Jeremy Reizenstein
ee2b2feb98
Use C++/CUDA in points2vols
...
Summary:
Move the core of add_points_to_volumes to the new C++/CUDA implementation. Add new flag to let the user stop this happening. Avoids copies. About a 30% speedup on the larger cases, up to 50% on the smaller cases.
New timings
```
Benchmark Avg Time(μs) Peak Time(μs) Iterations
--------------------------------------------------------------------------------
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[25, 25, 25]_1000 4575 12591 110
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[25, 25, 25]_10000 25468 29186 20
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[25, 25, 25]_100000 202085 209897 3
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[101, 111, 121]_1000 46059 48188 11
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[101, 111, 121]_10000 83759 95669 7
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[101, 111, 121]_100000 326056 339393 2
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[25, 25, 25]_1000 2379 4738 211
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[25, 25, 25]_10000 12100 63099 42
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[25, 25, 25]_100000 63323 63737 8
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[101, 111, 121]_1000 45216 45479 12
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[101, 111, 121]_10000 57205 58524 9
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[101, 111, 121]_100000 139499 139926 4
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[25, 25, 25]_1000 40129 40431 13
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[25, 25, 25]_10000 204949 239293 3
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[25, 25, 25]_100000 1664541 1664541 1
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[101, 111, 121]_1000 391573 395108 2
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[101, 111, 121]_10000 674869 674869 1
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[101, 111, 121]_100000 2713632 2713632 1
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[25, 25, 25]_1000 12726 13506 40
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[25, 25, 25]_10000 73103 73299 7
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[25, 25, 25]_100000 598634 598634 1
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[101, 111, 121]_1000 398742 399256 2
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[101, 111, 121]_10000 543129 543129 1
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[101, 111, 121]_100000 1242956 1242956 1
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[25, 25, 25]_1000 1814 8884 276
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[25, 25, 25]_10000 1996 8851 251
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[25, 25, 25]_100000 4608 11529 109
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[101, 111, 121]_1000 5183 12508 97
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[101, 111, 121]_10000 7106 14077 71
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[101, 111, 121]_100000 25914 31818 20
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[25, 25, 25]_1000 1778 8823 282
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[25, 25, 25]_10000 1825 8613 274
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[25, 25, 25]_100000 3154 10161 159
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[101, 111, 121]_1000 4888 9404 103
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[101, 111, 121]_10000 5194 9963 97
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[101, 111, 121]_100000 8109 14933 62
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[25, 25, 25]_1000 3320 10306 151
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[25, 25, 25]_10000 7003 8595 72
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[25, 25, 25]_100000 49140 52957 11
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[101, 111, 121]_1000 35890 36918 14
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[101, 111, 121]_10000 58890 59337 9
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[101, 111, 121]_100000 286878 287600 2
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[25, 25, 25]_1000 2484 8805 202
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[25, 25, 25]_10000 3967 9090 127
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[25, 25, 25]_100000 19423 19799 26
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[101, 111, 121]_1000 33228 33329 16
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[101, 111, 121]_10000 37292 37370 14
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[101, 111, 121]_100000 73550 74017 7
--------------------------------------------------------------------------------
```
Previous timings
```
Benchmark Avg Time(μs) Peak Time(μs) Iterations
--------------------------------------------------------------------------------
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[25, 25, 25]_1000 10100 46422 50
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[25, 25, 25]_10000 28442 32100 18
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[25, 25, 25]_100000 241127 254269 3
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[101, 111, 121]_1000 54149 79480 10
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[101, 111, 121]_10000 125459 212734 4
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[101, 111, 121]_100000 512739 512739 1
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[25, 25, 25]_1000 2866 13365 175
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[25, 25, 25]_10000 7026 12604 72
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[25, 25, 25]_100000 48822 55607 11
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[101, 111, 121]_1000 38098 38576 14
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[101, 111, 121]_10000 48006 54120 11
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[101, 111, 121]_100000 131563 138536 4
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[25, 25, 25]_1000 64615 91735 8
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[25, 25, 25]_10000 228815 246095 3
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[25, 25, 25]_100000 3086615 3086615 1
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[101, 111, 121]_1000 464298 465292 2
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[101, 111, 121]_10000 1053440 1053440 1
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[101, 111, 121]_100000 6736236 6736236 1
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[25, 25, 25]_1000 11940 12440 42
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[25, 25, 25]_10000 56641 58051 9
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[25, 25, 25]_100000 711492 711492 1
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[101, 111, 121]_1000 326437 329846 2
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[101, 111, 121]_10000 418514 427911 2
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[101, 111, 121]_100000 1524285 1524285 1
