Improve performance

.vscode/settings.json

@@ -1,7 +1,7 @@
 {
   "clangd.arguments": [
-    // "--compile-commands-dir=python_examples/build",
-    "--compile-commands-dir=examples/build",
+    "--compile-commands-dir=python_bindings/build",
+    // "--compile-commands-dir=examples/build",
     "--function-arg-placeholders=false",
     "--tweaks=-Wall",
     "--tweaks=-Wextra",
@@ -120,7 +120,7 @@
   "C_Cpp.inlayHints.parameterNames.enabled": true,
   "C_Cpp.inlayHints.referenceOperator.enabled": true,
   "python.analysis.extraPaths": ["python_bindings/src/"],
-  "cmake.sourceDirectory": "/home/robert/learning/slam_dunk/examples",
+  "cmake.sourceDirectory": "/home/robert/projects/slam_dunk/examples",
   "python.analysis.exclude": [
     "**/build/",
     "**/.venv/",

python_bindings/src/slamd/bindings/__init__.pyi

@@ -27,7 +27,7 @@ class Scene:
     def set_transform(self, path: str, transform: numpy.ndarray) -> None:
         ...
 class Visualizer:
-    def __init__(self, name: str, port: typing.SupportsInt = 5555) -> None:
+    def __init__(self, name: str, port: typing.SupportsInt | typing.SupportsIndex = 5555) -> None:
         ...
     def add_canvas(self, name: str, canvas: Canvas) -> None:
         ...
@@ -41,5 +41,5 @@ class Visualizer:
         ...
     def scene(self, name: str) -> Scene:
         ...
-def spawn_window(port: typing.SupportsInt = 5555, executable_path: str | None = None) -> None:
+def spawn_window(port: typing.SupportsInt | typing.SupportsIndex = 5555, executable_path: str | None = None) -> None:
     ...

