauch merged 1 commit intoAprilRobotics:masterfrom
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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.
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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.