A nice speed up of 3D points clouds by ~69% (rerun-io#3114)

### What
On native, use `rayon` to parallelize the gathering of positions, radii,
colors, and picking ids. Of course, this only works on native. I also
noticed that we spent a lot of time generating identical annotation
infos for all the points, so I happy-pathed that.

Test: `cargo rerun-release ../opf.rrd --profile`, looking at just the 3D
view, averaged over ~30 frames:

Full frame 37.0ms -> 26.6ms ≈ 39% faster

`Points3DPart`: 25.7ms -> 15.2ms ≈ 69% faster

Before:
![Screenshot 2023-08-27 at 17 39
52](https://github.com/rerun-io/rerun/assets/1148717/95b2de1b-ab21-489b-8e05-039e8de50692)

After:

![image](https://github.com/rerun-io/rerun/assets/1148717/2e0f7dc7-ccce-4cd8-9157-162bb642c795)



### Checklist
* [x] I have read and agree to [Contributor
Guide](https://github.com/rerun-io/rerun/blob/main/CONTRIBUTING.md) and
the [Code of
Conduct](https://github.com/rerun-io/rerun/blob/main/CODE_OF_CONDUCT.md)
* [x] I've included a screenshot or gif (if applicable)
* [x] I have tested
[demo.rerun.io](https://demo.rerun.io/pr/3114/examples/structure_from_motion/)
(if applicable)

- [PR Build Summary](https://build.rerun.io/pr/3114)
- [Docs
preview](https://rerun.io/preview/d70a51a580149f974aec0c089fb8f899e132c518/docs)
<!--DOCS-PREVIEW-->
- [Examples
preview](https://rerun.io/preview/d70a51a580149f974aec0c089fb8f899e132c518/examples)
<!--EXAMPLES-PREVIEW--><!--EXAMPLES-PREVIEW--><!--EXAMPLES-PREVIEW--><!--EXAMPLES-PREVIEW--><!--EXAMPLES-PREVIEW--><!--EXAMPLES-PREVIEW--><!--EXAMPLES-PREVIEW--><!--EXAMPLES-PREVIEW--><!--EXAMPLES-PREVIEW--><!--EXAMPLES-PREVIEW--><!--EXAMPLES-PREVIEW--><!--EXAMPLES-PREVIEW--><!--EXAMPLES-PREVIEW-->
- [Recent benchmark results](https://ref.rerun.io/dev/bench/)
- [Wasm size tracking](https://ref.rerun.io/dev/sizes/)

.cargo/config.toml

@@ -2,6 +2,9 @@
 # `cargo rerun` is short a convenient shorthand, skipping the web viewer.
 rerun = "run --package rerun-cli --no-default-features --features native_viewer --"
 
+# like `rerun`, but with --release
+rerun-release = "run --package rerun-cli --no-default-features --features native_viewer --release --"
+
 # `cargo rerun-web` is short a convenient shorthand for building & starting the web viewer.
 rerun-web = "run --package rerun-cli --no-default-features --features web_viewer -- --web-viewer"
 

crates/re_query/src/archetype_view.rs

@@ -314,16 +314,19 @@ impl<A: Archetype> ArchetypeView<A> {
     pub fn iter_optional_component<'a, C: Component + Clone + 'a>(
         &'a self,
     ) -> DeserializationResult<impl Iterator<Item = Option<C>> + '_> {
-        re_tracing::profile_function!();
+        re_tracing::profile_function!(C::name());
+
         let component = self.components.get(&C::name());
 
         if let Some(component) = component {
             let primary_instance_key_iter = self.iter_instance_keys();
 
             let mut component_instance_key_iter = component.iter_instance_keys();
 
