perf(distortion_corrector_node): performance tuning #2913

sykwer · 2023-02-20T06:29:12Z

Description

This PR makes distortion_corrector_node faster without changing the logical output (slight changes by approximate calculation of sin/cos). The processing of the distortion_corrector_node gets speeded up from about 21ms to 13ms under the following condition.

Ubuntu22.04 + ROS2 Humble + Autoware Universe rosbag simulation
Core Isolated
Core Frequency Fixed (2.6GHz)
L3 Cache: 12MB

This PR contains two kinds of changes.

Avoid unnecessary instantiation of objects
Pre-compute sin/cos values

It should be noted that the latter change results in a slight approximation of the logical output.

Tests performed

Check if distortion_corrector_node publishes the same logical output as before (using Autoware Universe rosbag simulation).

The output is very slightly different in some parts since sin/cos is approximated by precomputation.

Notes for reviewers

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Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

codecov · 2023-02-20T07:21:40Z

Codecov Report

Patch coverage: 38.09% and project coverage change: +0.19 🎉

Comparison is base (36fcf3f) 11.98% compared to head (c545cc2) 12.17%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2913      +/-   ##
==========================================
+ Coverage   11.98%   12.17%   +0.19%     
==========================================
  Files        1315     1370      +55     
  Lines       91518   100422    +8904     
  Branches    24277    30072    +5795     
==========================================
+ Hits        10968    12230    +1262     
- Misses      69187    75623    +6436     
- Partials    11363    12569    +1206

Flag	Coverage Δ		*Carryforward flag
differential	`14.02% <38.09%> (?)`
total	`11.83% <ø> (-0.16%)`	⬇️	Carriedforward from 75aaee6

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
.../src/distortion_corrector/distortion_corrector.cpp	`0.00% <0.00%> (ø)`
...autoware_utils/test/src/math/test_trigonometry.cpp	`75.00% <75.00%> (ø)`
...mon/tier4_autoware_utils/src/math/trigonometry.cpp	`100.00% <100.00%> (ø)`
...vehicle_model/vehicle_model_bicycle_kinematics.cpp	`62.06% <0.00%> (-29.60%)`	⬇️
planning/obstacle_avoidance_planner/src/node.cpp	`3.58% <0.00%> (-10.00%)`	⬇️
...nner/src/vehicle_model/vehicle_model_interface.cpp	`76.47% <0.00%> (-9.25%)`	⬇️
...eespace_planning_algorithms/abstract_algorithm.hpp	`42.85% <0.00%> (-7.15%)`	⬇️
common/osqp_interface/src/osqp_interface.cpp	`43.15% <0.00%> (-6.85%)`	⬇️
...anning/obstacle_velocity_limiter/src/obstacles.cpp	`46.87% <0.00%> (-3.13%)`	⬇️
..._geometry/include/geometry/spatial_hash_config.hpp	`78.87% <0.00%> (-1.62%)`	⬇️
... and 123 more

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Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

...d_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp

miursh

That's a great improvement. Thank you so much.
Just one question from me.

...d_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp

miursh · 2023-02-25T03:25:06Z

I checked the performance.
Processing time is reduced by around 60% no my desktop PC.

proc time [ms]	before	after
average	12.27	7.31
max	29.00	22.00
std.dev	1.63	1.20

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

...d_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

sykwer · 2023-02-28T15:34:11Z

Accuracy of approximated sin/cos functions are 10^(-6) ~ 10^(-5).

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

common/tier4_autoware_utils/src/math/sin_table.cpp

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

yukkysaito

LGTM

yukkysaito

LGTM

yukkysaito · 2023-03-05T11:03:50Z

@sykwer
Many points from clang-tiny, and I think some of them are decent points, so please correct them if you have time.

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

…on#2913) * Avoid unnecessary object instantiation Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com> * style(pre-commit): autofix * Fix: Avoid unnecessary object instantiation Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com> * Minimize object instantiation Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com> * Avoid transform computation if possible Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com> * Pre-compute sin/cos Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com> * style(pre-commit): autofix * Place sincos precompute under util Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com> * style(pre-commit): autofix * Use hardcoded sin values for approcimation Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com> * style(pre-commit): autofix * Use new approximated sin/cos functions Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com> * Improve accuracy of approximated sin/cos Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com> * style(pre-commit): autofix * Add test for trigonometry Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com> * style(pre-commit): autofix * Fix Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com> * Fix Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com> * Conform to clang-tidy Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…foundation#2913)" This reverts commit b72ca85. Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

…foundation#2913)" This reverts commit b72ca85.

