Boost Cloud Computing Bound Block Computing Performance in Clojure

Question

I compute the bounding box of a 3d cloud in Clojure. The point cloud is represented as a primitive Java floating point array, and each point in the point cloud is stored using 4 floats, where the last float is not used. Like this:

[x0 y0 z0 u0  x1 y1 z1 u1 .... ]

The size of the point cloud is 19200, i.e. 4 * 19200 floats in the array.

Some of these values ​​may not be finite (either they are infinite or NaN). Therefore, any point containing a non-finite value must be completely excluded from the calculation. I performed this calculation in both Java and Clojure, but for some reason the Clojure version is still about 4-5 times slower.

Here is what Clojure code looks like:

(defn good-compute-bbox [^floats data]
  (let [n (alength data)]
    (loop [i (int 0)
           minx (float (aget data 0))
           maxx (float (aget data 0))
           miny (float (aget data 1))
           maxy (float (aget data 1))
           minz (float (aget data 2))
           maxz (float (aget data 2))]
      (if (< i n)
        (let [x (float (aget data (unchecked-add i 0)))
              y (float (aget data (unchecked-add i 1)))
              z (float (aget data (unchecked-add i 2)))]
          (if (and (Float/isFinite x)
                   (Float/isFinite y)
                   (Float/isFinite z))
            (recur (unchecked-add-int i (int 4))
                   (min minx x)
                   (max maxx x)
                   (min miny y)
                   (max maxy y)
                   (min minz z)
                   (max maxz z))
            (recur (unchecked-add-int i (int 4))
                   minx
                   maxx
                   miny
                   maxy
                   minz
                   maxz
                   ))
          )
        [minx maxx miny maxy minz maxz]))))

and this looks like Java code:

public class BBox {

    public static float[] computeBBox(float[] data) {
        long n = data.length;
        float[] result = new float[6];

        float minx = data[0];
        float maxx = data[0];
        float miny = data[1];
        float maxy = data[1];
        float minz = data[2];
        float maxz = data[2];
        for (int i = 0; i < n; i += 4) {
            float x = data[i + 0];
            float y = data[i + 1];
            float z = data[i + 2];
            if (java.lang.Float.isFinite(x) &&
                java.lang.Float.isFinite(y) &&
                java.lang.Float.isFinite(z)) {

                minx = x < minx? x : minx;
                maxx = x > maxx? x : maxx;

                miny = y < miny? y : miny;
                maxy = y > maxy? y : maxy;

                minz = z < minz? z : minz;
                maxz = z > maxz? z : maxz;
            }
        }

        result[0] = minx;
        result[1] = maxx;
        result[2] = miny;
        result[3] = maxy;
        result[4] = minz;
        result[5] = maxz;

        return result;
    }
};

: Clojure, , Java-? , .

Github.

Answer 1

- , , - min. .

10% Java, Apache commons fast math:

(defn primitive-compute-bbox-new [^floats data]
  (let [n (alength data)]
    (loop [i (int 0)
           minx (aget data 0)
           maxx (aget data 0)
           miny (aget data 1)
           maxy (aget data 1)
           minz (aget data 2)
           maxz (aget data 2)]
      (if (< i n)
        (let [x (aget data (unchecked-add i 0))
              y (aget data (unchecked-add i 1))
              z (aget data (unchecked-add i 2))]
          (if (and (Float/isFinite x)
                   (Float/isFinite y)
                   (Float/isFinite z))
            (recur (unchecked-add-int i 4)
                   (FastMath/min (float minx) x)
                   (FastMath/max (float maxx) x)
                   (FastMath/min (float miny) y)
                   (FastMath/max (float maxy) y)
                   (FastMath/min (float minz) z)
                   (FastMath/max (float maxz) z))
            (recur (unchecked-add-int i 4)
                   minx
                   maxx
                   miny
                   maxy
                   minz
                   maxz)))
        [minx maxx miny maxy minz maxz]))))

Dep:

[org.apache.commons/commons-math3 "3.6.1"]