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Primary caching 5: 2D & 3D point clouds #4681

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merged 9 commits into from
Jan 10, 2024
Merged

Primary caching 5: 2D & 3D point clouds #4681

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c09106d
make InstanceKey POD
teh-cmc Jan 4, 2024
35e21fc
implement cached entity iterator for spatial space view
teh-cmc Jan 4, 2024
cdd8b07
add slice version of common component processors
teh-cmc Jan 4, 2024
fbf6f6d
implement toggle cache support for 2D point clouds
teh-cmc Jan 4, 2024
21cb33e
implement toggable cache support for 3D point clouds
teh-cmc Jan 4, 2024
f992d61
add cache support to point bench
teh-cmc Jan 4, 2024
5a4350e
post-rebase shenaniganery
teh-cmc Jan 8, 2024
f5b6434
self-review
teh-cmc Jan 8, 2024
5cfd5d6
review
teh-cmc Jan 10, 2024
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2 changes: 2 additions & 0 deletions Cargo.lock
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1 change: 1 addition & 0 deletions crates/re_space_view_spatial/Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@ re_format.workspace = true
re_log_types.workspace = true
re_log.workspace = true
re_query.workspace = true
re_query_cache.workspace = true
re_renderer = { workspace = true, features = ["import-gltf", "import-obj"] }
re_types = { workspace = true, features = ["ecolor", "glam", "image"] }
re_tracing.workspace = true
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223 changes: 144 additions & 79 deletions crates/re_space_view_spatial/benches/bench_points.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,10 @@

use re_data_store::{DataStore, LatestAtQuery};
use re_log_types::{DataRow, EntityPath, RowId, TimeInt, TimePoint, Timeline};
use re_space_view_spatial::LoadedPoints;
use re_space_view_spatial::{LoadedPoints, Points3DComponentData};
use re_types::{
archetypes::Points3D,
components::{Color, InstanceKey, Position3D},
components::{ClassId, Color, InstanceKey, KeypointId, Position3D, Radius, Text},
Loggable as _,
};
use re_viewer_context::Annotations;
Expand All @@ -18,12 +18,21 @@ criterion::criterion_group!(benches, bench_points);

// ---

#[cfg(not(debug_assertions))]
const NUM_POINTS: usize = 1_000_000;

// `cargo test` also runs the benchmark setup code, so make sure they run quickly:
#[cfg(debug_assertions)]
const NUM_POINTS: usize = 10;
mod constants {
pub const NUM_POINTS: usize = 10;
pub const CACHED: &[bool] = &[true];
}

#[cfg(not(debug_assertions))]
mod constants {
pub const NUM_POINTS: usize = 1_000_000;
pub const CACHED: &[bool] = &[false, true];
}

#[allow(clippy::wildcard_imports)]
use self::constants::*;

// ---

Expand Down Expand Up @@ -51,88 +60,144 @@ fn bench_points(c: &mut criterion::Criterion) {
};

let latest_at = LatestAtQuery::latest(timeline);
let at = latest_at.at;
let latest_at = re_query_cache::AnyQuery::from(latest_at);
let annotations = Annotations::missing();

{
let mut group = c.benchmark_group("Points3D");
group.bench_function("query_archetype", |b| {
b.iter(|| {
let arch_view =
re_query::query_archetype::<Points3D>(&store, &latest_at, &ent_path).unwrap();
assert_eq!(arch_view.num_instances(), NUM_POINTS);
arch_view
});
});
}

let arch_view = re_query::query_archetype::<Points3D>(&store, &latest_at, &ent_path).unwrap();
assert_eq!(arch_view.num_instances(), NUM_POINTS);

{
let mut group = c.benchmark_group("Points3D");
group.throughput(criterion::Throughput::Elements(NUM_POINTS as _));
group.bench_function("load_all", |b| {
b.iter(|| {
let points =
LoadedPoints::load(&arch_view, &ent_path, latest_at.at, &annotations).unwrap();
assert_eq!(points.positions.len(), NUM_POINTS);
assert_eq!(points.colors.len(), NUM_POINTS);
assert_eq!(points.radii.len(), NUM_POINTS); // NOTE: we don't log radii, but we should get a list of defaults!
points
});
});
fn bench_name(cached: bool, name: &str) -> String {
format!("{name}/cached={cached}")
}

{
for cached in CACHED {
let mut group = c.benchmark_group("Points3D");
group.throughput(criterion::Throughput::Elements(NUM_POINTS as _));
group.bench_function("load_positions", |b| {
group.bench_function(bench_name(*cached, "query_archetype"), |b| {
b.iter(|| {
let positions = LoadedPoints::load_positions(&arch_view).unwrap();
assert_eq!(positions.len(), NUM_POINTS);
positions
re_query_cache::query_archetype_pov1_comp5::<
Points3D,
Position3D,
Color,
Radius,
Text,
KeypointId,
ClassId,
_,
>(
*cached,
&store,
&latest_at,
&ent_path,
|(_, keys, _, _, _, _, _, _)| {
assert_eq!(keys.as_slice().len(), NUM_POINTS);
},
)
.unwrap();
});
});
}

