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Summary: The iterative closest point algorithm - point-to-point version. Output of `bm_iterative_closest_point`: Argument key: `batch_size dim n_points_X n_points_Y use_pointclouds` ``` Benchmark Avg Time(μs) Peak Time(μs) Iterations -------------------------------------------------------------------------------- IterativeClosestPoint_1_3_100_100_False 107569 111323 5 IterativeClosestPoint_1_3_100_1000_False 118972 122306 5 IterativeClosestPoint_1_3_1000_100_False 108576 110978 5 IterativeClosestPoint_1_3_1000_1000_False 331836 333515 2 IterativeClosestPoint_1_20_100_100_False 134387 137842 4 IterativeClosestPoint_1_20_100_1000_False 149218 153405 4 IterativeClosestPoint_1_20_1000_100_False 414248 416595 2 IterativeClosestPoint_1_20_1000_1000_False 374318 374662 2 IterativeClosestPoint_10_3_100_100_False 539852 539852 1 IterativeClosestPoint_10_3_100_1000_False 752784 752784 1 IterativeClosestPoint_10_3_1000_100_False 1070700 1070700 1 IterativeClosestPoint_10_3_1000_1000_False 1164020 1164020 1 IterativeClosestPoint_10_20_100_100_False 374548 377337 2 IterativeClosestPoint_10_20_100_1000_False 472764 476685 2 IterativeClosestPoint_10_20_1000_100_False 1457175 1457175 1 IterativeClosestPoint_10_20_1000_1000_False 2195820 2195820 1 IterativeClosestPoint_1_3_100_100_True 110084 115824 5 IterativeClosestPoint_1_3_100_1000_True 142728 147696 4 IterativeClosestPoint_1_3_1000_100_True 212966 213966 3 IterativeClosestPoint_1_3_1000_1000_True 369130 375114 2 IterativeClosestPoint_10_3_100_100_True 354615 355179 2 IterativeClosestPoint_10_3_100_1000_True 451815 452704 2 IterativeClosestPoint_10_3_1000_100_True 511833 511833 1 IterativeClosestPoint_10_3_1000_1000_True 798453 798453 1 -------------------------------------------------------------------------------- ``` Reviewed By: shapovalov, gkioxari Differential Revision: D19909952 fbshipit-source-id: f77fadc88fb7c53999909d594114b182ee2a3def
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