Speedup voxel grid build #42

anhnv3991 · 2024-03-14T02:27:50Z

Use multithread to build the voxel grid of multigrid NDT omp
Execution time of align in a test on shiojiri map
Execution time of updating NDT in the same test on shiojiri map

Signed-off-by: anhnv3991 <[email protected]>

* Refactoring multigrid_ndt_omp Signed-off-by: anhnv3991 <[email protected]> * Refactored multigrid_ndt_omp Signed-off-by: anhnv3991 <[email protected]> * style(pre-commit): autofix * Fixed to build Signed-off-by: Shintaro Sakoda <[email protected]> * Removed line breaks Signed-off-by: Shintaro Sakoda <[email protected]> * For reference, this should be discared later Signed-off-by: anhnv3991 <[email protected]> * Testing Signed-off-by: anhnv3991 <[email protected]> * Clean up a bit Signed-off-by: anhnv3991 <[email protected]> * Clean up a bit Signed-off-by: anhnv3991 <[email protected]> * style(pre-commit): autofix * refactor: organized ndt params (#43) * Organized ndt params Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Shintaro Sakoda <[email protected]> Co-authored-by: SakodaShintaro <[email protected]> * Speed up multigrid NDT align (#41) * Coding Signed-off-by: anhnv3991 <[email protected]> * Rearrange the code to avoid duplicated processing Signed-off-by: anhnv3991 <[email protected]> * style(pre-commit): autofix * Updated reference/result.csv Signed-off-by: Shintaro Sakoda <[email protected]> * A minor fix Signed-off-by: Shintaro Sakoda <[email protected]> * refactor: organized ndt params (#43) * Organized ndt params Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Shintaro Sakoda <[email protected]> Co-authored-by: SakodaShintaro <[email protected]> * Coding Signed-off-by: anhnv3991 <[email protected]> * Fixed conflicts after rebasing Signed-off-by: anhnv3991 <[email protected]> * Coding Signed-off-by: anhnv3991 <[email protected]> * Coding Signed-off-by: anhnv3991 <[email protected]> * Fixed some bugs Signed-off-by: anhnv3991 <[email protected]> * style(pre-commit): autofix * Fixed to run workflow Signed-off-by: Shintaro Sakoda <[email protected]> --------- Signed-off-by: anhnv3991 <[email protected]> Signed-off-by: Shintaro Sakoda <[email protected]> Co-authored-by: anhnv3991 <[email protected]> Co-authored-by: Shintaro Sakoda <[email protected]> Co-authored-by: SakodaShintaro <[email protected]> Co-authored-by: SakodaShintaro <[email protected]> * fix: add tp to regression test (#44) * Added tp_score to regression_test Signed-off-by: Shintaro Sakoda <[email protected]> * Updated result.csv by result of GitHub Actions Signed-off-by: Shintaro Sakoda <[email protected]> * Updated by the latest result Signed-off-by: Shintaro Sakoda <[email protected]> --------- Signed-off-by: Shintaro Sakoda <[email protected]> * fix: add a param use line search (#46) * Added a parameter "use_line_search" Signed-off-by: Shintaro Sakoda <[email protected]> * Added default value use_line_search=false Signed-off-by: Shintaro Sakoda <[email protected]> --------- Signed-off-by: Shintaro Sakoda <[email protected]> * Refactoring multigrid_ndt_omp Signed-off-by: anhnv3991 <[email protected]> * Refactored multigrid_ndt_omp Signed-off-by: anhnv3991 <[email protected]> * style(pre-commit): autofix * Removed line breaks Signed-off-by: Shintaro Sakoda <[email protected]> * For reference, this should be discared later Signed-off-by: anhnv3991 <[email protected]> * Testing Signed-off-by: anhnv3991 <[email protected]> * Clean up a bit Signed-off-by: anhnv3991 <[email protected]> * Clean up a bit Signed-off-by: anhnv3991 <[email protected]> * Debugging Signed-off-by: anhnv3991 <[email protected]> * Fixed a bug Signed-off-by: anhnv3991 <[email protected]> * style(pre-commit): autofix * Fixed build error Signed-off-by: anhnv3991 <[email protected]> * Updated result.csv Signed-off-by: Shintaro SAKODA <[email protected]> --------- Signed-off-by: anhnv3991 <[email protected]> Signed-off-by: Shintaro Sakoda <[email protected]> Signed-off-by: Shintaro SAKODA <[email protected]> Co-authored-by: anhnv3991 <[email protected]> Co-authored-by: SakodaShintaro <[email protected]> Co-authored-by: Shintaro Sakoda <[email protected]> Co-authored-by: SakodaShintaro <[email protected]>