python_bindings/src/slamd/bindings/geom.pyi

@@ -4,45 +4,45 @@ import collections.abc
 import numpy
 import typing
 __all__ = ['Arrows', 'Box', 'CameraFrustum', 'Mesh', 'Plane', 'PointCloud', 'PolyLine', 'Sphere', 'Triad']
-def Arrows(starts: numpy.ndarray, ends: numpy.ndarray, colors: numpy.ndarray, thickness: typing.SupportsFloat) -> bindings._geom.Arrows:
+def Arrows(starts: numpy.ndarray, ends: numpy.ndarray, colors: numpy.ndarray, thickness: typing.SupportsFloat | typing.SupportsIndex) -> bindings._geom.Arrows:
     """
     Create an Arrows geometry
     """
 def Box() -> bindings._geom.Box:
     """
     Create a Box geometry
     """
-def CameraFrustum(intrinsics_matrix: numpy.ndarray, image_width: typing.SupportsInt, image_height: typing.SupportsInt, image: numpy.ndarray | None = None, scale: typing.SupportsFloat = 1.0) -> bindings._geom.CameraFrustum:
+def CameraFrustum(intrinsics_matrix: numpy.ndarray, image_width: typing.SupportsInt | typing.SupportsIndex, image_height: typing.SupportsInt | typing.SupportsIndex, image: numpy.ndarray | None = None, scale: typing.SupportsFloat | typing.SupportsIndex = 1.0) -> bindings._geom.CameraFrustum:
     """
     Create a CameraFrustum geometry
     """
 @typing.overload
-def Mesh(vertices: numpy.ndarray, vertex_colors: numpy.ndarray, triangle_indices: collections.abc.Sequence[typing.SupportsInt]) -> bindings._geom.Mesh:
+def Mesh(vertices: numpy.ndarray, vertex_colors: numpy.ndarray, triangle_indices: collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex]) -> bindings._geom.Mesh:
     """
     Create a SimpleMesh geometry from raw data
     """
 @typing.overload
-def Mesh(vertices: numpy.ndarray, vertex_colors: numpy.ndarray, triangle_indices: collections.abc.Sequence[typing.SupportsInt], vertex_normals: numpy.ndarray) -> bindings._geom.Mesh:
+def Mesh(vertices: numpy.ndarray, vertex_colors: numpy.ndarray, triangle_indices: collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex], vertex_normals: numpy.ndarray) -> bindings._geom.Mesh:
     """
     Create a SimpleMesh geometry from raw data
     """
-def Plane(normal: numpy.ndarray, point: numpy.ndarray, color: numpy.ndarray, radius: typing.SupportsFloat, alpha: typing.SupportsFloat) -> bindings._geom.Plane:
+def Plane(normal: numpy.ndarray, point: numpy.ndarray, color: numpy.ndarray, radius: typing.SupportsFloat | typing.SupportsIndex, alpha: typing.SupportsFloat | typing.SupportsIndex) -> bindings._geom.Plane:
     """
     Create a Plane geometry
     """
-def PointCloud(positions: numpy.ndarray, colors: numpy.ndarray, radii: list[float] | numpy.ndarray, min_brightness: typing.SupportsFloat = 1.0) -> bindings._geom.PointCloud:
+def PointCloud(positions: numpy.ndarray, colors: numpy.ndarray, radii: list[float] | numpy.ndarray, min_brightness: typing.SupportsFloat | typing.SupportsIndex = 1.0) -> bindings._geom.PointCloud:
     """
     Create a PointCloud with per-point color and radius
     """
-def PolyLine(points: numpy.ndarray, thickness: typing.SupportsFloat, color: numpy.ndarray, min_brightness: typing.SupportsFloat) -> bindings._geom.PolyLine:
+def PolyLine(points: numpy.ndarray, thickness: typing.SupportsFloat | typing.SupportsIndex, color: numpy.ndarray, min_brightness: typing.SupportsFloat | typing.SupportsIndex) -> bindings._geom.PolyLine:
     """
     Create a PolyLine geometry
     """
-def Sphere(radius: typing.SupportsFloat = 1.0, color: numpy.ndarray = ...) -> bindings._geom.Sphere:
+def Sphere(radius: typing.SupportsFloat | typing.SupportsIndex = 1.0, color: numpy.ndarray = ...) -> bindings._geom.Sphere:
     """
     Create a Sphere geometry
     """
-def Triad(pose: numpy.ndarray[float32[4][4]] | None = None, scale: typing.SupportsFloat = 1.0, thickness: typing.SupportsFloat = 0.10000000149011612) -> bindings._geom.Triad:
+def Triad(pose: numpy.ndarray[float32[4][4]] | None = None, scale: typing.SupportsFloat | typing.SupportsIndex = 1.0, thickness: typing.SupportsFloat | typing.SupportsIndex = 0.10000000149011612) -> bindings._geom.Triad:
     """
     Create a Triad geometry
     """

python_bindings/src/slamd/bindings/geom2d.pyi

@@ -3,7 +3,7 @@ import bindings._geom
 import numpy
 import typing
 __all__ = ['Circles', 'Image', 'Points', 'PolyLine']
-def Circles(positions: numpy.ndarray, colors: numpy.ndarray, radii: list[float] | numpy.ndarray, thickness: typing.SupportsFloat = 0.1) -> bindings._geom.Circles2D:
+def Circles(positions: numpy.ndarray, colors: numpy.ndarray, radii: list[float] | numpy.ndarray, thickness: typing.SupportsFloat | typing.SupportsIndex = 0.1) -> bindings._geom.Circles2D:
     """
     Create a set of circles
     """
@@ -15,7 +15,7 @@ def Points(positions: numpy.ndarray, colors: numpy.ndarray, radii: list[float] |
     """
     Create 2D points with per-point color and radius
     """
-def PolyLine(points: numpy.ndarray, color: numpy.ndarray, thickness: typing.SupportsFloat) -> bindings._geom.PolyLine2D:
+def PolyLine(points: numpy.ndarray, color: numpy.ndarray, thickness: typing.SupportsFloat | typing.SupportsIndex) -> bindings._geom.PolyLine2D:
     """
     Create a 2D poly line
     """

python_examples/bunch_of_triads.py

@@ -21,7 +21,7 @@ def random_poses(n: int, t_scale: float = 10.0) -> np.ndarray:
 
 
 def main():
-    vis = slamd.Visualizer("poses")
+    vis = slamd.Visualizer("poses", port=4399)
     scene = vis.scene("poses")
 
     for i, pose_mat in enumerate(random_poses(100, 10)):

