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Speedup Ransac (Avoiding Copies) #292

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Speedup Ransac (Avoiding Copies) #292

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74907d0
Allow construction of ConditionalGaussian without copying the prior
akleeman May 28, 2021
54c32c4
Pass around a pointer inside ransac to avoid copying
akleeman May 28, 2021
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4 changes: 4 additions & 0 deletions include/albatross/src/models/conditional_gaussian.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,10 @@ struct ConditionalFit {
class ConditionalGaussian : public ModelBase<ConditionalGaussian> {

public:
ConditionalGaussian(JointDistribution &&prior,
const MarginalDistribution &truth)
: prior_(std::move(prior)), truth_(truth) {}

ConditionalGaussian(const JointDistribution &prior,
const MarginalDistribution &truth)
: prior_(prior), truth_(truth) {}
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40 changes: 22 additions & 18 deletions include/albatross/src/models/ransac_gp.hpp
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Expand Up @@ -17,53 +17,54 @@ namespace albatross {

template <typename GroupKey>
inline typename RansacFunctions<ConditionalFit, GroupKey>::FitterFunc
get_gp_ransac_fitter(const ConditionalGaussian &model,
get_gp_ransac_fitter(const std::shared_ptr<ConditionalGaussian> &model,
const GroupIndexer<GroupKey> &indexer) {

return [&, model, indexer](const std::vector<GroupKey> &groups) {
auto indices = indices_from_groups(indexer, groups);
return model.fit_from_indices(indices);
return model->fit_from_indices(indices);
};
}

template <typename IsValidCandidateMetric, typename GroupKey>
inline typename RansacFunctions<ConditionalFit, GroupKey>::IsValidCandidate
get_gp_ransac_is_valid_candidate(const ConditionalGaussian &model,
const GroupIndexer<GroupKey> &indexer,
const IsValidCandidateMetric &metric) {
get_gp_ransac_is_valid_candidate(
const std::shared_ptr<ConditionalGaussian> &model,
const GroupIndexer<GroupKey> &indexer,
const IsValidCandidateMetric &metric) {

return [&, model, indexer](const std::vector<GroupKey> &groups) {
const auto indices = indices_from_groups(indexer, groups);
const auto prior = model.get_prior(indices);
const auto truth = model.get_truth(indices);
const auto prior = model->get_prior(indices);
const auto truth = model->get_truth(indices);
return metric(prior, truth);
};
}

template <typename InlierMetricType, typename GroupKey>
inline typename RansacFunctions<ConditionalFit, GroupKey>::InlierMetric
get_gp_ransac_inlier_metric(const ConditionalGaussian &model,
get_gp_ransac_inlier_metric(const std::shared_ptr<ConditionalGaussian> &model,
const GroupIndexer<GroupKey> &indexer,
const InlierMetricType &metric) {

return [&, indexer, model](const GroupKey &group, const ConditionalFit &fit) {
const auto indices = indexer.at(group);
const auto pred = get_prediction_reference(model, fit, indices);
const auto truth = model.get_truth(indices);
const auto pred = get_prediction_reference(*model, fit, indices);
const auto truth = model->get_truth(indices);
return metric(pred, truth);
};
}

template <typename ConsensusMetric, typename GroupKey>
inline typename RansacFunctions<ConditionalFit, GroupKey>::ConsensusMetric
get_gp_ransac_consensus_metric(const ConditionalGaussian &model,
const GroupIndexer<GroupKey> &indexer,
const ConsensusMetric &metric) {
get_gp_ransac_consensus_metric(
const std::shared_ptr<ConditionalGaussian> &model,
const GroupIndexer<GroupKey> &indexer, const ConsensusMetric &metric) {

return [&, model, indexer](const std::vector<GroupKey> &groups) {
const auto indices = indices_from_groups(indexer, groups);
const auto prior = model.get_prior(indices);
const auto truth = model.get_truth(indices);
const auto prior = model->get_prior(indices);
const auto truth = model->get_truth(indices);
return metric(prior, truth);
};
}
Expand Down Expand Up @@ -109,17 +110,20 @@ struct AlwaysAcceptCandidateMetric {
};

template <typename InlierMetric, typename ConsensusMetric,
typename IsValidCandidateMetric, typename GroupKey>
typename IsValidCandidateMetric, typename GroupKey,
typename PriorDistribution>
inline RansacFunctions<ConditionalFit, GroupKey> get_gp_ransac_functions(
const JointDistribution &prior, const MarginalDistribution &truth,
PriorDistribution &&prior, const MarginalDistribution &truth,
const GroupIndexer<GroupKey> &indexer, const InlierMetric &inlier_metric,
const ConsensusMetric &consensus_metric,
const IsValidCandidateMetric &is_valid_candidate_metric) {

static_assert(is_prediction_metric<InlierMetric>::value,
"InlierMetric must be an PredictionMetric.");

const ConditionalGaussian model(prior, truth);
const std::shared_ptr<ConditionalGaussian> model =
std::make_shared<ConditionalGaussian>(
std::forward<PriorDistribution>(prior), truth);

const auto fitter = get_gp_ransac_fitter<GroupKey>(model, indexer);

Expand Down