diff --git a/README.md b/README.md index 02d0542..4925a16 100644 --- a/README.md +++ b/README.md @@ -13,6 +13,10 @@ - [GTSAM 如何自定义边](#gtsam-如何自定义边) - [以SC-DLO后端优化为例](#以sc-dlo后端优化为例) - [ICP实现及其多线程版本](#icp实现及其多线程版本) + - [运行](#运行) + - [多线程版本（基于C++17的新特性 `std::execution::par_unseq` 并行，这是高博书中的写法，比串行快很多）](#多线程版本基于c17的新特性-stdexecutionpar_unseq-并行这是高博书中的写法比串行快很多) + - [多线程版本 \[todo\]](#多线程版本-todo) + - [效果](#效果) - [Reference](#reference) ## 1. 纯ndt里程计 @@ -441,16 +445,62 @@ void runISAM2opt(void) } ``` ### ICP实现及其多线程版本 +#### 运行 ```bash # 编译测试 icp cd include/modules/icp/build && cmake .. && make -j4 # 运行 ./test_icp --source source_path --target target_path ``` + +#### 多线程版本（基于C++17的新特性 `std::execution::par_unseq` 并行，这是高博书中的写法，比串行快很多） +```C++ + // 使用 std::execution::par_unseq 并行策略计算每个有效点的误差和雅可比矩阵 + std::for_each(std::execution::par_unseq, index.begin(), index.end(), [&](int idx) + { + // LOG(INFO) << "for_each id = " << idx; + + Vec3d q = source_->points[idx].getVector3fMap().cast(); + Vec3d q_trans = pose * q; + PointType p; + p.x = q_trans.x(); + p.y = q_trans.y(); + p.z = q_trans.z(); + + std::vector nn; + std::vector nnDis; + // kdtree_->radiusSearch(p, options_.max_nn_distance_, nn, nnDis); + kdtree_->nearestKSearch(p, 1, nn, nnDis); + + if(!nn.empty()){ + Vec3d q_nearest = target_->points[nn[0]].getVector3fMap().cast(); + effect_pts[idx] = true; + double dis2 = (q_nearest - q_trans).squaredNorm(); + if (dis2 > options_.max_nn_distance_) { + // 点离的太远了不要 + effect_pts[idx] = false; + return; + } + + // doc: calculate residual + Vec3d e = q_nearest - q_trans; + Eigen::Matrix J; + J.block<3, 3>(0, 0) = pose.so3().matrix() * SO3::hat(q); + J.block<3, 3>(0, 3) = -Eigen::Matrix3d::Identity(); + + jacobians[idx] = J; + errors[idx] = e; + } }); +``` + +#### 多线程版本 [todo] + +#### 效果 | 初始状态 | point2point ICP | | :------------------: | :------------------: | | | | + ## Reference **direct_lidar_odometry (dlo)** [**Code**: https://github.com/vectr-ucla/direct_lidar_odometry](https://github.com/vectr-ucla/direct_lidar_odometry) \ No newline at end of file diff --git a/build/Testing/20240412-0646/Test.xml b/build/Testing/20240412-0646/Test.xml new file mode 100644 index 0000000..f285a0b --- /dev/null +++ b/build/Testing/20240412-0646/Test.xml @@ -0,0 +1,34 @@ + + + + Apr 12 14:46 CST + 1712904383 + + Apr 12 14:46 CST + 1712904383 + 0 + + diff --git a/build/Testing/TAG b/build/Testing/TAG index 6d2712e..803c9ae 100644 --- a/build/Testing/TAG +++ b/build/Testing/TAG @@ -1,3 +1,3 @@ -20240410-0750 +20240412-0646 Experimental Experimental diff --git a/build/Testing/Temporary/LastTest_20240412-0646.log b/build/Testing/Temporary/LastTest_20240412-0646.log new file mode 100644 index 0000000..9d135fc --- /dev/null +++ b/build/Testing/Temporary/LastTest_20240412-0646.log @@ -0,0 +1,3 @@ +Start testing: Apr 12 14:46 CST +---------------------------------------------------------- +End testing: Apr 12 14:46 CST diff 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0.10169347 0.35904959 --0.024800789 0.10409711 0.41708699 --0.030023489 0.10469434 0.41472775 --0.082667068 0.10565152 0.37614876 --0.090310574 0.10572463 0.36761668 --0.08787097 0.10770407 0.37116021 --0.027963456 0.10712812 0.41602117 --0.069979429 0.10859077 0.38930821 --0.10085585 0.10932466 0.35764259 --0.016525395 0.10814839 0.47325206 --0.088590607 0.11224427 0.37262502 --0.025281381 0.11112203 0.41715518 --0.074049331 0.11495128 0.38704655 --0.033621181 0.11488017 0.41346109 --0.016375594 0.11472272 0.47441238 --0.032721933 0.11640947 0.41369674 --0.10042297 0.11844305 0.36265624 --0.10203002 0.11872745 0.36170316 --0.11291599 0.11930496 0.34994882 --0.026506342 0.11851653 0.41627127 --0.029546738 0.11946549 0.41500497 --0.11499652 0.12170624 0.3489432 --0.12284222 0.12104183 0.33869326 --0.082341328 0.12152575 0.3806417 --0.098300949 0.1220635 0.36649638 --0.11335972 0.12238237 0.35196102 --0.03236201 0.1216425 0.41359934 --0.1180342 0.12483096 0.34660542 --0.12812831 0.12605661 0.3347609 --0.13012928 0.12610741 0.33179489 --0.026143208 0.12464446 0.41575971 --0.034180373 0.12376782 0.41253984 --0.016702808 0.124414 0.47570992 --0.034621902 0.12612163 0.41206321 --0.081792273 0.12696522 0.38210532 --0.087676689 0.12690763 0.37714827 --0.12583613 0.12936956 0.34028509 --0.12707922 0.12982494 0.33891493 --0.093385294 0.1307642 0.3725912 --0.11758614 0.13314715 0.35084718 --0.11993979 0.13175289 0.34810156 --0.12899271 0.13204314 0.33757138 --0.1341778 0.13287938 0.33124909 --0.026052099 0.13076229 0.41501817 --0.025724396 0.13073435 0.41493112 --0.10461754 0.13407028 0.36339718 --0.11930618 0.13336553 0.34995311 --0.13891318 0.13488494 0.32598451 --0.030842144 0.1338065 0.41216931 --0.11480674 0.13559359 0.35408065 --0.12861972 0.13633187 0.34011728 -0.053786576 0.1325772 0.44558883 --0.033932328 0.13519934 0.41048887 --0.039119314 0.13523561 0.40824682 --0.12001504 0.13721631 0.34971914 --0.12779298 0.13740453 0.341822 --0.12566274 0.14061771 0.34468323 --0.13737437 0.13978165 0.33126524 --0.12540297 0.14154209 0.34591499 --0.13809678 0.14152049 0.33131582 --0.13931787 0.14208989 0.33001968 --0.036307178 0.14134198 0.40731928 --0.10431753 0.14290056 0.36403692 -0.10500292 0.13836886 0.47706404 --0.040511087 0.14285143 