slamd/include/slamd_window/frame_buffer.hpp

@@ -24,7 +24,7 @@ class FrameBuffer {
     ~FrameBuffer();
 
     uint32_t frame_texture();  // Resolved texture ID
-    void rescale(size_t width, size_t height);
+    bool rescale(size_t width, size_t height);
     void bind();     // Bind MSAA FBO for rendering
     void unbind();   // Unbind
     void resolve();  // Blit MSAA → resolved texture

slamd/include/slamd_window/geom/arcball_indicator.hpp

@@ -15,6 +15,7 @@ class ArcballIndicator : public Geometry {
 
     void set_arcball_zoom(float zoom);
     void interact();
+    bool is_animating() const;
 
    private:
     static glm::mat4 get_scale_mat(float scale);

slamd/include/slamd_window/state_manager.hpp

@@ -20,7 +20,7 @@ class StateManager {
 
     void try_connect(std::string ip = "127.0.0.1", ushort port = 5555);
 
-    void apply_updates();
+    bool apply_updates();
 
    private:
     void handle_initial_state(const slamd::flatb::InitialState* initial_state);

slamd/include/slamd_window/view/view.hpp

@@ -12,7 +12,10 @@ class View {
     static std::unique_ptr<View>
     deserialize(const flatb::View* view, std::shared_ptr<Tree> tree);
 
+    void mark_dirty();
+
    public:
+    bool _dirty = true;
     std::shared_ptr<Tree> tree;
     std::unordered_map<Node*, bool> tree_open;
     std::optional<std::string> visualize_glob = std::nullopt;

slamd/src/window/frame_buffer.cpp

@@ -159,12 +159,12 @@ void FrameBuffer::resolve() {
     gl::glBindFramebuffer(gl::GL_FRAMEBUFFER, 0);
 }
 
-void FrameBuffer::rescale(
+bool FrameBuffer::rescale(
     size_t width,
     size_t height
 ) {
     if (width == current_width && height == current_height) {
-        return;
+        return false;
     }
 
     current_width = width;
@@ -211,6 +211,7 @@ void FrameBuffer::rescale(
         width,
         height
     );
+    return true;
 }
 
 double FrameBuffer::aspect() const {

slamd/src/window/geom/arcball_indicator.cpp

@@ -118,6 +118,15 @@ void ArcballIndicator::render(
     gl::glBindVertexArray(0);
 };
 
+bool ArcballIndicator::is_animating() const {
+    if (!this->last_interacted.has_value()) {
+        return false;
+    }
+    auto now = std::chrono::high_resolution_clock::now();
+    std::chrono::duration<float> secs = now - last_interacted.value();
+    return secs.count() < 0.4f;
+}
+
 void ArcballIndicator::set_arcball_zoom(
     float zoom
 ) {

slamd/src/window/glfw.cpp

@@ -27,6 +27,7 @@ GLFWwindow* make_window(
     SPDLOG_INFO("GLFW window created");
 
     glfwMakeContextCurrent(window);
+    glfwSwapInterval(1);
 
     glbinding::initialize(glfwGetProcAddress);
 

slamd/src/window/run_window.cpp

@@ -6,7 +6,6 @@
 #include <imgui_impl_glfw.h>
 #include <imgui_impl_opengl3.h>
 #include <spdlog/spdlog.h>
-#include <slamd_window/frame_timer.hpp>
 #include <slamd_window/glfw.hpp>
 #include <slamd_window/run_window.hpp>
 
@@ -109,11 +108,13 @@ inline void tree_menu(
         );
         ImGui::PushStyleVar(ImGuiStyleVar_FrameBorderSize, 1.0f);
     }
-    ImGui::InputText(
-        "##filter",
-        view->filter_buf,
-        IM_ARRAYSIZE(view->filter_buf)
-    );
+    if (ImGui::InputText(
+            "##filter",
+            view->filter_buf,
+            IM_ARRAYSIZE(view->filter_buf)
+        )) {
+        view->mark_dirty();
+    }
     if (filter_error_text.has_value()) {
         ImGui::PopStyleVar();
         ImGui::PopStyleColor(4);
@@ -173,7 +174,9 @@ inline void tree_menu(
                 ImGui::PushStyleVar(ImGuiStyleVar_Alpha, base_alpha * 0.45f);
             }
 