Signed-off-by: anhnv3991 <[email protected]>

SakodaShintaro · 2024-03-21T05:00:22Z

@anhnv3991 (cc. @YamatoAndo)
Thank you for fixing the conflict.

There seems to be a mix of factors in this pull request.
I would like to proceed with the pull request in 4 steps.

(1) Refactor radiusSearch -> #49 (Merged)
(2) Minor modifications -> #50 (Merged)
(3) Change LeafID structure -> #48 (Merged)
(4) Multithreading voxel grid building -> This PR

It seems that (3) contribute to speeding up align().
This pull request will help speed up Voxel construction.

Signed-off-by: anhnv3991 <[email protected]>

anhnv3991 · 2024-03-25T07:56:34Z

@SakodaShintaro I fixed all conflicts. Can you please review again?

SakodaShintaro

Thank you for fixing conflicts.
Please make some corrections.

It might be better to put all the definition code such as get_idle_tid() or sync() in _impl.h instead of .h, but I'll leave it up to you whether do it.

include/multigrid_pclomp/multi_voxel_grid_covariance_omp.h

include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp

include/multigrid_pclomp/multi_voxel_grid_covariance_omp.h

Signed-off-by: anhnv3991 <[email protected]>

anhnv3991 · 2024-03-25T09:44:03Z

Thank you for fixing conflicts. Please make some corrections.

It might be better to put all the definition code such as get_idle_tid() or sync() in _impl.h instead of .h, but I'll leave it up to you whether do it.

@SakodaShintaro Those functions are short and called many times so I prefer to keep them inline to minimize the cost of calling.

…tThreadNum Signed-off-by: anhnv3991 <[email protected]>

include/multigrid_pclomp/multi_voxel_grid_covariance_omp.h

Signed-off-by: anhnv3991 <[email protected]>

SakodaShintaro · 2024-03-26T02:34:56Z

Thank you for correcting the code.
There is no problem with the code, so I will test it carefully.
I will check the following items

unit test of ndt_scan_matcher in autoware.universe
logging_simulator (sample-rosbag)
logging_simulator (AWSIM-rosbag) single map with comparing to GT Pose
logging_simulator (AWSIM-rosbag) divided map with comparing to GT Pose
driving_log_replayer
AWSIM (1 hour, 20 loops OK)

Please wait a moment.

anhnv3991 · 2024-03-26T02:49:32Z

@SakodaShintaro Thanks a lot!

SakodaShintaro

Looks Good To Me
Marvelous work!

anhnv3991 and others added 5 commits March 13, 2024 16:41

Coding

7794b9f

Signed-off-by: anhnv3991 <[email protected]>

Rearrange the code to avoid duplicated processing

5198f3f

Signed-off-by: anhnv3991 <[email protected]>

style(pre-commit): autofix

7bc60bb

Added multithread voxel grid build

b1a927a

Signed-off-by: anhnv3991 <[email protected]>

style(pre-commit): autofix

49baeb2

anhnv3991 mentioned this pull request Mar 14, 2024

Speed up multigrid NDT align #41

Merged

Fixed

5a40f75

Signed-off-by: anhnv3991 <[email protected]>

anhnv3991 requested review from SakodaShintaro and YamatoAndo March 14, 2024 09:15