0.40487686 --0.052516688 0.14274925 0.39928967 --0.098323077 0.14499918 0.36921445 --0.12459664 0.14445758 0.3470872 --0.13252294 0.14621483 0.33938468 --0.14848568 0.14630896 0.31886744 --0.051706821 0.14378849 0.3993994 --0.060102191 0.14573725 0.39414388 --0.13624012 0.14725293 0.33530039 --0.14991146 0.1497726 0.31884351 --0.026814666 0.14795604 0.40677273 --0.037275363 0.14857975 0.40326038 --0.085888363 0.14970122 0.37783143 --0.15337493 0.15205275 0.3147679 --0.027385354 0.14971755 0.4055903 --0.03487435 0.14990327 0.40296909 --0.038114399 0.15012032 0.40232602 --0.048640102 0.14998186 0.39808187 --0.094937183 0.15201338 0.37071574 --0.14037529 0.15262523 0.33226293 --0.1540063 0.15377362 0.31475845 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0.17061485 0.32838422 --0.15681504 0.17009667 0.3173742 --0.16061811 0.17069556 0.31249201 --0.0405965 0.16775738 0.38915947 --0.14399177 0.17262095 0.33045572 --0.16256464 0.17316884 0.31129828 -0.030386977 0.16666558 0.44429472 -0.027840644 0.16827655 0.44248131 --0.13445705 0.17332804 0.33809969 --0.14288108 0.17381839 0.33133945 --0.16280007 0.1751048 0.3114748 --0.15557733 0.17570151 0.31950882 --0.1601634 0.17626536 0.31523761 --0.1639992 0.17571023 0.31036866 --0.16892946 0.17724146 0.30383021 --0.16840875 0.17833996 0.30523092 --0.17091793 0.17936668 0.30260661 --0.035111088 0.17547843 0.38442555 --0.037491322 0.1761995 0.3828513 --0.1093162 0.17740597 0.35457703 --0.15930539 0.18059111 0.31748948 --0.15944842 0.18064709 0.31734344 --0.031525329 0.17864287 0.37921977 --0.16545805 0.18378618 0.31143457 --0.16709188 0.18319921 0.3088907 --0.17287114 0.18481117 0.30235222 --0.040390261 0.18072341 0.37723714 --0.15296257 0.18525733 0.32434338 -0.036757745 0.17987692 0.44780844 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0.21490332 0.32898667 --0.016556993 0.2106203 0.41068578 --0.052581593 0.21211058 0.40051392 --0.14066675 0.21548858 0.34952676 --0.16309176 0.21707393 0.32406706 --0.16759071 0.21728149 0.31824994 --0.18548474 0.2184429 0.30059439 -0.0024011433 0.20979007 0.45529029 -0.000345245 0.21069072 0.45185903 --0.15668817 0.21832871 0.33298784 --0.16439688 0.21774632 0.32267985 --0.16841912 0.21897729 0.31825349 --0.14100564 0.21936174 0.35057276 --0.1465525 0.21915196 0.34455976 --0.14888841 0.2188729 0.34243277 --0.15615243 0.21944416 0.33429354 --0.19302261 0.22370841 0.27799594 -0.0074793175 0.21285923 0.46307853 --0.10246795 0.21898769 0.37869045 --0.10691492 0.21900006 0.37614739 --0.16124795 0.22210467 0.3290588 --0.1635718 0.2216872 0.32535785 --0.1667828 0.22191858 0.32190073 -0.0051847994 0.21430007 0.46059814 --0.010441102 0.21652849 0.43701831 --0.020056594 0.21670656 0.42639717 --0.11391827 0.22082148 0.37240982 --0.14307344 0.22297904 0.34941885 --0.14861041 0.22320922 0.34349167 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0.080159515 --0.21878429 0.2811195 0.18430686 --0.21701132 0.2814123 0.18198779 --0.21483898 0.28000918 0.1794492 --0.21111795 0.28021786 0.17499919 --0.20811221 0.2816197 0.17160988 --0.20716909 0.28107262 0.17054802 --0.20326218 0.28185818 0.16555089 --0.19888094 0.28112277 0.15992114 --0.18663192 0.28193274 0.1450461 --0.17663607 0.28334484 0.13267787 --0.16935802 0.28357825 0.12416189 --0.16839181 0.28283021 0.12312211 --0.15955807 0.28459942 0.11229778 --0.16045487 0.28372452 0.11334499 --0.1568379 0.28398621 0.10912897 --0.15501986 0.28404504 0.10682499 --0.14296359 0.28373411 0.092452832 --0.11288148 0.28539571 0.05648493 --0.11264445 0.28531471 0.056300458 --0.11481583 0.28682581 0.058717042 --0.11185364 0.28625265 0.055561725 --0.19494727 0.2829175 0.1554227 --0.18962225 0.28319395 0.14867172 --0.18391347 0.28461748 0.14179344 --0.17829144 0.28487399 0.13487343 --0.17302144 0.28513953 0.12841147 --0.17500645 0.28519166 0.1305114 --0.17035219 0.28432328 0.12512869 --0.1613501 0.28465661 0.11446873 --0.16231126 0.28526565 0.11556558 --0.15953743 0.2862564 0.11221736 --0.15405107 0.28495499 0.10566276 --0.15043741 0.2868017 0.10114833 --0.14944021 0.28604564 0.10004854 --0.14390215 0.28618214 0.09340129 --0.12706213 0.28726679 0.073203146 --0.12432134 0.28845656 0.06987828 --0.11856289 0.28680009 0.063028589 --0.27607828 0.28139707 0.25241998 --0.27730852 0.28226602 0.25357276 --0.21422191 0.28414112 0.17859514 --0.2132121 0.28511798 0.17742389 --0.19606979 0.28516749 0.15634912 --0.19333301 0.28631431 0.15319489 --0.18311608 0.28734836 0.14059275 --0.17762804 0.28753692 0.13396376 --0.17757764 0.2858429 0.1338172 --0.16312391 0.28802374 0.11656285 --0.15508664 0.28739104 0.10678913 --0.14682573 0.28842241 0.097001076 --0.14588653 0.28763828 0.095872983 --0.14198755 0.28797206 0.091448858 --0.13952671 0.28893477 0.088181555 --0.13484856 0.28858837 0.082423694 --0.12061578 0.29064226 0.065505378 --0.11397145 0.28961769 0.057577033 --0.28008264 0.2827543 0.25702459 --0.21652561 0.28724915 0.18083631 --0.20879033 0.28648248 0.17164563 --0.19618823 0.28703752 0.15663461 --0.18677753 0.28899673 0.14513926 --0.18865454 0.28894991 0.14742526 --0.18594331 0.2880556 0.14387953 --0.18677713 0.28720668 0.14502873 --0.17573637 0.28913277 0.13160338 --0.16942409 0.28838918 0.12381066 --0.16224708 0.28882462 0.11531567 --0.15514901 0.28906104 0.1067647 --0.15342438 0.29086789 0.10472926 --0.15150198 0.28924173 0.10239971 --0.1469301 0.29007435 0.097011842 --0.14411694 0.2895191 0.093586326 --0.1414381 0.29047096 0.090386622 --0.13386813 0.29124129 0.081244737 --0.11203378 0.29121253 0.055210151 --0.21133494 0.28897384 0.17508793 --0.20710573 0.28836334 0.16951615 --0.20594288 0.28917935 0.16844897 --0.19257694 0.29047722 0.1521838 --0.18773171 0.2897948 0.14628705 --0.17398274 0.29092258 0.12929997 --0.1723277 0.2909084 0.12722299 --0.15982261 0.29144934 0.11205502 --0.14997266 0.29241356 0.10047391 --0.13488171 0.29364336 0.082405709 --0.1329183 0.29206416 0.080030739 --0.1283685 0.29328683 0.074597791 --0.12747566 0.29405671 0.073340297 --0.12465549 0.29350644 0.069916978 --0.11112331 0.29370043 0.053843521 --0.28040546 0.2862072 0.25700071 --0.21285248 0.29137778 0.17623329 --0.20608026 0.29086334 0.16844751 --0.20312735 0.29154 0.16461138 --0.19955036 0.29181871 0.16019438 --0.19323516 0.29126316 0.1527096 --0.17895234 0.29325792 0.13501829 --0.17050311 0.29284418 0.1247985 --0.163479 0.2929216 0.11655458 --0.13680613 0.29529551 0.08462926 --0.12061416 0.29670417 0.065215722 --0.11500378 0.29547375 0.058486916 --0.21562698 0.29335409 0.17977478 --0.18258376 0.29482022 0.13954584 --0.1834646 0.29407033 0.14085601 --0.18068475 0.29491207 0.13727684 --0.1770457 0.29497275 0.13272087 --0.17526369 0.29504657 0.13053288 --0.13875248 0.29685062 0.086863823 --0.13326442 0.29702815 0.080103166 --0.13137746 0.29719299 0.077913046 --0.12478124 0.29681039 0.069895633 --0.26724952 0.29188615 0.24119541 --0.26272723 0.29104179 0.23568068 --0.20974806 0.2941016 0.17282966 --0.20646501 0.29421422 0.16843566 --0.1928701 0.29548809 0.15191853 --0.15904596 0.29742831 0.11124349 --0.15721093 0.29744208 0.10886652 --0.12587881 0.29923552 0.071153492 --0.11910591 0.30013892 0.062949762 --0.1192049 0.30017492 0.062887847 --0.11051784 0.30053112 0.052185681 --0.10848857 0.29950604 0.049986769 --0.2591781 0.29487336 0.23110276 --0.18448751 0.29798639 0.141856 --0.17808731 0.29766181 0.13387917 --0.14747733 0.29997125 0.096970007 --0.14288118 0.29968289 0.091432542 --0.14488854 0.30108801 0.093767442 --0.14210638 0.30060473 0.090387717 --0.13444832 0.30084816 0.081201158 --0.12430218 0.30100527 0.068847656 --0.11848647 0.30272779 0.061872702 --0.11275614 0.30166438 0.055216055 --0.10979445 0.30331004 0.051118776 --0.10762312 0.30202186 0.048824742 --0.25923043 0.29659235 0.23110631 --0.21398717 0.2986488 0.17725942 --0.19883728 0.30034956 0.15906321 --0.19198506 0.29983509 0.15105343 --0.19295788 0.2990261 0.15219261 --0.19092785 0.29899397 0.14978863 --0.19016299 0.29969689 0.14870751 --0.18842101 0.29984966 0.14635746 --0.18563618 0.30087647 0.14311723 --0.17452198 0.30093148 0.12950139 --0.1648611 0.30201763 0.11784224 --0.16108572 0.30068839 0.11334462 --0.16125908 0.30233434 0.11334021 --0.14775506 0.30317724 0.09710788 --0.14402077 0.30214992 0.092678688 --0.13836882 0.30278248 0.085901812 --0.13098373 0.30287781 0.076779187 --0.11860183 0.30437675 0.061876982 --0.26903787 0.29772204 0.24236389 --0.21048155 0.30069745 0.17284495 --0.20081966 0.30183566 0.16130979 --0.19698328 0.30048534 0.15681919 --0.19712669 0.30224034 0.15681976 --0.17748521 0.30161673 0.13296618 --0.17463437 0.30258346 0.12954795 --0.17561756 0.30334154 0.13059475 --0.17194557 0.3036142 0.12621471 --0.1504963 0.30402941 0.10027992 --0.14513433 0.30459297 0.09381225 --0.13642707 0.30410829 0.083481804 --0.13667145 0.30574626 0.083523482 --0.12736213 0.30498141 0.072221503 --0.10108605 0.30661136 0.040940855 --0.26033103 0.29920039 0.23225863 --0.21504208 0.30275485 0.17846036 --0.2171261 0.30264401 0.18079035 --0.21157214 0.30313748 0.1738853 --0.20500596 0.30288899 0.16619647 --0.20310298 0.30305582 0.16392145 --0.19819087 0.30298647 0.15814254 --0.18939395 0.30400974 0.14750537 --0.18134698 0.304838 0.13758329 --0.10650466 0.30889976 0.047109589 --0.10031764 0.30929631 0.039906271 --0.099461444 0.30847812 0.038739096 --0.28231877 0.30071712 0.25820595 --0.21593329 0.30355498 0.17965414 --0.21248829 0.30386755 0.17497511 --0.19931844 0.30540743 0.15911889 --0.20023562 0.30618757 0.16023968 --0.19753145 0.30556837 0.15708587 --0.18955833 0.30565867 0.14749995 --0.15730818 0.30740395 0.10834695 --0.14695504 0.30757406 0.095897369 --0.13699721 0.30905119 0.083515927 --0.13779402 0.30814028 0.084707052 --0.137813 0.30817729 0.084703326 --0.13585502 0.30832809 0.082184121 --0.10820098 0.3102178 0.048842922 --0.10184918 0.31165516 0.040934343 --0.26259616 0.30399448 0.23456538 --0.25537992 0.30334002 0.22620563 --0.2069827 0.30598512 0.16837263 --0.19654363 0.30653727 0.15582864 --0.1895867 0.30734366 0.14751552 --0.19149703 0.30855581 0.14969319 --0.1611259 0.31032926 0.11295716 --0.15950289 0.31044501 0.11058015 --0.14905979 0.31075415 0.098056316 --0.13980244 0.30988246 0.087152958 --0.13346261 0.31112385 0.079139642 --0.12293573 0.31247801 0.06657654 --0.10477873 0.31382039 0.044367146 --0.21742925 0.30776697 0.18105705 --0.21349525 0.30801257 0.17611201 --0.20976026 0.30828533 0.17175899 --0.19728439 0.30979028 0.15651181 --0.19824219 0.30890834 0.157749 --0.18167008 0.30958685 0.13751106 --0.14720018 0.31257704 0.09585008 --0.12331009 0.31403795 0.066636443 --0.26166373 0.30661139 0.23343372 --0.2608479 0.30743128 0.23202552 --0.21360858 0.30944163 0.17618665 --0.20708281 0.31100407 0.16835733 --0.20232075 0.31105262 0.16245739 --0.20318659 0.31016672 0.16355263 --0.18113568 0.31231481 0.13666837 --0.16542682 0.31411448 0.1177161 --0.16386344 0.3125045 0.11616156 --0.16237347 0.31282228 0.1140985 --0.16055548 0.31291908 0.1117665 --0.15799966 0.31401482 0.10835624 --0.15805167 0.31399679 0.10835625 --0.1420196 0.31485251 0.089269757 --0.13716137 0.31426412 0.08354079 --0.13347635 0.31440279 0.079002805 --0.12966132 0.31457248 0.074379906 --0.11944845 0.31589866 0.062089011 --0.10963832 0.3160398 0.050024115 --0.10070622 0.31628913 0.039740071 --0.28178656 0.30862713 0.2578029 --0.25990653 0.31011516 0.23091586 --0.25400844 0.31030676 0.22392984 --0.21773805 0.31111792 0.18101616 --0.20552534 0.31334782 0.16614376 --0.19567314 0.31329405 0.15438592 --0.19471397 0.31257296 0.15322211 --0.18659703 0.31350535 0.14351 --0.17864424 0.31498846 0.13318172 --0.17499319 0.31507018 0.12900275 --0.17292017 0.3151221 0.12652877 --0.1708912 0.31527996 0.12435175 --0.16154408 0.31555313 0.1129878 --0.15894926 0.31650186 0.10949562 --0.15437508 0.31605047 0.10395279 --0.12433905 0.31817096 0.067726359 --0.11595598 0.31851736 0.057927195 --0.26673174 0.31063074 0.23900062 --0.26364189 0.3116405 0.2355424 --0.26088768 0.31094027 0.23207161 --0.25145257 0.31126842 0.22050968 --0.21655484 0.31482974 0.17928426 --0.21468547 0.31325355 0.17696965 --0.21300654 0.31379843 0.17494255 --0.19648173 0.31586513 0.15517125 --0.18714277 0.31674826 0.14354914 --0.18489143 0.31533116 0.14128155 --0.17607278 0.31755126 0.13010907 --0.17006773 0.31775981 0.12308612 --0.16637139 0.31653762 0.11884847 --0.12723961 0.32051718 0.071066521 --0.10607247 0.32146743 0.045530263 --0.25504702 0.31282976 0.22508122 --0.25524944 0.31457275 0.22505577 --0.25328043 0.31471056 0.22273177 --0.22870797 0.31449172 0.19381712 --0.22519407 0.31511739 0.18939504 --0.21862923 0.3163608 0.18155779 --0.21308896 0.31558245 0.17506009 --0.21032214 0.31671122 0.17181084 --0.20753103 0.31636801 0.16850397 --0.20310929 0.31786463 0.16305564 --0.1918661 0.31786764 0.14923181 --0.18605599 0.31777421 0.1424039 --0.17208013 0.31948495 0.12537867 --0.16353586 0.31891429 0.11519393 --0.14880584 0.31986398 0.097098388 --0.14044806 0.32156327 0.086931467 --0.13300166 0.3202706 0.077838592 --0.12175801 0.32267568 0.064380936 --0.12168764 0.32097974 0.064377271 --0.091586545 0.3232663 0.028549906 --0.073701888 0.32570392 0.0071916841 --0.26036969 0.3153311 0.23095149 --0.25225058 0.31562951 0.22164053 --0.23075938 0.31621087 0.19611967 --0.19489573 0.32031679 0.15273014 --0.18222639 0.31980979 0.13761742 --0.16947836 0.32055974 0.12211043 --0.15994024 0.32081795 0.11070848 --0.13786024 0.32245699 0.083595671 --0.10803029 0.32488158 0.047937661 --0.10043132 0.32562685 0.038584676 --0.086367741 0.3272028 0.021851569 --0.084345736 0.32726866 0.01960258 --0.074592307 0.32651097 0.0083852727 --0.25342619 0.31814957 0.22279388 --0.21879497 0.31975684 0.18156993 --0.2197158 0.31891993 0.18281215 --0.20796281 0.31978396 0.16864608 --0.20525007 0.32106772 0.16536279 --0.18806095 0.32185835 0.14482982 --0.18908714 0.32262239 0.1459306 --0.18447593 0.32204995 0.14010683 --0.18233976 0.32135081 0.13766204 --0.18062979 0.32168064 0.13541797 --0.16518795 0.3235063 0.11674871 --0.14908962 0.32331198 0.097325288 --0.11485959 0.32572109 0.055989757 --0.10819966 0.32652754 0.047910236 --0.07705912 0.32957506 0.010680993 --0.25063941 0.31931835 0.21937162 --0.23313057 0.32126892 0.19855934 --0.21496236 0.32174248 0.17689449 --0.20724839 0.32243788 0.1676854 --0.20649458 0.32334971 0.16645117 --0.20262262 0.32377243 0.16199011 --0.20168345 0.32301036 0.16082835 --0.18099053 0.32499251 0.13534512 --0.17631836 0.32458219 0.12992828 --0.15099245 0.3267841 0.099611267 --0.13600037 0.32764983 0.081307165 --0.13239031 0.32767743 0.076552905 --0.13053335 0.32790428 0.074414872 --0.12866434 0.32811916 0.072202243 --0.10833804 0.32820949 0.047908407 --0.10934623 0.3290146 0.049098983 --0.098857775 0.32909971 0.036566708 --0.2567938 0.32048672 0.22634621 --0.22637478 0.32260942 0.19049811 --0.22736794 0.3233394 0.1916379 --0.22485971 0.32253227 0.18857716 --0.20278299 0.32544842 0.1619897 --0.19711794 0.32558599 0.15534174 --0.16990787 0.32733962 0.12212666 --0.16539168 0.32682124 0.11674786 --0.15018356 0.32743803 0.098409116 --0.089603499 0.33253396 0.025266258 --0.078659348 0.33182594 0.011669494 --0.28152537 0.32125971 0.25609669 --0.26149845 0.32305315 0.2322145 --0.22609827 0.32489032 0.18985453 --0.22159255 0.32648388 0.18427117 --0.21638426 0.32567742 0.17802744 --0.21454933 0.32605737 0.17604639 --0.13339703 0.33073252 0.077901609 --0.1213821 0.33197558 0.06356746 --0.12071691 0.33125439 0.062354352 --0.11890693 0.33140722 0.060072936 --0.11718133 0.3332651 0.05779719 --0.10165627 0.33416083 0.039394572 --0.083853975 0.33504441 0.018171191 --0.21679264 0.32731244 0.17839502 --0.19264585 0.33000746 0.14918566 --0.13450557 0.33309451 0.078949884 --0.09975674 0.33592567 0.037030347 --0.099811539 0.33593464 0.037058439 --0.077474311 0.3379139 0.010447547 --0.077630714 0.33614379 0.010420497 --0.26342243 