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Optimize point clouds #4932

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merged 5 commits into from
Jan 29, 2024
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Merged

Optimize point clouds #4932

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63fe998
Refactor: `process_color_slice` collects into a Vec
emilk Jan 27, 2024
615c790
Special-case the different ways we calculate point colors
emilk Jan 27, 2024
b5d5297
Use rayon to optimize color loading of point clouds
emilk Jan 27, 2024
45503c8
Optimize "extend" in re_renderer
emilk Jan 28, 2024
772cd41
Optimize radius collecting for point clouds
emilk Jan 28, 2024
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31 changes: 20 additions & 11 deletions crates/re_renderer/src/allocator/cpu_write_gpu_read_belt.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -119,21 +119,30 @@ where
elements: impl Iterator<Item = T>,
) -> Result<usize, CpuWriteGpuReadError> {
re_tracing::profile_function!();
let num_written_before = self.num_written();

for element in elements {
if self.unwritten_element_range.start >= self.unwritten_element_range.end {
return Err(CpuWriteGpuReadError::BufferFull {
buffer_element_capacity: self.capacity(),
});
// TODO(emilk): optimize the extend function.
// Right now it is 3-4x faster to collect to a vec first, which is crazy.
Comment on lines +123 to +124
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oh wow, that's so sad. I wonder what aspect of this method is this and if that's true with all iterators or only some.

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I'm guessing all the added bounds check

if true {
let vec = elements.collect::<Vec<_>>();
self.extend_from_slice(&vec)?;
Ok(vec.len())
} else {
let num_written_before = self.num_written();

for element in elements {
if self.unwritten_element_range.start >= self.unwritten_element_range.end {
return Err(CpuWriteGpuReadError::BufferFull {
buffer_element_capacity: self.capacity(),
});
}

self.as_mut_byte_slice()[..std::mem::size_of::<T>()]
.copy_from_slice(bytemuck::bytes_of(&element));
self.unwritten_element_range.start += 1;
}

self.as_mut_byte_slice()[..std::mem::size_of::<T>()]
.copy_from_slice(bytemuck::bytes_of(&element));
self.unwritten_element_range.start += 1;
Ok(self.num_written() - num_written_before)
}

Ok(self.num_written() - num_written_before)
}

/// Fills the buffer with n instances of an element.
Expand Down
70 changes: 52 additions & 18 deletions crates/re_space_view_spatial/src/visualizers/mod.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -127,21 +127,50 @@ pub fn process_colors<'a, A: Archetype>(
/// Process [`Color`] components using annotations and default colors.
pub fn process_color_slice<'a>(
colors: Option<&'a [Option<Color>]>,
default_len: usize,
ent_path: &'a EntityPath,
annotation_infos: &'a ResolvedAnnotationInfos,
) -> impl Iterator<Item = egui::Color32> + 'a {
) -> Vec<egui::Color32> {
// This can be rather slow for colors with transparency, since we need to pre-multiply the alpha.
re_tracing::profile_function!();
use rayon::prelude::*;

let default_color = DefaultColor::EntityPath(ent_path);

let colors = colors.as_ref().map_or(
itertools::Either::Left(std::iter::repeat(&None).take(default_len)),
|data| itertools::Either::Right(data.iter()),
);
match (colors, annotation_infos) {
(None, ResolvedAnnotationInfos::Same(count, annotation_info)) => {
re_tracing::profile_scope!("no colors, same annotation");
let color = annotation_info.color(None, default_color);
vec![color; *count]
}

itertools::izip!(annotation_infos.iter(), colors).map(move |(annotation_info, color)| {
annotation_info.color(color.map(|c| c.to_array()), default_color)
})
(None, ResolvedAnnotationInfos::Many(annotation_infos)) => {
re_tracing::profile_scope!("no-colors, many annotations");
annotation_infos
.par_iter()
.map(|annotation_info| annotation_info.color(None, default_color))
.collect()
}

(Some(colors), ResolvedAnnotationInfos::Same(count, annotation_info)) => {
re_tracing::profile_scope!("many-colors, same annotation");
debug_assert_eq!(colors.len(), *count);
colors
.par_iter()
.map(|color| annotation_info.color(color.map(|c| c.to_array()), default_color))
.collect()
}

(Some(colors), ResolvedAnnotationInfos::Many(annotation_infos)) => {
re_tracing::profile_scope!("many-colors, many annotations");
colors
.par_iter()
.zip(annotation_infos.par_iter())
.map(move |(color, annotation_info)| {
annotation_info.color(color.map(|c| c.to_array()), default_color)
})
.collect()
}
}
}

/// Process [`Text`] components using annotations.
Expand Down Expand Up @@ -174,20 +203,25 @@ pub fn process_radii<'a, A: Archetype>(