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[25, 25, 25]_1000 5949 13602 85
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[25, 25, 25]_10000 5817 13001 86
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[25, 25, 25]_100000 23833 25971 21
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[101, 111, 121]_1000 9029 16178 56
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[101, 111, 121]_10000 11595 18601 44
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[101, 111, 121]_100000 46986 47344 11
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[25, 25, 25]_1000 2554 9747 196
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[25, 25, 25]_10000 2676 9537 187
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[25, 25, 25]_100000 6567 14179 77
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[101, 111, 121]_1000 5840 12811 86
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[101, 111, 121]_10000 6102 13128 82
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[101, 111, 121]_100000 11945 11995 42
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[25, 25, 25]_1000 7642 13671 66
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[25, 25, 25]_10000 25190 25260 20
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[25, 25, 25]_100000 212018 212134 3
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[101, 111, 121]_1000 40421 45692 13
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[101, 111, 121]_10000 92078 92132 6
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[101, 111, 121]_100000 457211 457229 2
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[25, 25, 25]_1000 3574 10377 140
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[25, 25, 25]_10000 7222 13023 70
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[25, 25, 25]_100000 48127 48165 11
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[101, 111, 121]_1000 34732 35295 15
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[101, 111, 121]_10000 43050 51064 12
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[101, 111, 121]_100000 106028 106058 5
--------------------------------------------------------------------------------
```
Reviewed By: nikhilaravi
Differential Revision: D29548609
fbshipit-source-id: 7026e832ea299145c3f6b55687f3c1601294f5c0
2021-10-01 11:58:24 -07:00
Jeremy Reizenstein
46cf1970ac
cpu benchmarks for points to volumes
...
Summary:
Add a CPU version to the benchmarks.
```
Benchmark Avg Time(μs) Peak Time(μs) Iterations
--------------------------------------------------------------------------------
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[25, 25, 25]_1000 10100 46422 50
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[25, 25, 25]_10000 28442 32100 18
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[25, 25, 25]_100000 241127 254269 3
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[101, 111, 121]_1000 54149 79480 10
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[101, 111, 121]_10000 125459 212734 4
ADD_POINTS_TO_VOLUMES_cpu_10_trilinear_[101, 111, 121]_100000 512739 512739 1
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[25, 25, 25]_1000 2866 13365 175
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[25, 25, 25]_10000 7026 12604 72
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[25, 25, 25]_100000 48822 55607 11
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[101, 111, 121]_1000 38098 38576 14
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[101, 111, 121]_10000 48006 54120 11
ADD_POINTS_TO_VOLUMES_cpu_10_nearest_[101, 111, 121]_100000 131563 138536 4
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[25, 25, 25]_1000 64615 91735 8
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[25, 25, 25]_10000 228815 246095 3
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[25, 25, 25]_100000 3086615 3086615 1
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[101, 111, 121]_1000 464298 465292 2
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[101, 111, 121]_10000 1053440 1053440 1
ADD_POINTS_TO_VOLUMES_cpu_100_trilinear_[101, 111, 121]_100000 6736236 6736236 1
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[25, 25, 25]_1000 11940 12440 42
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[25, 25, 25]_10000 56641 58051 9
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[25, 25, 25]_100000 711492 711492 1
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[101, 111, 121]_1000 326437 329846 2
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[101, 111, 121]_10000 418514 427911 2
ADD_POINTS_TO_VOLUMES_cpu_100_nearest_[101, 111, 121]_100000 1524285 1524285 1
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[25, 25, 25]_1000 5949 13602 85
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[25, 25, 25]_10000 5817 13001 86
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[25, 25, 25]_100000 23833 25971 21
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[101, 111, 121]_1000 9029 16178 56
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[101, 111, 121]_10000 11595 18601 44
ADD_POINTS_TO_VOLUMES_cuda:0_10_trilinear_[101, 111, 121]_100000 46986 47344 11
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[25, 25, 25]_1000 2554 9747 196
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[25, 25, 25]_10000 2676 9537 187
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[25, 25, 25]_100000 6567 14179 77
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[101, 111, 121]_1000 5840 12811 86
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[101, 111, 121]_10000 6102 13128 82
ADD_POINTS_TO_VOLUMES_cuda:0_10_nearest_[101, 111, 121]_100000 11945 11995 42
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[25, 25, 25]_1000 7642 13671 66
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[25, 25, 25]_10000 25190 25260 20
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[25, 25, 25]_100000 212018 212134 3
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[101, 111, 121]_1000 40421 45692 13
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[101, 111, 121]_10000 92078 92132 6
ADD_POINTS_TO_VOLUMES_cuda:0_100_trilinear_[101, 111, 121]_100000 457211 457229 2
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[25, 25, 25]_1000 3574 10377 140
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[25, 25, 25]_10000 7222 13023 70
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[25, 25, 25]_100000 48127 48165 11
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[101, 111, 121]_1000 34732 35295 15
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[101, 111, 121]_10000 43050 51064 12
ADD_POINTS_TO_VOLUMES_cuda:0_100_nearest_[101, 111, 121]_100000 106028 106058 5
--------------------------------------------------------------------------------
```
Reviewed By: patricklabatut
Differential Revision: D29522830
fbshipit-source-id: 1e857db03613b0c6afcb68a58cdd7ba032e1a874
2021-08-17 05:59:07 -07:00
David Novotny
aa9bcaf04c
Point clouds to volumes
...