0.3273432 0.23400337 --0.26144916 0.3263101 0.23191266 --0.22684242 0.32997823 0.1902532 --0.21882004 0.32890061 0.1808226 --0.21513742 0.33084521 0.17614414 --0.21215725 0.33031404 0.17276934 --0.11374304 0.33673564 0.053294741 --0.11462624 0.33755779 0.054455921 --0.095983297 0.3382614 0.032654699 --0.087311178 0.33844241 0.021137374 --0.072062336 0.34021452 0.0041226028 --0.070175327 0.34029934 0.0018702259 --0.06837634 0.34045115 -0.00036016072 --0.070100047 0.33856437 0.0018844132 --0.069256827 0.33948424 0.00073149038 --0.060194582 0.34081352 -0.010018107 --0.25611454 0.32834855 0.2250212 --0.25444594 0.33017835 0.22283678 --0.25541371 0.32922339 0.223998 --0.25053689 0.33042103 0.21815176 --0.22254179 0.33198988 0.18512674 --0.20753187 0.33334866 0.16718559 --0.19546185 0.33414668 0.15273356 --0.18971241 0.33270025 0.14584102 --0.18413347 0.33331072 0.13895692 --0.11376143 0.33843967 0.053295605 --0.11460462 0.33925974 0.054467581 --0.10276826 0.33847585 0.04054575 --0.098897934 0.33864564 0.035984162 --0.072064921 0.34189647 0.0041372916 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0.064319156 --0.11298639 0.34271252 0.05209922 --0.10975821 0.34216037 0.048572708 --0.087974966 0.34403661 0.022738928 --0.077965237 0.34463683 0.010661616 --0.071503766 0.3448053 0.0029347616 --0.067826703 0.34481597 -0.0014909884 --0.052638013 0.34599271 -0.019886278 --0.21548799 0.3377772 0.17617135 --0.20792198 0.33834457 0.16699231 --0.20589407 0.33881739 0.16461924 --0.2012729 0.33845297 0.15900439 --0.12416869 0.34325644 0.065465219 --0.10716978 0.34493408 0.045163035 --0.10126683 0.34550977 0.038743269 --0.086708531 0.34754533 0.020249747 --0.08032909 0.34783089 0.012905061 --0.065248586 0.3476097 -0.0049053663 --0.053867839 0.34825566 -0.019021582 --0.26955846 0.33576155 0.24091813 --0.22351135 0.33885565 0.18517898 --0.20694426 0.33956444 0.16575202 --0.12795752 0.34664184 0.070343301 --0.12892528 0.34554693 0.071479671 --0.12134621 0.34580016 0.062084217 --0.11008333 0.34717727 0.048662119 --0.066426441 0.34996474 -0.0037083114 --0.062776089 0.35046741 -0.0081546167 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0.35511011 0.10351373 --0.13535127 0.35824031 0.078770116 --0.13349402 0.35720748 0.07792791 --0.12986501 0.35751504 0.072923183 --0.27425644 0.34872583 0.24607074 --0.27362233 0.3484036 0.24465683 --0.27347773 0.35013264 0.24468037 --0.26538846 0.34940004 0.2352317 --0.21498263 0.35395181 0.17432322 --0.20728457 0.35430411 0.16481024 --0.19762249 0.35466939 0.15336327 --0.19604445 0.35461515 0.15109231 --0.19204846 0.3549529 0.14652827 --0.17447448 0.35625252 0.12580918 --0.16814044 0.35659701 0.11832818 --0.13288 0.35876992 0.051798925 --0.27441496 0.35105971 0.24583814 --0.26194984 0.35145265 0.2306392 --0.2322879 0.35388917 0.19480801 --0.23316011 0.35474828 0.19600475 --0.22228582 0.35415944 0.18319507 --0.20375821 0.35731497 0.16109453 --0.18825793 0.35727477 0.14284974 --0.18505016 0.35851756 0.13919245 --0.17339015 0.35925481 0.12568744 --0.15498284 0.36080173 0.078059889 --0.14707273 0.36097381 0.067676663 --0.13937037 0.36002117 0.058331013 --0.13280776 0.36223739 0.049490936 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0.37067613 0.093502738 --0.15159619 0.37168467 0.071099646 --0.1475772 0.37202236 0.066370621 --0.18526666 0.37125134 0.11126819 --0.16933779 0.37305608 0.092258036 --0.16659561 0.37241086 0.088963643 --0.16092856 0.37259141 0.082169183 --0.1475146 0.3737314 0.066283479 --0.14579058 0.37381819 0.064109176 --0.14397994 0.37561199 0.061652843 --0.18141803 0.37321606 0.10676573 --0.17383003 0.37366551 0.097897038 --0.16947319 0.37473205 0.092244804 --0.16567719 0.37502375 0.087703101 --0.16093935 0.37609935 0.082152084 --0.15157233 0.37671259 0.070795856 --0.18548244 0.37468943 0.11153831 --0.17886057 0.37581483 0.1034821 --0.17978579 0.37667191 0.10468087 --0.16661078 0.37758282 0.088822626 --0.16569756 0.37671474 0.087664254 --0.16301972 0.37760252 0.084529966 --0.15443555 0.37741879 0.074084736 --0.15533377 0.37833393 0.075281091 --0.14972174 0.37865743 0.068500482 --0.14245075 0.37928981 0.059694327 --0.14151752 0.37842172 0.05852326 --0.1838052 0.37822217 0.10924942 --0.16137713 0.37952033 0.082261696 --0.15632692 0.37898201 0.076523311 --0.15085131 0.38108951 0.069635637 --0.14715332 0.38139215 0.065097317 --0.14715993 0.37976015 0.065124832 --0.14147395 0.3801547 0.058528014 --0.26316044 0.37329561 0.20425057 --0.18854241 0.37879667 0.11506619 --0.18394861 0.37993315 0.10926697 --0.16861556 0.38096595 0.091008417 --0.15845171 0.38235113 0.078907117 --0.15839373 0.38234213 0.07883092 --0.2699357 0.37404621 0.2125423 --0.26613501 0.37570882 0.20777589 --0.18588699 0.38150027 0.11157654 --0.15925995 0.38324818 0.079810172 --0.15484214 0.38449472 0.074321605 --0.29912439 0.37496558 0.24745166 --0.29586914 0.37403139 0.24383296 --0.26509723 0.37669775 0.20656967 --0.14909948 0.38639429 0.067324206 --0.26445985 0.37951162 0.20531997 --0.26263079 0.37941045 0.20312902 --0.26156259 0.37865239 0.20203823 --0.15401708 0.38876364 0.073110133 --0.16657731 0.38885769 0.088299125 --0.15779945 0.39007595 0.077661842 --0.15502426 0.3893697 0.074183762 --0.30376139 0.37901407 0.25353858 --0.30211639 0.37915483 0.25112653 --0.26922846 0.38196903 0.21137729 --0.26523644 0.38214573 0.20658028 --0.16581188 0.39142758 0.087121777 --0.15511361 0.39107069 0.074166529 --0.1504308 0.3922973 0.06851577 --0.14949401 0.39322019 0.067310542 --0.30024478 0.38102964 0.24870807 --0.20956233 0.39022312 0.13923299 --0.16167824 0.39330024 0.082237862 --0.1629301 0.3926264 0.083866119 --0.1571804 0.39438081 0.076486155 --0.15149045 0.39499232 0.069791064 --0.1485932 0.39412409 0.066190034 --0.1427401 0.39411867 0.05919452 --0.29659656 0.3846882 0.24385819 --0.27507225 0.38486549 0.21805143 --0.2732206 0.38673931 0.21566099 --0.27115422 0.38520813 0.21333539 --0.26649344 0.38647777 0.20777416 --0.1997987 0.39256734 0.12767151 --0.19615266 0.39263088 0.12300255 --0.16685188 0.39571565 0.088370875 --0.16313748 0.39427337 0.083830297 --0.1573208 0.39612976 0.076574594 --0.14676654 0.39588094 0.063845418 --0.29758874 0.38549623 0.24506697 --0.27367398 0.38848034 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0.12445159 0.2663466 --0.10223509 0.1249057 0.26551455 --0.11420427 0.12569404 0.26561216 --0.075850874 0.12860993 0.262539 --0.095036834 0.12799758 0.2625019 --0.046401091 0.13237494 0.26006743 --0.065149739 0.13353051 0.25936088 --0.053226784 0.13363937 0.25985706 --0.085606441 0.13306586 0.25918174 --0.046572 0.13640271 0.25926542 --0.065276481 0.13682315 0.258156 --0.11619581 0.1329919 0.25905931 --0.10996476 0.1327232 0.25854746 --0.068993881 0.13682137 0.25829199 --0.044883985 0.13990083 0.2584435 --0.097552404 0.13574935 0.25605685 --0.12352335 0.13538909 0.2585426 --0.10990948 0.13604654 0.2560536 --0.10643842 0.13580333 0.25605568 --0.097493574 0.13743812 0.25513643 --0.10637578 0.13745305 0.2548793 --0.032472476 0.13601969 0.18439668 --0.08028429 0.14287983 0.25436327 --0.068865485 0.14454757 0.25492802 --0.11501041 0.14032969 0.25332642 --0.051114999 0.14758895 0.25663847 --0.035525493 0.13924186 0.18391082 --0.11850383 0.14226772 0.25243589 --0.11684963 0.14136815 0.25278813 --0.034313332 0.14077412 0.18374945 --0.13238078 0.14192921 0.25503176 --0.12215386 0.14234285 0.25245684 --0.089273423 0.14628085 0.25074324 --0.033455078 0.14229423 0.18344207 --0.1220562 0.14397259 0.25133944 --0.10930762 0.14591695 0.24928208 --0.11314662 0.14591208 0.249338 --0.11230491 0.14731805 0.24834667 --0.13438275 0.14638989 0.25166959 --0.12725793 0.14733391 0.24933048 --0.13249719 0.14848775 0.24947608 --0.092527509 0.15215831 0.24768071 --0.12583542 0.14955871 0.24739991 --0.11918075 0.15115795 0.24623258 --0.055592947 0.1586023 0.25392452 --0.051194314 0.15595441 0.22315931 --0.10711628 0.15356247 0.24543113 --0.035850026 0.15276732 0.18210235 --0.12235248 0.15449372 0.24426268 --0.12719966 0.15532553 0.24393539 --0.10110065 0.15973823 0.24323064 --0.12569053 0.15931219 0.2412214 --0.11930604 0.16157641 0.24036291 --0.15087388 0.16537496 0.2392005 --0.11899561 0.16878448 0.23660307 --0.1426286 0.16879585 0.23548473 --0.13931695 0.17041035 0.23437437 --0.15091819 0.17145266 0.23415494 --0.13189776 0.17413555 0.23263249 --0.13401639 0.17699966 0.23097174 --0.036292464 0.18116267 0.17601605 --0.14713931 0.17669259 0.23060665 --0.15033832 0.1767379 0.2307566 --0.16071254 0.17763376 0.23157522 --0.1573225 0.18200459 0.22785415 --0.15236858 0.18246153 0.22717308 --0.067978643 0.19877282 0.24747106 --0.061039634 0.19359532 0.21601851 --0.13950971 0.18757601 0.22551097 --0.15281084 0.18824963 0.22409862 --0.14811073 0.1877369 0.22479482 --0.058297876 0.19978702 0.21237297 --0.15643083 0.18826382 0.22408852 --0.14911205 0.18916647 0.22400345 --0.15280345 0.19113427 0.22264986 --0.037475914 0.19888037 0.17203349 --0.15368278 0.19258992 0.22193947 --0.14530012 0.19403888 0.22230424 --0.073571019 0.20664977 0.240486 --0.15876976 0.19245778 0.22212642 --0.15692776 0.1924772 0.22214344 --0.15530029 0.19488631 0.22101988 --0.075186223 0.21149446 0.24058174 --0.035574161 0.20625234 0.17018861 --0.075781003 0.21261288 0.24288343 --0.16518646 0.2001975 0.21891138 --0.034786757 0.21073426 0.16912746 --0.16788478 0.20159188 0.21876197 --0.15632881 0.20170546 0.2185881 --0.16618842 0.20442493 0.21755925 --0.080635443 0.22046302 0.23981535 --0.16530073 0.20589402 0.2171029 --0.16231479 0.20619272 0.21700387 --0.064373769 0.21955708 0.20627281 --0.16813505 0.20731732 0.21690249 --0.16316283 0.21073228 0.21611167 --0.055144079 0.22054161 0.17678867 --0.055320878 0.22195823 0.17539632 --0.049366262 0.2251806 0.17179357 --0.16756389 0.21548417 0.21581541 --0.055618923 0.22880712 0.16763656 --0.16831291 0.22003707 0.21588224 --0.17261209 0.2207482 0.21650399 --0.082944036 0.23589812 0.21892035 --0.080739975 0.2356535 0.21841045 --0.079130203 0.23626962 0.21759731 --0.1690827 0.22355895 0.2161933 --0.031884629 0.23537809 0.16200921 --0.093629017 0.241604 0.23957373 --0.053446241 0.23372692 0.16088735 --0.16128048 0.226973 0.21738654 --0.14701475 0.2321974 0.22175442 --0.17421198 0.22905946 0.21887882 --0.071643665 0.2405792 0.17401432 --0.080787465 0.2437821 0.19352935 --0.16638759 0.23599055 0.22004618 --0.047352888 0.24538769 0.14702138 --0.086998478 0.24823053 0.19288714 --0.16917367 0.25741044 0.23774664 --0.11423363 0.26351216 0.20782083 --0.15811139 0.26502106 0.23808485 --0.069665506 0.25963295 0.12470145 --0.069382384 0.26565275 0.1197449 --0.083629861 0.26637346 0.12739952 --0.078768931 0.26652744 0.12287354 --0.074391313 0.26720014 0.11783644 --0.084182307 0.26741174 0.12102124 --0.081678078 0.26724538 0.12119331 --0.17456493 0.26873252 0.21554264 --0.18424749 0.26990736 0.16483121 --0.21183264 0.26945314 0.18440694 --0.18205269 0.27162325 0.15080379 --0.18296954 0.27105385 0.15028293 --0.16117597 0.27010161 0.12598747 --0.1082645 0.26768938 0.058951534 --0.19027007 0.27297574 0.15629834 --0.1395397 0.27106047 0.090958826 --0.039540019 0.35412154 -0.051571183 --0.14784887 0.36044469 0.087342478 --0.132534 0.35849801 0.055609096 --0.17008439 0.36209103 0.09643735 --0.16038916 0.36181644 0.085642047 --0.30779749 0.69696784 0.26394394 --0.013444416 -0.13329427 0.2886501 --0.078857869 0.024582615 0.04105223 --0.073439457 0.049733203 0.040892452 --0.079487719 0.058195993 0.045078494 --0.076258771 0.062223658 0.047156002 --0.084076874 0.11040372 0.27690852 --0.065218493 0.1143477 0.27182481 --0.065466017 0.11590926 0.27032638 --0.0823147 0.1194312 0.26933321 --0.075483076 0.12342693 0.2661683 --0.1075544 0.12169239 0.26892829 --0.060860094 0.12731835 0.26270455 --0.052815579 0.1272622 0.26278764 --0.05423861 0.12875861 0.26176226 --0.052885368 0.13037582 0.26142186 --0.072675616 0.12964657 0.26229382 --0.063875042 0.13209012 0.26055327 --0.094894081 0.13133204 0.26030505 --0.075730801 0.13514104 0.25897029 --0.081329517 0.13656548 0.25790283 --0.11163428 0.13512729 0.25650281 --0.072835959 0.14127806 0.2564708 --0.056956731 0.14329283 0.25726348 --0.065493062 0.14309053 0.25588441 --0.10972956 0.14103071 0.25265032 --0.10617932 0.13999066 0.25322965 --0.099717461 0.14243783 0.25209814 --0.081443816 0.14434829 0.25339389 --0.099648528 0.14412165 0.25126567 --0.067522638 0.14974357 0.25371569 --0.10126603 0.14777866 0.24886572 --0.10508564 0.15064132 0.2470019 --0.090570018 0.15220386 0.24793173 --0.077026129 0.15297258 0.25062373 --0.10790996 0.15211852 0.24627951 --0.098259374 0.15209886 0.24693562 --0.065467589 0.1566557 0.25265095 --0.027988642 0.1506042 0.18245201 --0.088327929 0.1553902 0.24729592 --0.08447212 0.1558072 0.24776489 --0.099807233 0.15512516 0.24559584 --0.098409131 0.15552443 0.24546976 --0.093640879 0.15705457 0.24582045 --0.072687969 0.15938838 0.24980912 --0.11797777 0.15579252 0.24342041 --0.078923963 0.15904856 0.24827813 --0.063676402 0.16292915 0.25261834 --0.083268568 0.16053016 0.24658169 --0.084856205 0.16061975 0.24644564 --0.080496058 0.16217098 0.24727629 --0.076942861 0.16215995 0.24790736 --0.08875338 0.16110656 0.24516246 --0.082284361 0.16217643 0.24674328 --0.10752796 0.16118941 0.24177419 --0.029235493 0.15985531 0.18008363 --0.097726107 0.16448575 0.24212648 --0.02976468 0.1615282 0.18014918 --0.12465433 0.16300386 0.23905647 --0.11300768 0.16445659 0.23950826 --0.091253892 0.16609149 0.24323316 --0.063339241 0.17101319 0.25252524 --0.11385497 0.16589718 0.23864788 --0.10142431 0.16727243 0.2404767 --0.0974131 0.16757958 0.24130067 --0.09006764 0.16763875 0.24311477 --0.082257077 0.168552 0.24503264 --0.096503124 0.16906767 0.2408613 --0.087940082 0.17048021 0.24312007 --0.071018144 0.17346066 0.24941754 --0.067790918 0.17506056 0.25009814 --0.086091496 0.1736346 0.24308828 --0.026891764 0.17080957 0.17900984 --0.12173693 0.17024666 0.23565066 --0.10215573 0.17366466 0.23802605 --0.09885484 0.17367065 0.23880009 --0.095268562 0.17368168 0.23972315 --0.090840995 0.17511499 0.24101184 --0.029456031 0.1711428 0.17852773 --0.023728531 0.17241235 0.17942649 --0.13202712 0.1712309 0.23409127 --0.11877526 0.17176124 0.23540232 --0.11415961 0.17324635 0.23565799 --0.08409673 0.1768261 0.24326549 --0.067600451 0.18009165 0.2503919 --0.11500792 0.17467794 0.23470862 --0.031324483 0.17409316 0.17758292 --0.11217124 0.17614555 0.23466927 --0.094988957 0.17990451 0.23891154 --0.091510557 0.17986357 0.23993862 --0.0741091 0.18306364 0.24820603 --0.032418795 0.17549288 0.17731355 --0.12839514 0.17582022 0.23198813 --0.12377045 0.17724827 0.23205385 --0.096797928 0.17985587 0.23787953 --0.13968638 0.17695531 0.23060468 --0.12731646 0.17727832 0.23148778 --0.11552818 0.18036929 0.23261715 --0.10656144 0.1814287 0.234209 --0.14551577 0.17880763 0.22943209 --0.11433151 0.18187051 0.2324408 --0.10447715 0.18458715 0.2341722 --0.13899711 0.180277 0.22888386 --0.12430978 0.18324655 0.22977129 --0.1224528 0.18325505 0.23013432 --0.11536881 0.183275 0.23153441 --0.10840312 0.18450196 0.23291019 --0.11080347 0.18613014 0.23186372 --0.10741048 0.18613714 0.23267779 --0.12780243 0.18616939 0.22814049 --0.11689647 0.18627036 0.23028463 --0.11595681 0.18775748 0.22996923 --0.032166556 0.18694735 0.17502461 --0.15111406 0.18465054 0.22606954 --0.1313934 0.1861513 0.22738945 --0.10425055 0.19083984 0.23273063 --0.1275751 0.18919118 0.22727072 --0.12553211 0.18920872 0.22763675 --0.032808732 0.19133985 0.1737435 --0.031073444 0.19134037 0.17411451 --0.14241502 0.18902516 0.22462355 --0.14329034 0.19049776 0.22395216 --0.12694779 0.192325 0.22610393 --0.11281821 0.19405296 0.22904569 --0.10939722 0.19398795 0.22992076 --0.10926222 0.19400899 0.23000476 --0.072923779 0.20341532 0.25373986 --0.07182499 0.20274113 0.252078 --0.036331318 0.19443789 0.17290863 --0.14698832 0.19041775 0.22333713 --0.13028578 0.1923911 0.22545886 --0.11848886 0.19702613 0.22691885 --0.11845985 0.19700815 0.22693184 --0.11657887 0.19702166 0.22736084 --0.1127789 0.19708981 0.2283399 --0.12196085 0.19700921 0.22619981 --0.034668386 0.19879894 0.17176755 --0.13009816 0.19849877 0.22411728 --0.11653355 0.20002352 0.22659211 --0.15185779 0.1971209 0.22029936 --0.15013579 0.19709732 0.22044337 --0.14223112 0.1985644 0.22155109 --0.11901087 0.20156674 0.22584066 --0.075923376 0.20966652 0.24546517 --0.14571512 0.19854437 0.22066805 --0.14401613 0.19853887 0.2210761 --0.12971184 0.20150568 0.22334555 --0.12972082 0.20152071 0.22335452 --0.16234317 0.19884625 0.21928076 --0.13686082 0.20154464 0.22173244 --0.13221517 0.20306294 0.22258011 --0.12868318 0.20307891 0.22338414 --0.11053597 0.20630115 0.22781855 --0.14121115 0.20316038 0.22066294 --0.13306455 0.20476563 0.22216368 --0.12604652 0.20459659 0.2236488 --0.11169231 0.20784374 0.22708614 --0.10962436 0.20796749 0.22819315 --0.1518501 0.20302144 0.2185238 --0.14999112 0.20305696 0.21883886 --0.12513088 0.20611678 0.22358641 --0.1242832 0.20761694 0.22341703 --0.081747591 0.21665369 0.24746831 --0.065644458 0.21218766 0.20959368 --0.15703711 0.2031711 0.21792871 --0.11985458 0.20922811 0.22417867 --0.030981615 0.21094432 0.17008248 --0.15141682 0.2062934 0.217976 --0.14612783 0.20622092 0.21918011 --0.13561156 0.20938678 0.22124542 --0.13382956 0.20938027 0.22152145 --0.12683256 0.2091642 0.2227456 --0.13118088 0.21073796 0.22175412 --0.12165627 0.21232556 0.22355089 --0.14519489 0.21085908 0.21903391 --0.13206825 0.21228573 0.22150373 --0.12643763 0.21395016 0.22230338 --0.12272863 0.21390724 0.22317545 --0.118321 0.21548654 0.2243811 --0.03358195 0.21518423 0.16813438 --0.14420822 0.21239831 0.21912752 --0.14244223 0.21238977 0.21935256 --0.123624 0.21550196 0.22291403 --0.15735886 0.21091974 0.21675171 --0.15495418 0.21236928 0.2167384 --0.12450334 0.21711069 0.22275259 --0.11890741 0.21721438 0.22435963 --0.067131266 0.22170345 0.20632423 --0.064649321 0.22153516 0.2067693 --0.1300413 0.21698213 0.22138254 --0.12528472 0.21876852 0.22270013 --0.1586109 0.21553937 0.21631855 --0.14204234 0.21731493 0.21964929 --0.1363084 0.21756442 0.22040431 --0.16196591 0.2155375 0.21608347 --0.15756626 0.21715762 0.21656811 --0.1558513 0.21719112 0.21699613 --0.14513069 0.21886213 0.21916988 --0.12523448 0.22216853 0.22272229 --0.16201061 0.21872456 0.21614064 --0.14967141 0.222087 0.21882796 --0.13010398 0.22431619 0.22183667 --0.15866838 0.22203749 0.21696886 --0.13551125 0.22566676 0.22096325 --0.091050118 0.23536865 0.23993237 --0.15770777 0.22370383 0.21741945 --0.13457865 0.22733811 0.22145683 --0.093050301 0.23539303 0.23905835 --0.074080579 0.23187251 0.20095448 --0.053598069 0.22807491 0.16873877 --0.16037913 0.22532718 0.21726599 --0.13539001 0.22897787 0.2213774 --0.057344425 0.22831194 0.16840066 --0.045782596 0.22955242 0.16786151 --0.14322497 0.22882102 0.22102833 --0.12704983 0.23249222 0.22317861 --0.15299997 0.22891763 0.22028318 --0.13092384 0.23254223 0.22263955 --0.12896383 0.23252174 0.22286557 --0.053411078 0.23242137 0.16280967 --0.15450439 0.23062241 0.22069472 --0.040396221 0.23484942 0.16299024 --0.14190313 0.23388056 0.22177806 --0.031918339 0.23816572 0.16072848 --0.028766375 0.23828354 0.16116551 --0.16634876 0.23243317 0.21859807 --0.13626796 0.23745808 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+-0.11671728 0.44055086 0.025523603 +0.0069382042 -0.28107345 0.2426053 +0.018952738 0.25133976 0.17049395 +-0.19238934 0.23764294 0.24055251 +-0.038014874 0.43790561 -0.068469226 +0.0093382373 -0.25513247 0.27150372 +0.14608036 -0.16087139 0.20586842 +-0.11248711 0.17053118 0.23736084 +0.16846228 -0.10388318 0.21808013 +0.24192317 0.18080607 0.19715314 +0.27140486 0.21693996 0.20581128 +0.14668734 0.22575213 0.098171674 diff --git a/include/modules/icp/icp.hpp b/include/modules/icp/icp.hpp index 6678f0e..19e6a07 100644 --- a/include/modules/icp/icp.hpp +++ b/include/modules/icp/icp.hpp @@ -140,7 +140,11 @@ class ICP for (int iter = 0; iter < options_.max_iteration_; iter++) { // LOG(INFO) << "iteration = " << iter; - std::for_each(index.begin(), index.end(), [&](int idx) + // doc: 加上 std::execution::par_unseq 并行，会更快 需要链接 TBB 库 + // doc：https://en.cppreference.com/w/cpp/algorithm/execution_policy_tag_t + // doc：https://blog.csdn.net/Vingnir/article/details/135491314 + // ?: 为什么不把求和放到 for_each 里？ 因为必须确保线程安全 + std::for_each(std::execution::par_unseq, index.begin(), index.end(), [&](int idx) { // LOG(INFO) << "for_each id = " << idx; diff --git a/include/modules/icp/test_icp.cpp b/include/modules/icp/test_icp.cpp index 6e460f0..03a6e9f 100644 --- a/include/modules/icp/test_icp.cpp +++ b/include/modules/icp/test_icp.cpp @@ -10,7 +10,7 @@ DEFINE_string(source, "/home/robot-nuc12/catkin_ws/src/slam/SLAM_Box/include/mod DEFINE_string(target, "/home/robot-nuc12/catkin_ws/src/slam/SLAM_Box/include/modules/icp/data/kneeling_lady_target.pcd", "target 点云path"); DEFINE_string(ground_truth_file, "./data/ch7/EPFL/kneeling_lady_pose.txt", "真值Pose"); -// doc: 模板偏特化 +// doc: 模板特化 template void SaveCloudToFile(const std::string &path, ICP::CloudType &cloud); int main(int argc, char **argv)