…tion#2913) (#512) Revert "perf(distortion_corrector_node): performance tuning (autowarefoundation#2913)" This reverts commit b72ca85.

Avoid unnecessary object instantiation

21eeaa8

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

github-actions bot added the component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) label Feb 20, 2023

sykwer changed the title ~~perf(distortion_corrector_node): Performance tuning~~ perf(distortion_corrector_node): performance tuning Feb 20, 2023

style(pre-commit): autofix

8af0e92

sykwer self-assigned this Feb 20, 2023

Fix: Avoid unnecessary object instantiation

204f21a

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

sykwer and others added 4 commits February 20, 2023 16:50

Minimize object instantiation

c7ba4b7

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

Avoid transform computation if possible

3ec4519

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

Pre-compute sin/cos

3ff4ecc

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

style(pre-commit): autofix

c4b312d

sykwer marked this pull request as ready for review February 20, 2023 15:11

sykwer requested review from amc-nu, miursh, yukkysaito and a team as code owners February 20, 2023 15:11

yukkysaito reviewed Feb 21, 2023

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...d_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp Outdated Show resolved Hide resolved

miursh reviewed Feb 21, 2023

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...d_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp Outdated Show resolved Hide resolved

mitsudome-r added the review-ongoing label Feb 21, 2023

Place sincos precompute under util

4f5f089

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

sykwer requested review from kenji-miyake, TakaHoribe, takayuki5168 and purewater0901 as code owners February 27, 2023 10:47

github-actions bot added the component:common Common packages from the autoware-common repository. (auto-assigned) label Feb 27, 2023

style(pre-commit): autofix

b76ffb6

sykwer requested review from yukkysaito and miursh February 27, 2023 10:48

yukkysaito reviewed Feb 27, 2023

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...d_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp Outdated Show resolved Hide resolved

sykwer and others added 3 commits March 1, 2023 00:31

Use new approximated sin/cos functions

37e9580

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

Improve accuracy of approximated sin/cos

752d311

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

style(pre-commit): autofix

4ac6d3b

sykwer marked this pull request as ready for review February 28, 2023 15:35

sykwer requested a review from yukkysaito February 28, 2023 15:35

sykwer and others added 3 commits March 1, 2023 09:49

Add test for trigonometry

9dfa3c6

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

style(pre-commit): autofix

de6cb7d

Fix

96ffc12

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

yukkysaito reviewed Mar 1, 2023

View reviewed changes

common/tier4_autoware_utils/src/math/sin_table.cpp Outdated Show resolved Hide resolved

Fix

81ec153

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

sykwer requested review from yukkysaito and kenji-miyake March 1, 2023 10:12

yukkysaito approved these changes Mar 1, 2023

View reviewed changes

Merge branch 'main' into faster-distortion-corrector-node

75aaee6

sykwer enabled auto-merge (squash) March 3, 2023 08:15

yukkysaito self-requested a review March 5, 2023 10:59

yukkysaito approved these changes Mar 5, 2023

View reviewed changes

sykwer and others added 2 commits March 5, 2023 22:37

Conform to clang-tidy

08a3f2f

Signed-off-by: Takahiro Ishikawa <sykwer@gmail.com>

style(pre-commit): autofix

c545cc2

yukkysaito disabled auto-merge March 6, 2023 02:59

yukkysaito merged commit b72ca85 into autowarefoundation:main Mar 6, 2023

tier4-autoware-public-bot bot mentioned this pull request Mar 7, 2023

chore: sync upstream tier4/autoware.universe#305

Merged

tkimura4 added a commit to tier4/autoware.universe that referenced this pull request May 12, 2023

Revert "perf(distortion_corrector_node): performance tuning (autoware…

8d5592d

…foundation#2913)" This reverts commit b72ca85. Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

1222-takeshi added a commit to tier4/autoware.universe that referenced this pull request May 23, 2023

Revert "perf(distortion_corrector_node): performance tuning (autoware…

efbad4a

…foundation#2913)" This reverts commit b72ca85.

1222-takeshi mentioned this pull request May 23, 2023

revert(distortion corrector_node): performance tuning (#2913) tier4/autoware.universe#512

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yukkysaito mentioned this pull request Apr 8, 2024

fix(distortion_correction_node): remove redundant code #6758

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perf(distortion_corrector_node): performance tuning #2913

perf(distortion_corrector_node): performance tuning #2913

sykwer commented Feb 20, 2023 •

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perf(distortion_corrector_node): performance tuning #2913

perf(distortion_corrector_node): performance tuning #2913

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sykwer commented Feb 20, 2023 • edited Loading

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