After changing the voxelgrid parameters, the performance dropped significantly.

[qilinhu]

Running machine environment：

When I use the official cuFilter demo, the cuda calculation time is basically the same as the official one. As follows:
------------checking CUDA VoxelGrid----------------
CUDA VoxelGrid by Time: 3.20768 ms.
CUDA VoxelGrid before filtering: 119978
CUDA VoxelGrid after filtering: 3440

But when I try to set setP.voxelX, setP.voxelY, and setP.voxelZ to 0.09, the cuda calculation time is much slower, which is not as expected. As follows:
------------checking CUDA VoxelGrid----------------
CUDA VoxelGrid by Time: 3109.65 ms.
CUDA VoxelGrid before filtering: 119978
CUDA VoxelGrid after filtering: 62844

Why is this? Is there any way to solve this situation? In most cases, setP.voxelX, setP.voxelY, and setP.voxelZ cannot always be set to 1. I hope someone can help.

[ArmanAstudSavia]

same issue on Linux Ubuntu 22.04 + NVIDIA GeForce RTX 3070 Ti
setting the params to 1 makes the script run very fast (4ms), but when changing it to 0.2, the performance is pretty bad (200ms)...

[ArmanAstudSavia]

Any updates on this regard? @qilinhu