update

zha0ming1e · Mar 10, 2021 · 91ac6f8 · 91ac6f8
1 parent 986c8da
commit 91ac6f8
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Showing 2 changed files with 16 additions and 5 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -100,9 +100,9 @@ if(CMAKE_COMPILER_IS_GNUCXX)
 
   # Linux
   if(BUILD_WITH_MARCH_NATIVE AND NOT "${CMAKE_SYSTEM_PROCESSOR}" MATCHES "arm" AND "${CMAKE_SYSTEM_NAME}" MATCHES "Linux")
-    #set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
+#    set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
     set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
-    #set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
+#    set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
     set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE}")
   endif()
   # activate warnings
@@ -127,6 +127,17 @@ else()
   include_directories(${EIGEN3_INCLUDE_DIR})
 endif ()
 
+# find OpenMP
+#find_package(OpenMP REQUIRED)
+#if (OPENMP_FOUND)
+#	message("OpenMP Found")
+#	# cmake setting
+#	set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+#	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+#	set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
+#    set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} ${OpenMP_SHARED_LINKER_FLAGS}")
+#endif ()
+
 # Set up the top-level include directories
 include_directories(${lego_SOURCE_DIR} ${PROJECT_BINARY_DIR})
 

diff --git a/lego/base/problem.cpp b/lego/base/problem.cpp
@@ -269,7 +269,7 @@ namespace lego {
 
 /// openmp for accelerating
 #ifdef USE_OPENMP
-#pragma omp parallel for
+#pragma omp parallel for num_threads(4)
 #endif
         for (auto &edge : edges_) {
             /// compute residual and jacobian
@@ -370,7 +370,7 @@ namespace lego {
             MatXX Hmm_inv(MatXX::Zero(marg_size, marg_size));
 /// openmp for accelerating
 #ifdef USE_OPENMP
-#pragma omp parallel for
+#pragma omp parallel for num_threads(4)
 #endif
             for (auto &landmarkVertex : idx_landmark_vertexes_) {
                 ulong idx = landmarkVertex.second->getOrderingId() - reserve_size;
@@ -622,7 +622,7 @@ namespace lego {
             MatXX Hmm_inv(MatXX::Zero(marg_size, marg_size));
 /// openmp for accelerating
 #ifdef USE_OPENMP
-#pragma omp parallel for
+#pragma omp parallel for num_threads(4)
 #endif
             for (auto &iter : margLandmark) {
                 ulong idx = iter.second->getOrderingId() - reserve_size;