move constructors #2003
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move constructors #2003
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dellaert
commented
Jan 25, 2025
| @@ -470,7 +470,7 @@ std::shared_ptr<GaussianConditional> HessianFactor::eliminateCholesky(const Orde | |||
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| // TODO(frank): pre-allocate GaussianConditional and write into it | |||
| const VerticalBlockMatrix Ab = info_.split(nFrontals); | |||
| conditional = std::make_shared<GaussianConditional>(keys_, nFrontals, Ab); | |||
| conditional = std::make_shared<GaussianConditional>(keys_, nFrontals, std::move(Ab)); | |||
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This is called many times. I had hoped this would make a performance difference.
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these two timing scripts are probably too small for any perf benefits to show up Currently a lot of time is spent in |
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Hmmm, weird. All right, I’ll use instruments to profile. |
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I added move constructors for GaussianConditional, JacobianFactor, and VerticalBlockMatrix, hoping to see a performance difference, but if anything it made it worse. Below are timings for timeBatch and timeSFMBAL, where
Beforeis without any move constructorsAfteris without VerticalBlockMatrix move constructors (just GaussianConditional, JacobianFactor)After2is with VerticalBlockMatrix move constructorsAfteris 2% more expensive, andAfter2restores that to "about the same".Any ideas, e.g., @ProfFan ?