-            let component_value_iter =
-                C::try_from_arrow_opt(component.values.as_arrow_ref())?.into_iter();
+            let component_value_iter = {
+                re_tracing::profile_scope!("try_from_arrow_opt", C::name());
+                C::try_from_arrow_opt(component.values.as_arrow_ref())?.into_iter()
+            };
 
             let next_component_instance_key = component_instance_key_iter.next();
 

crates/re_space_view_spatial/Cargo.toml

@@ -42,6 +42,7 @@ itertools.workspace = true
 macaw = { workspace = true, features = ["with_serde"] }
 nohash-hasher.workspace = true
 parking_lot.workspace = true
+rayon.workspace = true
 serde = "1"
 smallvec = { workspace = true, features = ["serde"] }
 vec1.workspace = true

crates/re_space_view_spatial/src/contexts/annotation_context.rs

@@ -14,6 +14,7 @@ impl ViewContextSystem for AnnotationSceneContext {
         ctx: &mut re_viewer_context::ViewerContext<'_>,
         query: &re_viewer_context::ViewQuery<'_>,
     ) {
+        re_tracing::profile_function!();
         self.0.load(
             ctx,
             &query.latest_at_query(),

crates/re_space_view_spatial/src/contexts/depth_offsets.rs

@@ -1,6 +1,7 @@
 use std::collections::{BTreeMap, BTreeSet};
 
 use nohash_hasher::IntMap;
+
 use re_log_types::EntityPathHash;
 use re_types::{components::DrawOrder, Loggable as _};
 use re_viewer_context::{ArchetypeDefinition, ViewContextSystem};

crates/re_space_view_spatial/src/contexts/shared_render_builders.rs

@@ -66,6 +66,7 @@ impl ViewContextSystem for SharedRenderBuilders {
         ctx: &mut re_viewer_context::ViewerContext<'_>,
         _query: &re_viewer_context::ViewQuery<'_>,
     ) {
+        re_tracing::profile_function!();
         self.lines = Mutex::new(Some(
             LineStripSeriesBuilder::new(ctx.render_ctx)
                 .radius_boost_in_ui_points_for_outlines(SIZE_BOOST_IN_POINTS_FOR_LINE_OUTLINES),

crates/re_space_view_spatial/src/contexts/transform_context.rs

@@ -280,6 +280,8 @@ fn transform_at(
     pinhole_image_plane_distance: impl Fn(&EntityPath) -> f32,
     encountered_pinhole: &mut Option<EntityPath>,
 ) -> Result<Option<glam::Affine3A>, UnreachableTransformReason> {
+    re_tracing::profile_function!();
+
     let pinhole = store.query_latest_component::<Pinhole>(entity_path, query);
     if pinhole.is_some() {
         if encountered_pinhole.is_some() {

crates/re_space_view_spatial/src/parts/arrows3d.rs

@@ -7,7 +7,7 @@ use re_types::{
     Archetype as _,
 };
 use re_viewer_context::{
-    ArchetypeDefinition, ResolvedAnnotationInfo, SpaceViewSystemExecutionError,
+    ArchetypeDefinition, ResolvedAnnotationInfos, SpaceViewSystemExecutionError,
     ViewContextCollection, ViewPartSystem, ViewQuery, ViewerContext,
 };
 
@@ -41,7 +41,7 @@ impl Arrows3DPart {
         arch_view: &'a ArchetypeView<Arrows3D>,
         instance_path_hashes: &'a [InstancePathHash],
         colors: &'a [egui::Color32],
-        annotation_infos: &'a [ResolvedAnnotationInfo],
+        annotation_infos: &'a ResolvedAnnotationInfos,
         world_from_obj: glam::Affine3A,
     ) -> Result<impl Iterator<Item = UiLabel> + 'a, QueryError> {
         let labels = itertools::izip!(

crates/re_space_view_spatial/src/parts/lines2d.rs

@@ -6,7 +6,7 @@ use re_types::{
     Archetype as _,
 };
 use re_viewer_context::{
-    ArchetypeDefinition, ResolvedAnnotationInfo, SpaceViewSystemExecutionError,
+    ArchetypeDefinition, ResolvedAnnotationInfos, SpaceViewSystemExecutionError,
     ViewContextCollection, ViewPartSystem, ViewQuery, ViewerContext,
 };
 
