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Splat batches #15

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merged 17 commits into from
Jun 16, 2022
Merged

Splat batches #15

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9af6550
Split out Data::Batch to a new enum, LoggedData
emilk Jun 15, 2022
21a975e
Add "batch splatting"
emilk Jun 15, 2022
c23fa2a
Optimize batch insertion
emilk Jun 15, 2022
fef2a15
Introduce IndexHash
emilk Jun 15, 2022
0030734
Refactor: move Index to own file
emilk Jun 15, 2022
d1710cb
struct Batch
emilk Jun 16, 2022
77d85a8
Optimize storage by using hashes instead of full indices and index paths
emilk Jun 16, 2022
d079459
Don't use three_d::Color::new
emilk Jun 16, 2022
4d375a9
Don't box IndexKey::index
emilk Jun 16, 2022
5b55449
Fix crash
emilk Jun 16, 2022
f70b9fe
Benchmark data insertion
emilk Jun 16, 2022
6079a58
Remove hash from IndexPath
emilk Jun 16, 2022
9747fb5
Use IntMap for ObjTypePath
emilk Jun 16, 2022
bf27a95
Less use of IndexKey
emilk Jun 16, 2022
78b4d1c
Remove `IndexKey`
emilk Jun 16, 2022
689d602
Small optimization
emilk Jun 16, 2022
1487dff
Clippy fixes
emilk Jun 16, 2022
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165 changes: 129 additions & 36 deletions data_store/benches/data_benchmark.rs
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,8 @@ use criterion::{criterion_group, criterion_main, Criterion};

use data_store::TypePathDataStore;
use data_store::*;
use log_types::{FieldName, IndexKey, LogId};
use itertools::Itertools;
use log_types::{FieldName, LogId};

const NUM_FRAMES: i64 = 1_000; // this can have a big impact on performance
const NUM_POINTS_PER_CAMERA: u64 = 1_000;
Expand Down Expand Up @@ -55,14 +56,31 @@ fn obj_path(camera: &str, index: u64) -> ObjPath {
]))
}

fn type_path() -> ObjTypePath {
ObjTypePath::new(vec![
TypePathComp::String("camera".into()),
TypePathComp::Index,
TypePathComp::String("point".into()),
TypePathComp::Index,
])
}

#[derive(Copy, Clone, PartialEq, Eq, PartialOrd, Ord)]
struct Time(i64);

fn generate_date(individual_pos: bool, individual_radius: bool) -> TypePathDataStore<Time> {
fn generate_data(individual_pos: bool, individual_radius: bool) -> TypePathDataStore<Time> {
let mut data_store = TypePathDataStore::default();

let type_path = type_path();

let indices = (0..NUM_POINTS_PER_CAMERA)
.map(Index::Sequence)
.collect_vec();
let positions = vec![[1.0_f32; 3]; NUM_POINTS_PER_CAMERA as usize];
let radii = vec![1.0_f32; NUM_POINTS_PER_CAMERA as usize];

for frame in 0..NUM_FRAMES {
let time_value = Time(frame);
let time_value = Time(frame as _);
for camera in ["left", "right"] {
if individual_pos {
for point in 0..NUM_POINTS_PER_CAMERA {
Expand All @@ -77,28 +95,15 @@ fn generate_date(individual_pos: bool, individual_radius: bool) -> TypePathDataS
.unwrap();
}
} else {
let type_path = ObjTypePath::new(vec![
TypePathComp::String("camera".into()),
TypePathComp::Index,
TypePathComp::String("point".into()),
TypePathComp::Index,
]);
let mut index_path_prefix = IndexPath::default();
index_path_prefix.push(Index::String(camera.into()));
index_path_prefix.push(Index::Placeholder);

let batch = Arc::new(
(0..NUM_POINTS_PER_CAMERA)
.map(|pi| {
let pos: [f32; 3] = [1.0, 2.0, 3.0];
(IndexKey::new(Index::Sequence(pi)), pos)
})
.collect(),
);
let batch = Arc::new(Batch::new(&indices, &positions));