-            ImGui::Checkbox("##visible", &n->checked);
+            if (ImGui::Checkbox("##visible", &n->checked)) {
+                view->mark_dirty();
+            }
             ImGui::SameLine(0.0f, 4.0f);
 
             bool open = false;
@@ -370,13 +373,16 @@ void run_window(
 
     ImGui_ImplGlfw_InitForOpenGL(window, true);
     ImGui_ImplOpenGL3_Init("#version 330");
-    FrameTimer frame_timer;
-    constexpr double target_frame_time = 1.0 / 120.0;  // ~0.00833 seconds
     bool loaded_layout = false;
     bool checked_layout = false;
 
     while (!glfwWindowShouldClose(window)) {
-        state_manager.apply_updates();
+        bool had_updates = state_manager.apply_updates();
+        if (had_updates) {
+            for (auto& [name, view] : state_manager.views) {
+                view->mark_dirty();
+            }
+        }
 
         ImGui_ImplOpenGL3_NewFrame();
         ImGui_ImplGlfw_NewFrame();
@@ -444,16 +450,6 @@ void run_window(
 
         glfwSwapBuffers(window);
         glfwPollEvents();
-
-        frame_timer.log_frame();
-        float frame_time = frame_timer.timedelta();
-
-        if (frame_time < target_frame_time) {
-            float sleep_duration = target_frame_time - frame_time;
-            std::this_thread::sleep_for(
-                std::chrono::duration<float>(sleep_duration)
-            );
-        }
     }
 
     SPDLOG_INFO("Window closed!");

slamd/src/window/state_manager.cpp

@@ -247,19 +247,21 @@ void StateManager::handle_update_point_cloud_radii(
     geom->update_radii(data);
 }
 
-void StateManager::apply_updates() {
+bool StateManager::apply_updates() {
     if (!this->connection.has_value()) {
-        return;
+        return false;
     }
 
     auto& connection = this->connection.value();
     auto& message_queue = connection.messages;
+    bool had_updates = false;
 
     while (true) {
         auto maybe_message = message_queue.try_pop();
         if (!maybe_message.has_value()) {
-            return;
+            return had_updates;
         }
+        had_updates = true;
         auto message = std::move(maybe_message.value());
 
         auto message_fb = message->msg();

slamd/src/window/view/canvas_view.cpp

@@ -21,15 +21,20 @@ void CanvasView::render_to_imgui() {
 
     int width = static_cast<int>(image_size.x);
     int height = static_cast<int>(image_size.y);
-    this->frame_buffer.rescale(width, height);
+    bool resized = this->frame_buffer.rescale(width, height);
 
     if (!this->manually_moved) {
         this->set_default_pos();
     } else {
         this->fix_view_aspect();
     }
 
-    this->render_to_frame_buffer();
+    bool need_render = this->_dirty || resized;
+
+    if (need_render) {
+        this->render_to_frame_buffer();
+        this->_dirty = false;
+    }
 
     ImGui::Image(
         (ImTextureID)this->frame_buffer.frame_texture(),
@@ -99,6 +104,7 @@ void CanvasView::handle_input() {
         if (ImGui::IsKeyPressed(ImGuiKey_Period, false)) {
             this->set_default_pos();
             this->manually_moved = false;
+            this->mark_dirty();
         }
     }
 }
@@ -127,6 +133,7 @@ void CanvasView::handle_mouse_input() {
                 {-mouse_drag_delta_x, -mouse_drag_delta_y}
             );
             this->manually_moved = true;
+            this->mark_dirty();
         }
 
         if (io.MouseWheel != 0.0f) {
@@ -140,6 +147,7 @@ void CanvasView::handle_mouse_input() {
             );
 
             this->manually_moved = true;
+            this->mark_dirty();
         }
     }
 }
@@ -194,11 +202,13 @@ void CanvasView::handle_translation_input() {
     if (glm::length(translation) > 1e-6f) {
         this->manually_moved = true;
         this->camera.translate_relative(translation);
+        this->mark_dirty();
     }
 
     if (glm::abs(zoom) > 1e-6f) {
         this->manually_moved = true;
         this->camera.zoom_relative(zoom);
+        this->mark_dirty();
     }
 }