@@ -41,7 +41,7 @@ impl Lines2DPart {
         arch_view: &'a ArchetypeView<LineStrips2D>,
         instance_path_hashes: &'a [InstancePathHash],
         colors: &'a [egui::Color32],
-        annotation_infos: &'a [ResolvedAnnotationInfo],
+        annotation_infos: &'a ResolvedAnnotationInfos,
     ) -> Result<impl Iterator<Item = UiLabel> + 'a, QueryError> {
         let labels = itertools::izip!(
             annotation_infos.iter(),

crates/re_space_view_spatial/src/parts/lines3d.rs

@@ -6,7 +6,7 @@ use re_types::{
     Archetype as _,
 };
 use re_viewer_context::{
-    ArchetypeDefinition, ResolvedAnnotationInfo, SpaceViewSystemExecutionError,
+    ArchetypeDefinition, ResolvedAnnotationInfos, SpaceViewSystemExecutionError,
     ViewContextCollection, ViewPartSystem, ViewQuery, ViewerContext,
 };
 
@@ -41,7 +41,7 @@ impl Lines3DPart {
         arch_view: &'a ArchetypeView<LineStrips3D>,
         instance_path_hashes: &'a [InstancePathHash],
         colors: &'a [egui::Color32],
-        annotation_infos: &'a [ResolvedAnnotationInfo],
+        annotation_infos: &'a ResolvedAnnotationInfos,
         world_from_obj: glam::Affine3A,
     ) -> Result<impl Iterator<Item = UiLabel> + 'a, QueryError> {
         re_tracing::profile_function!();

crates/re_space_view_spatial/src/parts/mod.rs

@@ -29,7 +29,7 @@ use re_types::datatypes::{KeypointId, KeypointPair};
 use re_types::Archetype;
 use re_viewer_context::SpaceViewClassRegistryError;
 use re_viewer_context::{
-    auto_color, Annotations, DefaultColor, ResolvedAnnotationInfo, SpaceViewSystemRegistry,
+    auto_color, Annotations, DefaultColor, ResolvedAnnotationInfos, SpaceViewSystemRegistry,
     ViewPartCollection, ViewQuery,
 };
 
@@ -105,7 +105,7 @@ pub fn picking_id_from_instance_key(
 pub fn process_colors<'a, A: Archetype>(
     arch_view: &'a re_query::ArchetypeView<A>,
     ent_path: &'a EntityPath,
-    annotation_infos: &'a [ResolvedAnnotationInfo],
+    annotation_infos: &'a ResolvedAnnotationInfos,
 ) -> Result<impl Iterator<Item = egui::Color32> + 'a, re_query::QueryError> {
     re_tracing::profile_function!();
     let default_color = DefaultColor::EntityPath(ent_path);
@@ -153,7 +153,7 @@ fn process_annotations_and_keypoints<Primary, A: Archetype>(
     arch_view: &re_query::ArchetypeView<A>,
     annotations: &Arc<Annotations>,
     mut primary_into_position: impl FnMut(&Primary) -> glam::Vec3,
-) -> Result<(Vec<ResolvedAnnotationInfo>, Keypoints), re_query::QueryError>
+) -> Result<(ResolvedAnnotationInfos, Keypoints), re_query::QueryError>
 where
     Primary: re_types::Component + Clone + Default,
 {
@@ -168,8 +168,9 @@ where
         let resolved_annotation = annotations
             .resolved_class_description(None)
             .annotation_info();
+
         return Ok((
-            vec![resolved_annotation; arch_view.num_instances()],
+            ResolvedAnnotationInfos::Same(arch_view.num_instances(), resolved_annotation),
             keypoints,
         ));
     }
@@ -194,7 +195,7 @@ where
     })
     .collect();
 
-    Ok((annotation_info, keypoints))
+    Ok((ResolvedAnnotationInfos::Many(annotation_info), keypoints))
 }
 
