From ad39515994487c32ea9a0535b7ca014d8373470b Mon Sep 17 00:00:00 2001
From: Mateusz Szczygielski <112629916+msz-rai@users.noreply.github.com>
Date: Wed, 19 Apr 2023 11:40:30 +0200
Subject: [PATCH] Improve temporal merging performance (#141)
* Double capacity if is running out
* Format PCL point cloud on CPU
* After review
---
src/VArray.cpp | 7 +++++++
src/VArray.hpp | 1 +
src/api/apiPcl.cpp | 14 ++++++++------
src/graph/TemporalMergePointsNode.cpp | 2 ++
4 files changed, 18 insertions(+), 6 deletions(-)
diff --git a/src/VArray.cpp b/src/VArray.cpp
index aa9a6cc0..6108c748 100644
--- a/src/VArray.cpp
+++ b/src/VArray.cpp
@@ -100,6 +100,13 @@ void VArray::reserve(std::size_t newCapacity, bool preserveData)
current().elemCapacity = newCapacity;
}
+void VArray::doubleCapacityIfRunningOut(float runningOutThreshold)
+{
+ if (getElemCapacity() * runningOutThreshold < getElemCount()) {
+ reserve(getElemCapacity() * 2, true);
+ }
+}
+
VArray::~VArray()
{
for (auto&& [location, state] : instance) {
diff --git a/src/VArray.hpp b/src/VArray.hpp
index 9dde568e..b1cf23fe 100644
--- a/src/VArray.hpp
+++ b/src/VArray.hpp
@@ -82,6 +82,7 @@ struct VArray : std::enable_shared_from_this<VArray>
void insertData(const void *src, std::size_t elements, std::size_t offset);
void resize(std::size_t newCount, bool zeroInit=true, bool preserveData=true);
void reserve(std::size_t newCapacity, bool preserveData=true);
+ void doubleCapacityIfRunningOut(float runningOutThreshold=0.9);
std::size_t getElemSize() const { return sizeOfType; }
std::size_t getElemCount() const { return current().elemCount; }
std::size_t getElemCapacity() const { return current().elemCapacity; }
diff --git a/src/api/apiPcl.cpp b/src/api/apiPcl.cpp
index 35ee6c9b..8a87179f 100644
--- a/src/api/apiPcl.cpp
+++ b/src/api/apiPcl.cpp
@@ -42,16 +42,18 @@ rgl_graph_write_pcd_file(rgl_node_t node, const char* file_path)
throw InvalidAPIObject(fmt::format("Saving PCD file {} failed - requested node does not have field XYZ.", file_path));
}
- // Get formatted data
- VArray::Ptr rglCloud = VArray::create<char>();
- // TODO(msz-rai): CudaStream for formatAsync: nullptr or pointCloudNode->getGraph()->getStream()?
- FormatPointsNode::formatAsync(rglCloud, pointCloudNode, {XYZ_F32, PADDING_32}, nullptr);
+ // We are not using format node to avoid transferring huge point cloud to GPU (risk of cuda out of memory error)
+ // We are formatting manually on the CPU instead.
+ // TODO(msz-rai): CudaStream for getFieldDataTyped: nullptr or pointCloudNode->getGraph()->getStream()?
+ auto xyzTypedArray = pointCloudNode->getFieldDataTyped<XYZ_F32>(nullptr);
+ auto xyzData = xyzTypedArray->getReadPtr(MemLoc::Host);
// Convert to PCL cloud
pcl::PointCloud<pcl::PointXYZ> pclCloud;
- const pcl::PointXYZ* data = reinterpret_cast<const pcl::PointXYZ*>(rglCloud->getReadPtr(MemLoc::Host));
pclCloud.resize(pointCloudNode->getWidth(), pointCloudNode->getHeight());
- pclCloud.assign(data, data + pclCloud.size(), pointCloudNode->getWidth());
+ for (int i = 0; i < xyzTypedArray->getCount(); ++i) {
+ pclCloud[i] = pcl::PointXYZ(xyzData[i].x(), xyzData[i].y(), xyzData[i].z());
+ }
pclCloud.is_dense = pointCloudNode->isDense();
// Save to PCD file
diff --git a/src/graph/TemporalMergePointsNode.cpp b/src/graph/TemporalMergePointsNode.cpp
index 7638b621..f258ba31 100644
--- a/src/graph/TemporalMergePointsNode.cpp
+++ b/src/graph/TemporalMergePointsNode.cpp
@@ -61,6 +61,8 @@ void TemporalMergePointsNode::schedule(cudaStream_t stream)
size_t pointCount = input->getPointCount();
const auto toMergeData = input->getFieldData(field, stream);
data->insertData(toMergeData->getReadPtr(MemLoc::Device), pointCount, width);
+ // Double capacity of VArray if is close to run out. It prevents reallocating memory every insertion.
+ data->doubleCapacityIfRunningOut();
}
width += input->getWidth();
}