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v1.4.1 — Kill per-patch heap traffic in Patchwork++ (+14.8% Hz)

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@LimHyungTae LimHyungTae released this 23 May 06:46
v1.4.1
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Highlights

Patch bump. pypatchworkpp.patchworkpp is now +14.8% Hz on KITTI seq 00 (97.5 → 111.9 Hz, median of 3 runs, i7-12700) thanks to killing short-lived heap allocations in R-VPF + R-GPF. Closes the alloc-driven part of #96.

Perf — pypatchworkpp.patchworkpp

KITTI seq 00, 2900 timed frames, median of 3 runs:

Stage ms/frame Hz Δ Hz
v1.4.0 baseline (JacobiSVD + per-call allocs) 10.26 97.5 —
eigh only 9.94 100.6 +3.2%
v1.4.1 (eigh + alloc-free) 8.94 111.9 +14.8%

The win comes from three changes inside PatchWorkpp::extract_piecewiseground and PatchWorkpp::estimate_plane:

  1. estimate_plane: drop Eigen::MatrixX3f eigen_ground, centered, and centered.adjoint() * centered heap allocations. Replace with a single-pass scalar accumulation of mean + 9 cross-products; build the 3×3 cov on the stack.
  2. extract_piecewiseground: promote src_wo_verticals and src_tmp to reused instance scratch members. vector::clear() keeps capacity, so per-patch malloc pressure on the glibc heap drops away after the first few patches.
  3. estimateGround main loop: auto& zone instead of auto zone for ConcentricZoneModel_[zone_idx]. Avoids a deep-copy of the full 3-level nested vector per outer iteration.

Plus a smaller cleanup: JacobiSVD<Matrix3f> → SelfAdjointEigenSolver::computeDirect on the 3×3 PSD covariance in both cpp/common/src/plane_fit.cpp and the in-place PatchWorkpp::estimate_plane. singular_values_ is repacked descending so every consumer (linearity_, planarity_, ground_flatness, line_variable, flatness_thr index (2)) keeps the same convention bit-for-bit.

Patchwork (classic)

Unchanged: 4.29 ms / 232.9 Hz (within run-to-run noise of the v1.4.0 baseline). TBB parallel_for already amortises allocations across cores and SVD is sub-µs/patch.

Numerical equivalence

KITTI seq 00 (4541 frames), v1.4.0 → v1.4.1:

Method (protocol) Before After Δ F1
patchwork (pw) P 92.34, R 94.64, F1 93.41 P 92.34, R 94.64, F1 93.41 0.00
patchworkpp (pp) P 94.88, R 98.47, F1 96.62 P 94.89, R 98.48, F1 96.63 +0.01

Algebraic identity of JacobiSVD vs eigh verified on 500 real KITTI patch covariances: normal_ (up to sign), singular_values_, linearity_, planarity_, ground_flatness, line_variable all match to FP precision.

Refs

  • #100 — PR (perf: alloc-free + eigh)
  • #96 — Issue (R-VPF / R-GPF allocation profile)
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