 #[derive(Clone)]
@@ -224,12 +225,14 @@ pub struct UiLabel {
 pub fn load_keypoint_connections(
     ent_context: &SpatialSceneEntityContext<'_>,
     ent_path: &re_data_store::EntityPath,
-    keypoints: Keypoints,
+    keypoints: &Keypoints,
 ) {
     if keypoints.is_empty() {
         return;
     }
 
+    re_tracing::profile_function!();
+
     // Generate keypoint connections if any.
     let mut line_builder = ent_context.shared_render_builders.lines();
     let mut line_batch = line_builder
@@ -240,7 +243,7 @@ pub fn load_keypoint_connections(
     for ((class_id, _time), keypoints_in_class) in keypoints {
         let resolved_class_description = ent_context
             .annotations
-            .resolved_class_description(Some(class_id));
+            .resolved_class_description(Some(*class_id));
 
         let Some(class_description) = resolved_class_description.class_description else {
             continue;

crates/re_space_view_spatial/src/parts/points2d.rs

@@ -6,7 +6,7 @@ use re_types::{
     Archetype,
 };
 use re_viewer_context::{
-    ArchetypeDefinition, ResolvedAnnotationInfo, SpaceViewSystemExecutionError,
+    ArchetypeDefinition, ResolvedAnnotationInfos, SpaceViewSystemExecutionError,
     ViewContextCollection, ViewPartSystem, ViewQuery, ViewerContext,
 };
 
@@ -41,7 +41,7 @@ impl Points2DPart {
         arch_view: &'a ArchetypeView<Points2D>,
         instance_path_hashes: &'a [InstancePathHash],
         colors: &'a [egui::Color32],
-        annotation_infos: &'a [ResolvedAnnotationInfo],
+        annotation_infos: &'a ResolvedAnnotationInfos,
     ) -> Result<impl Iterator<Item = UiLabel> + 'a, QueryError> {
         let labels = itertools::izip!(
             annotation_infos.iter(),
@@ -167,7 +167,7 @@ impl Points2DPart {
             }
         };
 
-        load_keypoint_connections(ent_context, ent_path, keypoints);
+        load_keypoint_connections(ent_context, ent_path, &keypoints);
 
         self.data.extend_bounding_box_with_points(
             arch_view

crates/re_space_view_spatial/src/parts/points3d.rs

@@ -6,10 +6,12 @@ use re_types::{
     Archetype as _,
 };
 use re_viewer_context::{
-    ArchetypeDefinition, ResolvedAnnotationInfo, SpaceViewSystemExecutionError,
+    ArchetypeDefinition, ResolvedAnnotationInfos, SpaceViewSystemExecutionError,
     ViewContextCollection, ViewPartSystem, ViewQuery, ViewerContext,
 };
 
+use itertools::Itertools as _;
+
 use crate::{
     contexts::{EntityDepthOffsets, SpatialSceneEntityContext},
     parts::{
@@ -41,7 +43,7 @@ impl Points3DPart {
         arch_view: &'a ArchetypeView<Points3D>,
         instance_path_hashes: &'a [InstancePathHash],
         colors: &'a [egui::Color32],
-        annotation_infos: &'a [ResolvedAnnotationInfo],
+        annotation_infos: &'a ResolvedAnnotationInfos,
         world_from_obj: glam::Affine3A,
     ) -> Result<impl Iterator<Item = UiLabel> + 'a, QueryError> {
         re_tracing::profile_function!();
@@ -122,36 +124,34 @@ impl Points3DPart {
                 .outline_mask_ids(ent_context.highlight.overall)
                 .picking_object_id(re_renderer::PickingLayerObjectId(ent_path.hash64()));
 