data_store
.insert_batch(
&ObjPath::new(type_path, index_path_prefix),
&ObjPath::new(type_path.clone(), index_path_prefix),
FieldName::from("pos"),
time_value,
LogId::random(),
Expand All @@ -120,25 +125,15 @@ fn generate_date(individual_pos: bool, individual_radius: bool) -> TypePathDataS
.unwrap();
}
} else {
let type_path = ObjTypePath::new(vec![
TypePathComp::String("camera".into()),
TypePathComp::Index,
TypePathComp::String("point".into()),
TypePathComp::Index,
]);
let mut index_path_prefix = IndexPath::default();
index_path_prefix.push(Index::String(camera.into()));
index_path_prefix.push(Index::Placeholder);

let batch = Arc::new(
(0..NUM_POINTS_PER_CAMERA)
.map(|pi| (IndexKey::new(Index::Sequence(pi)), 1.0_f32))
.collect(),
);
let batch = Arc::new(Batch::new(&indices, &radii));

data_store
.insert_batch(
&ObjPath::new(type_path, index_path_prefix),
&ObjPath::new(type_path.clone(), index_path_prefix),
FieldName::from("radius"),
time_value,
LogId::random(),
Expand All @@ -152,35 +147,127 @@ fn generate_date(individual_pos: bool, individual_radius: bool) -> TypePathDataS
data_store
}

pub fn criterion_benchmark(c: &mut Criterion) {
fn create_batch_thoughput(c: &mut Criterion) {
const NUM: usize = 100_000;
let indices = (0..NUM).map(|pi| Index::Sequence(pi as _)).collect_vec();
let positions = vec![[1.0_f32; 3]; NUM];

let mut group = c.benchmark_group("create-batch-throughput");
group.throughput(criterion::Throughput::Elements(NUM as _));

group.bench_function("Batch::new", |b| {
b.iter(|| Batch::new(&indices, &positions));
});

group.finish();
}

fn insert_batch_thoughput(c: &mut Criterion) {
const NUM_FRAMES: usize = 100;
const NUM_POINTS: usize = 10_000;
let indices = (0..NUM_POINTS)
.map(|pi| Index::Sequence(pi as _))
.collect_vec();
let positions = vec![[1.0_f32; 3]; NUM_POINTS];
let batch = std::sync::Arc::new(Batch::new(&indices, &positions));

let mut index_path_prefix = IndexPath::default();
index_path_prefix.push(Index::String("left".into()));
index_path_prefix.push(Index::Placeholder);

let mut group = c.benchmark_group("insert-batch-throughput");
group.throughput(criterion::Throughput::Elements(
(NUM_POINTS * NUM_FRAMES) as _,
));

group.bench_function("insert_batch", |b| {
b.iter(|| {
let mut data_store = TypePathDataStore::default();
for frame in 0..NUM_FRAMES {
let time_value = Time(frame as _);
data_store
.insert_batch(
&ObjPath::new(type_path(), index_path_prefix.clone()),
FieldName::from("pos"),
time_value,
LogId::random(),
batch.clone(),
)
.unwrap();
}
data_store
});
});

group.finish();
}

fn insert_individual_thoughput(c: &mut Criterion) {
const NUM_FRAMES: usize = 100;
const NUM_POINTS: usize = 1000;

let mut index_path_prefix = IndexPath::default();
index_path_prefix.push(Index::String("left".into()));
index_path_prefix.push(Index::Placeholder);

let mut group = c.benchmark_group("insert-individual-throughput");
group.throughput(criterion::Throughput::Elements(
(NUM_POINTS * NUM_FRAMES) as _,
));

