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Add optional indices arg for fast computation of a small subset of FPFH features #7118

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Add optional indices arg for fast computation of a small subset of FPFH features #7118

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583eaa3
Add optional indices arg for fast computation of a small subset of FP…
nicolaloi Dec 29, 2024
6dcd9d9
fix for Windows and Mac CI
nicolaloi Dec 30, 2024
3fa7f80
Add benchmark
nicolaloi Feb 1, 2025
e348357
Cache info to optimize computations when ratio of selected indices is…
nicolaloi Feb 6, 2025
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,7 @@
- Fix render to depth image on Apple Retina displays (PR #7001)
- Fix infinite loop in segment_plane if num_points < ransac_n (PR #7032)
- Add select_by_index method to Feature class (PR #7039)
- Add optional indices arg for fast computation of a small subset of FPFH features (PR #7118).


## 0.13
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195 changes: 162 additions & 33 deletions cpp/benchmarks/t/pipelines/registration/Feature.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,22 +26,40 @@ static const std::string path = pointcloud_ply.GetPath();

void LegacyComputeFPFHFeature(benchmark::State& state,
utility::optional<int> max_nn,
utility::optional<double> radius) {
utility::optional<double> radius,
utility::optional<double> ratio_indices) {
auto pcd = open3d::io::CreatePointCloudFromFile(path)->UniformDownSample(3);
pcd->EstimateNormals();

utility::optional<std::vector<size_t>> indices = utility::nullopt;
if (ratio_indices.has_value()) {
std::vector<size_t> indices_tmp;
size_t step = 1.0 / ratio_indices.value();
size_t n_indices = pcd->points_.size() / step;
indices_tmp.reserve(n_indices);
for (size_t index = 0; index < pcd->points_.size(); index += step) {
indices_tmp.push_back(index);
}
indices.emplace(indices_tmp);
}

for (auto _ : state) {
if (max_nn.has_value() && radius.has_value()) {
auto fpfh = open3d::pipelines::registration::ComputeFPFHFeature(
*pcd, open3d::geometry::KDTreeSearchParamHybrid(
radius.value(), max_nn.value()));
*pcd,
open3d::geometry::KDTreeSearchParamHybrid(radius.value(),
max_nn.value()),
indices);
} else if (max_nn.has_value() && !radius.has_value()) {
auto fpfh = open3d::pipelines::registration::ComputeFPFHFeature(
*pcd,
open3d::geometry::KDTreeSearchParamKNN(max_nn.value()));
open3d::geometry::KDTreeSearchParamKNN(max_nn.value()),
indices);
} else if (!max_nn.has_value() && radius.has_value()) {
auto fpfh = open3d::pipelines::registration::ComputeFPFHFeature(
*pcd,
open3d::geometry::KDTreeSearchParamRadius(radius.value()));
open3d::geometry::KDTreeSearchParamRadius(radius.value()),
indices);
}
}
}
Expand All @@ -50,81 +68,192 @@ void ComputeFPFHFeature(benchmark::State& state,
const core::Device& device,
const core::Dtype& dtype,
utility::optional<int> max_nn,
utility::optional<double> radius) {
utility::optional<double> radius,
utility::optional<double> ratio_indices) {
t::geometry::PointCloud pcd;
t::io::ReadPointCloud(path, pcd);
pcd = pcd.To(device).UniformDownSample(3);
pcd.SetPointPositions(pcd.GetPointPositions().To(dtype));
pcd.EstimateNormals();

utility::optional<core::Tensor> indices = utility::nullopt;
if (ratio_indices.has_value()) {
std::vector<int64_t> indices_tmp;
int64_t step = 1.0 / ratio_indices.value();
int64_t n_indices = pcd.GetPointPositions().GetLength() / step;
indices_tmp.reserve(n_indices);
for (int64_t index = 0; index < pcd.GetPointPositions().GetLength();
index += step) {
indices_tmp.push_back(index);
}
indices.emplace(core::Tensor(indices_tmp, {(int)indices_tmp.size()},
core::Int64, device));
}

core::Tensor fpfh;
// Warm up.
fpfh = t::pipelines::registration::ComputeFPFHFeature(pcd, max_nn, radius);
fpfh = t::pipelines::registration::ComputeFPFHFeature(pcd, max_nn, radius,
indices);

for (auto _ : state) {
fpfh = t::pipelines::registration::ComputeFPFHFeature(pcd, max_nn,
radius);
radius, indices);
core::cuda::Synchronize(device);
}
}

BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy Hybrid[0.01 | 100],
100,
0.01)
0.01,
utility::nullopt)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature, Legacy Hybrid[0.02 | 50], 50, 0.02)
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy Hybrid[0.02 | 50],
50,
0.02,
utility::nullopt)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy Hybrid[0.02 | 100],
100,
0.02)
0.02,
utility::nullopt)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy KNN[50],
50,
utility::nullopt,
utility::nullopt)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy KNN[100],
100,
utility::nullopt,
utility::nullopt)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy Radius[0.01],
utility::nullopt,
0.01)
0.01,
utility::nullopt)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy Radius[0.02],
utility::nullopt,
0.02)
0.02,
utility::nullopt)
->Unit(benchmark::kMillisecond);

BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy Hybrid Indices[0.02 | 50 | null],
50,
0.02,
utility::nullopt)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy Hybrid Indices[0.02 | 50 | 0.0001],
50,
0.02,
0.0001)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy Hybrid Indices[0.02 | 50 | 0.001],
50,
0.02,
0.001)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy Hybrid Indices[0.02 | 50 | 0.01],
50,
0.02,
0.01)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy Hybrid Indices[0.02 | 50 | 0.1],
50,
0.02,
0.1)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(LegacyComputeFPFHFeature,
Legacy Hybrid Indices[0.02 | 50 | 1.0],
50,
0.02,
1.0)
->Unit(benchmark::kMillisecond);