Summary:
Conversion from point clouds to volumes
```
Benchmark Avg Time(μs) Peak Time(μs) Iterations
--------------------------------------------------------------------------------
ADD_POINTS_TO_VOLUMES_10_trilinear_[25, 25, 25]_1000 43219 44067 12
ADD_POINTS_TO_VOLUMES_10_trilinear_[25, 25, 25]_10000 43274 45313 12
ADD_POINTS_TO_VOLUMES_10_trilinear_[25, 25, 25]_100000 46281 47100 11
ADD_POINTS_TO_VOLUMES_10_trilinear_[101, 111, 121]_1000 51224 51912 10
ADD_POINTS_TO_VOLUMES_10_trilinear_[101, 111, 121]_10000 52092 54487 10
ADD_POINTS_TO_VOLUMES_10_trilinear_[101, 111, 121]_100000 59262 60514 9
ADD_POINTS_TO_VOLUMES_10_nearest_[25, 25, 25]_1000 15998 17237 32
ADD_POINTS_TO_VOLUMES_10_nearest_[25, 25, 25]_10000 15964 16994 32
ADD_POINTS_TO_VOLUMES_10_nearest_[25, 25, 25]_100000 16881 19286 30
ADD_POINTS_TO_VOLUMES_10_nearest_[101, 111, 121]_1000 19150 25277 27
ADD_POINTS_TO_VOLUMES_10_nearest_[101, 111, 121]_10000 18746 19999 27
ADD_POINTS_TO_VOLUMES_10_nearest_[101, 111, 121]_100000 22321 24568 23
ADD_POINTS_TO_VOLUMES_100_trilinear_[25, 25, 25]_1000 49693 50288 11
ADD_POINTS_TO_VOLUMES_100_trilinear_[25, 25, 25]_10000 51429 52449 10
ADD_POINTS_TO_VOLUMES_100_trilinear_[25, 25, 25]_100000 237076 237377 3
ADD_POINTS_TO_VOLUMES_100_trilinear_[101, 111, 121]_1000 81875 82597 7
ADD_POINTS_TO_VOLUMES_100_trilinear_[101, 111, 121]_10000 106671 107045 5
ADD_POINTS_TO_VOLUMES_100_trilinear_[101, 111, 121]_100000 483740 484607 2
ADD_POINTS_TO_VOLUMES_100_nearest_[25, 25, 25]_1000 16667 18143 31
ADD_POINTS_TO_VOLUMES_100_nearest_[25, 25, 25]_10000 17682 18922 29
ADD_POINTS_TO_VOLUMES_100_nearest_[25, 25, 25]_100000 65463 67116 8
ADD_POINTS_TO_VOLUMES_100_nearest_[101, 111, 121]_1000 48058 48826 11
ADD_POINTS_TO_VOLUMES_100_nearest_[101, 111, 121]_10000 53529 53998 10
ADD_POINTS_TO_VOLUMES_100_nearest_[101, 111, 121]_100000 123684 123901 5
--------------------------------------------------------------------------------
```
Output with `DEBUG=True`
{F338561209}
Reviewed By: nikhilaravi
Differential Revision: D22017500
fbshipit-source-id: ed3e8ed13940c593841d93211623dd533974012f
2021-01-05 03:39:24 -08:00