{
let points = LoadedPoints::load(&arch_view, &ent_path, latest_at.at, &annotations).unwrap();

let mut group = c.benchmark_group("Points3D");
group.throughput(criterion::Throughput::Elements(NUM_POINTS as _));
group.bench_function("load_colors", |b| {
b.iter(|| {
let colors =
LoadedPoints::load_colors(&arch_view, &ent_path, &points.annotation_infos)
.unwrap();
assert_eq!(colors.len(), NUM_POINTS);
colors
});
});
}

// NOTE: we don't log radii!
{
let mut group = c.benchmark_group("Points3D");
group.throughput(criterion::Throughput::Elements(NUM_POINTS as _));
group.bench_function("load_radii", |b| {
b.iter(|| {
let radii = LoadedPoints::load_radii(&arch_view, &ent_path).unwrap();
assert_eq!(radii.len(), NUM_POINTS);
radii
});
});
}

{
let mut group = c.benchmark_group("Points3D");
group.throughput(criterion::Throughput::Elements(NUM_POINTS as _));
group.bench_function("load_picking_ids", |b| {
b.iter(|| {
let picking_ids = LoadedPoints::load_picking_ids(&arch_view);
assert_eq!(picking_ids.len(), NUM_POINTS);
picking_ids
});
});
for cached in CACHED {
re_query_cache::query_archetype_pov1_comp5::<
Points3D,
Position3D,
Color,
Radius,
Text,
KeypointId,
ClassId,
_,
>(
*cached,
&store,
&latest_at,
&ent_path,
|(_, instance_keys, positions, colors, radii, labels, keypoint_ids, class_ids)| {
let data = Points3DComponentData {
instance_keys: instance_keys.as_slice(),
positions: positions.as_slice(),
colors: colors.as_slice(),
radii: radii.as_slice(),
labels: labels.as_slice(),
keypoint_ids: keypoint_ids
.iter()
.any(Option::is_some)
.then_some(keypoint_ids.as_slice()),
class_ids: class_ids
.iter()
.any(Option::is_some)
.then_some(class_ids.as_slice()),
};
assert_eq!(data.instance_keys.len(), NUM_POINTS);

{
let mut group = c.benchmark_group("Points3D");
group.throughput(criterion::Throughput::Elements(NUM_POINTS as _));
group.bench_function(bench_name(*cached, "load_all"), |b| {
b.iter(|| {
let points = LoadedPoints::load(&data, &ent_path, at, &annotations);
assert_eq!(points.positions.len(), NUM_POINTS);
assert_eq!(points.colors.len(), NUM_POINTS);
assert_eq!(points.radii.len(), NUM_POINTS); // NOTE: we don't log radii, but we should get a list of defaults!
points
});
});
}

{
let mut group = c.benchmark_group("Points3D");
group.throughput(criterion::Throughput::Elements(NUM_POINTS as _));
group.bench_function(bench_name(*cached, "load_positions"), |b| {
b.iter(|| {
let positions = LoadedPoints::load_positions(&data);
assert_eq!(positions.len(), NUM_POINTS);
positions
});
});
}

{
let points = LoadedPoints::load(&data, &ent_path, at, &annotations);

let mut group = c.benchmark_group("Points3D");
group.throughput(criterion::Throughput::Elements(NUM_POINTS as _));
group.bench_function(bench_name(*cached, "load_colors"), |b| {
b.iter(|| {
let colors = LoadedPoints::load_colors(
&data,
&ent_path,
&points.annotation_infos,
);
assert_eq!(colors.len(), NUM_POINTS);
colors
});
});
}

// NOTE: we don't log radii!
{
let mut group = c.benchmark_group("Points3D");
group.throughput(criterion::Throughput::Elements(NUM_POINTS as _));
group.bench_function(bench_name(*cached, "load_radii"), |b| {
b.iter(|| {
let radii = LoadedPoints::load_radii(&data, &ent_path);
assert_eq!(radii.len(), NUM_POINTS);
radii
});
});
}

{
let mut group = c.benchmark_group("Points3D");
group.throughput(criterion::Throughput::Elements(NUM_POINTS as _));
group.bench_function(bench_name(*cached, "load_picking_ids"), |b| {
b.iter(|| {
let picking_ids = LoadedPoints::load_picking_ids(&data);
assert_eq!(picking_ids.len(), NUM_POINTS);
picking_ids
});
});
}
},
)
.unwrap();
}
}
2 changes: 1 addition & 1 deletion crates/re_space_view_spatial/src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ pub use space_view_2d::SpatialSpaceView2D;
pub use space_view_3d::SpatialSpaceView3D;

#[doc(hidden)] // Public for benchmarks
pub use visualizers::LoadedPoints;
pub use visualizers::{LoadedPoints, Points3DComponentData};

// ---

Expand Down
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