-            let point_positions = arch_view
-                .iter_required_component::<Point3D>()?
-                .map(glam::Vec3::from);
-
-            let picking_instance_ids = arch_view
-                .iter_instance_keys()
-                .map(picking_id_from_instance_key);
-
-            let point_positions: Vec<glam::Vec3> = {
-                re_tracing::profile_scope!("collect_positions");
-                point_positions.collect()
-            };
-
-            let radii: Vec<_> = {
-                re_tracing::profile_scope!("collect_radii");
-                radii.collect()
-            };
-
-            let colors: Vec<_> = {
-                re_tracing::profile_scope!("collect_colors");
-                colors.collect()
-            };
+            let (positions, radii, colors, picking_instance_ids) = join4(
+                || {
+                    re_tracing::profile_scope!("positions");
+                    arch_view
+                        .iter_required_component::<Point3D>()
+                        .map(|p| p.map(glam::Vec3::from).collect_vec())
+                },
+                || {
+                    re_tracing::profile_scope!("radii");
+                    radii.collect_vec()
+                },
+                || {
+                    re_tracing::profile_scope!("colors");
+                    colors.collect_vec()
+                },
+                || {
+                    re_tracing::profile_scope!("picking_ids");
+                    arch_view
+                        .iter_instance_keys()
+                        .map(picking_id_from_instance_key)
+                        .collect_vec()
+                },
+            );
 
-            let picking_instance_ids: Vec<_> = {
-                re_tracing::profile_scope!("collect_picking_instance_ids");
-                picking_instance_ids.collect()
-            };
+            let positions = positions?;
 
             let mut point_range_builder =
-                point_batch.add_points(&point_positions, &radii, &colors, &picking_instance_ids);
+                point_batch.add_points(&positions, &radii, &colors, &picking_instance_ids);
 
             // Determine if there's any sub-ranges that need extra highlighting.
             {
@@ -170,16 +170,14 @@ impl Points3DPart {
                     }
                 }
             }
+
+            self.data.extend_bounding_box_with_points(
+                positions.iter().copied(),
+                ent_context.world_from_obj,
+            );
         }
 
-        load_keypoint_connections(ent_context, ent_path, keypoints);
-
-        self.data.extend_bounding_box_with_points(
-            arch_view
-                .iter_required_component::<Point3D>()?
-                .map(glam::Vec3::from),
-            ent_context.world_from_obj,
-        );
+        load_keypoint_connections(ent_context, ent_path, &keypoints);
 
         Ok(())
     }
@@ -219,3 +217,23 @@ impl ViewPartSystem for Points3DPart {
         self
     }
 }
+
+/// Run 4 things in parallel
+fn join4<A: Send, B: Send, C: Send, D: Send>(
+    a: impl FnOnce() -> A + Send,
+    b: impl FnOnce() -> B + Send,
+    c: impl FnOnce() -> C + Send,
+    d: impl FnOnce() -> D + Send,
+) -> (A, B, C, D) {
+    #[cfg(not(target_arch = "wasm32"))]
+    {
+        re_tracing::profile_function!();
+        let ((a, b), (c, d)) = rayon::join(|| rayon::join(a, b), || rayon::join(c, d));
+        (a, b, c, d)
+    }
+
+    #[cfg(target_arch = "wasm32")]
+    {
+        (a(), b(), c(), d())
+    }
+}

crates/re_space_view_spatial/src/space_view_3d.rs

@@ -129,6 +129,8 @@ impl SpaceViewClass for SpatialSpaceView3D {
         query: &ViewQuery<'_>,
         draw_data: Vec<re_renderer::QueueableDrawData>,
     ) -> Result<(), SpaceViewSystemExecutionError> {
+        re_tracing::profile_function!();
+
         state.scene_bbox = calculate_bounding_box(parts, &mut state.scene_bbox_accum);
         state.scene_num_primitives = view_ctx
             .get::<PrimitiveCounter>()?

crates/re_types/Cargo.toml

@@ -41,6 +41,8 @@ testing = []
 [dependencies]
 # Rerun
 re_error.workspace = true
+re_string_interner.workspace = true
+re_tracing.workspace = true
 
 # External
 anyhow.workspace = true
@@ -66,9 +68,6 @@ glam = { workspace = true, optional = true }
 macaw = { workspace = true, optional = true }
 serde = { version = "1", optional = true, features = ["derive", "rc"] }
 
-# Rerun
-re_string_interner.workspace = true
-re_tracing.workspace = true
 
 [dev-dependencies]