group.bench_function("insert_individual", |b| {
b.iter(|| {
let mut data_store = TypePathDataStore::default();
for frame in 0..NUM_FRAMES {
let time_value = Time(frame as _);
for point in 0..NUM_POINTS {
data_store
.insert_individual::<[f32; 3]>(
obj_path("left", point as _),
FieldName::from("pos"),
time_value,
LogId::random(),
[1.0, 2.0, 3.0],
)
.unwrap();
}
}
data_store
});
});

group.finish();
}

fn query_throughput(c: &mut Criterion) {
let mut group = c.benchmark_group("query-points-throughput");
group.throughput(criterion::Throughput::Elements(TOTAL_POINTS as _));

let data_store = generate_date(false, false);
let data_store = generate_data(false, false);
group.bench_function("batched_pos_batched_radius", |b| {
b.iter(|| {
let points = points_from_store(&data_store, &TimeQuery::LatestAt(Time(NUM_FRAMES / 2)));
assert_eq!(points.len(), TOTAL_POINTS as usize);
});
});

let data_store = generate_date(true, true);
let data_store = generate_data(true, true);
group.bench_function("individual_pos_individual_radius", |b| {
b.iter(|| {
let points = points_from_store(&data_store, &TimeQuery::LatestAt(Time(NUM_FRAMES / 2)));
assert_eq!(points.len(), TOTAL_POINTS as usize);
});
});

let data_store = generate_date(false, true);
let data_store = generate_data(false, true);
group.bench_function("batched_pos_individual_radius", |b| {
b.iter(|| {
let points = points_from_store(&data_store, &TimeQuery::LatestAt(Time(NUM_FRAMES / 2)));
assert_eq!(points.len(), TOTAL_POINTS as usize);
});
});

let data_store = generate_date(true, false);
let data_store = generate_data(true, false);
group.bench_function("individual_pos_batched_radius", |b| {
b.iter(|| {
let points = points_from_store(&data_store, &TimeQuery::LatestAt(Time(NUM_FRAMES / 2)));
Expand All @@ -191,5 +278,11 @@ pub fn criterion_benchmark(c: &mut Criterion) {
group.finish();
}

criterion_group!(benches, criterion_benchmark);
criterion_group!(
benches,
create_batch_thoughput,
insert_batch_thoughput,
insert_individual_thoughput,
query_throughput
);
criterion_main!(benches);
18 changes: 9 additions & 9 deletions data_store/examples/memory_usage.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,8 @@ unsafe impl std::alloc::GlobalAlloc for TrackingAllocator {
}

use data_store::*;
use log_types::{IndexKey, LogId, TimeValue};
use itertools::Itertools;
use log_types::{LogId, TimeValue};

impl TrackingAllocator {
fn used_bytes(&self) -> usize {
Expand Down Expand Up @@ -142,19 +143,18 @@ fn big_clouds_batched() {
const NUM_FRAMES: usize = 100;
const NUM_POINTS_PER_CAMERA: usize = 1_000;

let indices = (0..NUM_POINTS_PER_CAMERA)
.map(|i| Index::Sequence(i as _))
.collect_vec();
let point: [f32; 3] = [1.0, 2.0, 3.0];
let positions = vec![point; NUM_POINTS_PER_CAMERA];

let mut store = TypePathDataStore::default();
let mut frame = 0;
let mut num_points = 0;
while frame < NUM_FRAMES {
for camera in 0..NUM_CAMERAS {
let batch = std::sync::Arc::new(
(0..NUM_POINTS_PER_CAMERA)
.map(|i| {
let point: [f32; 3] = [1.0, 2.0, 3.0];
(IndexKey::new(Index::Sequence(i as _)), point)
})
.collect(),
);
let batch = std::sync::Arc::new(Batch::new(&indices, &positions));
let (obj_type_path, index_path) =
obj_path(camera as _, 0).into_type_path_and_index_path();
let (index_path_prefix, _) = index_path.replace_last_with_placeholder();
Expand Down
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