#define ENUM_FPFH_METHOD_DEVICE(METHOD_NAME, MAX_NN, RADIUS, DEVICE) \
BENCHMARK_CAPTURE(ComputeFPFHFeature, METHOD_NAME##_Float32, \
core::Device(DEVICE), core::Float32, MAX_NN, RADIUS) \
->Unit(benchmark::kMillisecond); \
BENCHMARK_CAPTURE(ComputeFPFHFeature, DEVICE METHOD_NAME##_Float64, \
core::Device(DEVICE), core::Float32, MAX_NN, RADIUS) \
#define ENUM_FPFH_METHOD_DEVICE(METHOD_NAME, MAX_NN, RADIUS, INDICES, DEVICE) \
BENCHMARK_CAPTURE(ComputeFPFHFeature, METHOD_NAME##_Float32, \
core::Device(DEVICE), core::Float32, MAX_NN, RADIUS, \
INDICES) \
->Unit(benchmark::kMillisecond); \
BENCHMARK_CAPTURE(ComputeFPFHFeature, METHOD_NAME##_Float64, \
core::Device(DEVICE), core::Float64, MAX_NN, RADIUS, \
INDICES) \
->Unit(benchmark::kMillisecond);

ENUM_FPFH_METHOD_DEVICE(CPU[0.02 | 50] Hybrid, 100, 0.01, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(CPU[0.02 | 50] Hybrid, 50, 0.02, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(CPU[0.02 | 100] Hybrid, 100, 0.02, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(CPU[50] KNN, 50, utility::nullopt, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(CPU[100] KNN, 100, utility::nullopt, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(CPU[0.01] Radius, utility::nullopt, 0.01, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(CPU[0.02] Radius, utility::nullopt, 0.02, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(
CPU[0.01 | 100] Hybrid, 100, 0.01, utility::nullopt, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(
CPU[0.02 | 50] Hybrid, 50, 0.02, utility::nullopt, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(
CPU[0.02 | 100] Hybrid, 100, 0.02, utility::nullopt, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(
CPU[50] KNN, 50, utility::nullopt, utility::nullopt, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(
CPU[100] KNN, 100, utility::nullopt, utility::nullopt, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(
CPU[0.01] Radius, utility::nullopt, 0.01, utility::nullopt, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(
CPU[0.02] Radius, utility::nullopt, 0.02, utility::nullopt, "CPU:0")

ENUM_FPFH_METHOD_DEVICE(CPU[0.02 | 50 | null] Hybrid Indices,
50,
0.02,
utility::nullopt,
"CPU:0")
ENUM_FPFH_METHOD_DEVICE(
CPU[0.02 | 50 | 0.0001] Hybrid Indices, 50, 0.02, 0.0001, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(
CPU[0.02 | 50 | 0.001] Hybrid Indices, 50, 0.02, 0.001, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(
CPU[0.02 | 50 | 0.01] Hybrid Indices, 50, 0.02, 0.01, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(
CPU[0.02 | 50 | 0.1] Hybrid Indices, 50, 0.02, 0.1, "CPU:0")
ENUM_FPFH_METHOD_DEVICE(
CPU[0.02 | 50 | 1.0] Hybrid Indices, 50, 0.02, 1.0, "CPU:0")

#ifdef BUILD_CUDA_MODULE
ENUM_FPFH_METHOD_DEVICE(CUDA[0.02 | 50] Hybrid, 100, 0.01, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(CUDA[0.02 | 50] Hybrid, 50, 0.01, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(CUDA[0.02 | 100] Hybrid, 100, 0.02, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(CUDA[50] KNN, 50, utility::nullopt, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(CUDA[100] KNN, 100, utility::nullopt, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(CUDA[0.01] Radius, utility::nullopt, 0.01, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(CUDA[0.02] Radius, utility::nullopt, 0.02, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(
CUDA[0.01 | 100] Hybrid, 100, 0.01, utility::nullopt, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(
CUDA[0.02 | 50] Hybrid, 50, 0.02, utility::nullopt, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(
CUDA[0.02 | 100] Hybrid, 100, 0.02, utility::nullopt, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(
CUDA[50] KNN, 50, utility::nullopt, utility::nullopt, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(
CUDA[100] KNN, 100, utility::nullopt, utility::nullopt, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(
CUDA[0.01] Radius, utility::nullopt, 0.01, utility::nullopt, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(
CUDA[0.02] Radius, utility::nullopt, 0.02, utility::nullopt, "CUDA:0")

ENUM_FPFH_METHOD_DEVICE(CUDA[0.02 | 50 | null] Hybrid Indices,
50,
0.02,
utility::nullopt,
"CUDA:0")
ENUM_FPFH_METHOD_DEVICE(
CUDA[0.02 | 50 | 0.0001] Hybrid Indices, 50, 0.02, 0.0001, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(
CUDA[0.02 | 50 | 0.001] Hybrid Indices, 50, 0.02, 0.001, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(
CUDA[0.02 | 50 | 0.01] Hybrid Indices, 50, 0.02, 0.01, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(
CUDA[0.02 | 50 | 0.1] Hybrid Indices, 50, 0.02, 0.1, "CUDA:0")
ENUM_FPFH_METHOD_DEVICE(
CUDA[0.02 | 50 | 1.0] Hybrid Indices, 50, 0.02, 1.0, "CUDA:0")
#endif

} // namespace registration
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