Remove shared_mutexes to address concurrency performance #195
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glpuga
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ivanpauno
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Signed-off-by: Gerardo Puga <glpuga@ekumenlabs.com>
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Adds an updated report including the following changes from the last: - Includes the changes merged in #195 #199 #200 #207 - Measured using the 1x replay speed to prevent distortions to the CPU results - Fixes typos in configuration files, found during review Signed-off-by: Gerardo Puga <glpuga@ekumenlabs.com>
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Proposed changes
Removes the
shared_mutexlocks, that were not currently in use since there's no concurrency in how different steps of the filter are applied, but that was causing performance issues.Type of change
Checklist
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xin the boxes that apply. This is simply a reminder of what we will require before merging your code.Additional comments
Pre (before change) and post (after change) performance of the node.
Likelihood Sensor Model (linear scale)
Likelihood Sensor Model (log scale)
Beam Sensor Model (linear scale)
Beam Sensor Model (log scale)