/// Process [`re_types::components::Radius`] components to [`re_renderer::Size`] using auto size
/// where no radius is specified.
pub fn process_radius_slice<'a>(
radii: Option<&'a [Option<re_types::components::Radius>]>,
pub fn process_radius_slice(
radii: Option<&[Option<re_types::components::Radius>]>,
default_len: usize,
ent_path: &EntityPath,
) -> impl Iterator<Item = re_renderer::Size> + 'a {
) -> Vec<re_renderer::Size> {
re_tracing::profile_function!();
let ent_path = ent_path.clone();
use rayon::prelude::*;

let radii = radii.as_ref().map_or(
itertools::Either::Left(std::iter::repeat(&None).take(default_len)),
|data| itertools::Either::Right(data.iter()),
);
let ent_path = ent_path.clone();

radii.map(move |radius| process_radius(&ent_path, radius))
match radii {
None => {
vec![re_renderer::Size::AUTO; default_len]
}
Some(radii) => radii
.par_iter()
.map(|radius| process_radius(&ent_path, radius))
.collect(),
}
}

fn process_radius(
Expand Down
31 changes: 4 additions & 27 deletions crates/re_space_view_spatial/src/visualizers/points2d.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -143,13 +143,7 @@ impl Points2DVisualizer {
re_tracing::profile_scope!("labels");

// Max labels is small enough that we can afford iterating on the colors again.
let colors = process_color_slice(
data.colors,
data.positions.len(),
ent_path,
&annotation_infos,
)
.collect::<Vec<_>>();
let colors = process_color_slice(data.colors, ent_path, &annotation_infos);

let instance_path_hashes_for_picking = {
re_tracing::profile_scope!("instance_hashes");
Expand Down Expand Up @@ -190,33 +184,16 @@ impl Points2DVisualizer {
}: &Points2DComponentData<'_>,
ent_path: &EntityPath,
) -> Vec<re_renderer::Size> {
re_tracing::profile_function!();
let radii = crate::visualizers::process_radius_slice(radii, positions.len(), ent_path);
{
re_tracing::profile_scope!("collect");
radii.collect()
}
crate::visualizers::process_radius_slice(radii, positions.len(), ent_path)
}

#[inline]
pub fn load_colors(
&Points2DComponentData {
positions, colors, ..
}: &Points2DComponentData<'_>,
&Points2DComponentData { colors, .. }: &Points2DComponentData<'_>,
ent_path: &EntityPath,
annotation_infos: &ResolvedAnnotationInfos,
) -> Vec<re_renderer::Color32> {
re_tracing::profile_function!();
let colors = crate::visualizers::process_color_slice(
colors,
positions.len(),
ent_path,
annotation_infos,
);
{
re_tracing::profile_scope!("collect");
colors.collect()
}
crate::visualizers::process_color_slice(colors, ent_path, annotation_infos)
}

#[inline]
Expand Down
31 changes: 4 additions & 27 deletions crates/re_space_view_spatial/src/visualizers/points3d.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -134,13 +134,7 @@ impl Points3DVisualizer {
re_tracing::profile_scope!("labels");

// Max labels is small enough that we can afford iterating on the colors again.
let colors = process_color_slice(
data.colors,
data.positions.len(),
ent_path,
&annotation_infos,
)
.collect::<Vec<_>>();
let colors = process_color_slice(data.colors, ent_path, &annotation_infos);

let instance_path_hashes_for_picking = {
re_tracing::profile_scope!("instance_hashes");
Expand Down Expand Up @@ -325,33 +319,16 @@ impl LoadedPoints {
}: &Points3DComponentData<'_>,
ent_path: &EntityPath,
) -> Vec<re_renderer::Size> {
re_tracing::profile_function!();
let radii = crate::visualizers::process_radius_slice(radii, positions.len(), ent_path);
{
re_tracing::profile_scope!("collect");
radii.collect()
}
crate::visualizers::process_radius_slice(radii, positions.len(), ent_path)
}

#[inline]
pub fn load_colors(
&Points3DComponentData {
positions, colors, ..
}: &Points3DComponentData<'_>,
&Points3DComponentData { colors, .. }: &Points3DComponentData<'_>,
ent_path: &EntityPath,
annotation_infos: &ResolvedAnnotationInfos,
) -> Vec<re_renderer::Color32> {
re_tracing::profile_function!();
let colors = crate::visualizers::process_color_slice(
colors,
positions.len(),
ent_path,
annotation_infos,
);
{
re_tracing::profile_scope!("collect");
colors.collect()
}
crate::visualizers::process_color_slice(colors, ent_path, annotation_infos)
}

#[inline]
Expand Down
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