anhnv3991 and others added 10 commits March 15, 2024 13:07

Fixed wrong tmp_score usage

d884b44

Signed-off-by: anhnv3991 <[email protected]>

Merge branch 'tier4/main' into feature/speedup_voxel_grid_build

b78b4a1

Coding

abd6d11

Signed-off-by: anhnv3991 <[email protected]>

Rearrange the code to avoid duplicated processing

e5255a4

Signed-off-by: anhnv3991 <[email protected]>

style(pre-commit): autofix

d689a7c

Added multithread voxel grid build

7a67c85

Signed-off-by: anhnv3991 <[email protected]>

Fixed build error

4f4e428

Signed-off-by: anhnv3991 <[email protected]>

Merge branch 'tier4/main' into feature/speedup_voxel_grid_build

9af928e

Merge branch 'tier4/main' into feature/speedup_voxel_grid_build

13ce95c

SakodaShintaro mentioned this pull request Mar 21, 2024

perf: change the type of LeafID to speed up align() #48

Merged

anhnv3991 added 3 commits March 25, 2024 10:50

Fixing conflicts with main

56823c8

Signed-off-by: anhnv3991 <[email protected]>

Fixed build errors

56aea69

Signed-off-by: anhnv3991 <[email protected]>

Applied clang

c122088

Signed-off-by: anhnv3991 <[email protected]>

SakodaShintaro requested changes Mar 25, 2024

View reviewed changes

anhnv3991 and others added 3 commits March 25, 2024 16:23

Added line break at the end of .h and .hpp files

d82c9e4

Signed-off-by: anhnv3991 <[email protected]>

style(pre-commit): autofix

a96602a

Removed unused include and comments

576c994

Signed-off-by: anhnv3991 <[email protected]>

anhnv3991 requested a review from SakodaShintaro March 25, 2024 09:39

Removed unused include and fixed a segmentation fault when sync in se…

7d2cab0

…tThreadNum Signed-off-by: anhnv3991 <[email protected]>

SakodaShintaro reviewed Mar 26, 2024

View reviewed changes

include/multigrid_pclomp/multi_voxel_grid_covariance_omp.h Outdated Show resolved Hide resolved

anhnv3991 and others added 3 commits March 26, 2024 08:39

Fix build error when compare int with size_t

e07224a

Signed-off-by: anhnv3991 <[email protected]>

Fix build error when compare int with size_t

7241782

Signed-off-by: anhnv3991 <[email protected]>

style(pre-commit): autofix

5894d74

anhnv3991 requested a review from SakodaShintaro March 26, 2024 02:06

SakodaShintaro approved these changes Mar 26, 2024

View reviewed changes

anhnv3991 merged commit 4776042 into tier4/main Mar 26, 2024
1 check passed

anhnv3991 deleted the feature/speedup_voxel_grid_build branch March 26, 2024 07:58

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Speedup voxel grid build #42

Speedup voxel grid build #42

anhnv3991 commented Mar 14, 2024 •

edited

Loading

SakodaShintaro commented Mar 21, 2024 •

edited

Loading

anhnv3991 commented Mar 25, 2024

SakodaShintaro left a comment

anhnv3991 commented Mar 25, 2024

SakodaShintaro commented Mar 26, 2024 •

edited

Loading

anhnv3991 commented Mar 26, 2024

SakodaShintaro left a comment

Speedup voxel grid build #42

Speedup voxel grid build #42

Conversation

anhnv3991 commented Mar 14, 2024 • edited Loading

SakodaShintaro commented Mar 21, 2024 • edited Loading

anhnv3991 commented Mar 25, 2024

SakodaShintaro left a comment

Choose a reason for hiding this comment

anhnv3991 commented Mar 25, 2024

SakodaShintaro commented Mar 26, 2024 • edited Loading

anhnv3991 commented Mar 26, 2024

SakodaShintaro left a comment

Choose a reason for hiding this comment

anhnv3991 commented Mar 14, 2024 •

edited

Loading

SakodaShintaro commented Mar 21, 2024 •

edited

Loading

SakodaShintaro commented Mar 26, 2024 •

edited

Loading