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Improve Runtime by reshaping the DataAssociation #411

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Merged
tizianoGuadagnino merged 7 commits into from
Jan 7, 2025
+6 −17
Merged

Improve Runtime by reshaping the DataAssociation #411

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1fdd09b
Zero additional allocations
tizianoGuadagnino Dec 4, 2024
a741512
We know this shifts
tizianoGuadagnino Dec 4, 2024
5ae3283
Revert VoxelHashMap change -> Allocations go in a separate PR
tizianoGuadagnino Dec 4, 2024
4521454
Revert "Revert VoxelHashMap change -> Allocations go in a separate PR"
tizianoGuadagnino Dec 4, 2024
6e56ac7
Revert concurrent vector change
tizianoGuadagnino Dec 4, 2024
cdcccae
Parallel for and concurrent vector
tizianoGuadagnino Dec 4, 2024
d8a3042
Merge branch 'main' into tiziano/concurrent_vector
tizianoGuadagnino Jan 7, 2025
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23 changes: 6 additions & 17 deletions cpp/kiss_icp/core/Registration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,8 +23,10 @@
#include "Registration.hpp"

#include <tbb/blocked_range.h>
#include <tbb/concurrent_vector.h>
#include <tbb/global_control.h>
#include <tbb/info.h>
#include <tbb/parallel_for.h>
#include <tbb/parallel_reduce.h>
#include <tbb/task_arena.h>

Expand All @@ -44,7 +46,7 @@ using Matrix3_6d = Eigen::Matrix<double, 3, 6>;
using Vector6d = Eigen::Matrix<double, 6, 1>;
} // namespace Eigen

using Correspondences = std::vector<std::pair<Eigen::Vector3d, Eigen::Vector3d>>;
using Correspondences = tbb::concurrent_vector<std::pair<Eigen::Vector3d, Eigen::Vector3d>>;
using LinearSystem = std::pair<Eigen::Matrix6d, Eigen::Vector6d>;

namespace {
Expand All @@ -61,30 +63,17 @@ Correspondences DataAssociation(const std::vector<Eigen::Vector3d> &points,
using points_iterator = std::vector<Eigen::Vector3d>::const_iterator;
Correspondences correspondences;
correspondences.reserve(points.size());
correspondences = tbb::parallel_reduce(
tbb::parallel_for(
// Range
tbb::blocked_range<points_iterator>{points.cbegin(), points.cend()},
// Identity
correspondences,
// 1st lambda: Parallel computation
[&](const tbb::blocked_range<points_iterator> &r, Correspondences res) -> Correspondences {
res.reserve(r.size());
[&](const tbb::blocked_range<points_iterator> &r) {
std::for_each(r.begin(), r.end(), [&](const auto &point) {
const auto &[closest_neighbor, distance] = voxel_map.GetClosestNeighbor(point);
if (distance < max_correspondance_distance) {
res.emplace_back(point, closest_neighbor);
correspondences.emplace_back(point, closest_neighbor);
}
});
return res;
},
// 2nd lambda: Parallel reduction
[](Correspondences a, const Correspondences &b) -> Correspondences {
a.insert(a.end(), //
std::make_move_iterator(b.cbegin()), //
std::make_move_iterator(b.cend()));
return a;
});

return correspondences;
}

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