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Fix slow dynamic cast for Point3 and Point2 #1168

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merged 3 commits into from
Apr 14, 2022
Merged

Fix slow dynamic cast for Point3 and Point2 #1168

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49b40d3
Fix slow dynamic cast
ProfFan Apr 12, 2022
ed34ee3
Update the other codepath to also use ptr cast
ProfFan Apr 12, 2022
1b63fb5
Address comments by Frank
ProfFan Apr 14, 2022
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27 changes: 15 additions & 12 deletions gtsam/nonlinear/Values-inl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -294,11 +294,12 @@ namespace gtsam {
// Handle dynamic matrices
template <int M, int N>
struct handle_matrix<Eigen::Matrix<double, M, N>, true> {
Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) {
try {
inline Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) {
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auto ptr = dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>*>(pointer);
if (ptr) {
// value returns a const Matrix&, and the return makes a copy !!!!!
return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
} catch (std::bad_cast&) {
return ptr->value();
} else {
// If a fixed matrix was stored, we end up here as well.
throw ValuesIncorrectType(j, typeid(*pointer), typeid(Eigen::Matrix<double, M, N>));
}
Expand All @@ -308,16 +309,18 @@ namespace gtsam {
// Handle fixed matrices
template <int M, int N>
struct handle_matrix<Eigen::Matrix<double, M, N>, false> {
Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) {
try {
inline Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) {
auto ptr = dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>*>(pointer);
if (ptr) {
// value returns a const MatrixMN&, and the return makes a copy !!!!!
return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
} catch (std::bad_cast&) {
return ptr->value();
} else {
Matrix A;
try {
// Check if a dynamic matrix was stored
A = handle_matrix<Eigen::MatrixXd, true>()(j, pointer); // will throw if not....
} catch (const ValuesIncorrectType&) {
// Check if a dynamic matrix was stored
auto ptr = dynamic_cast<const GenericValue<Eigen::MatrixXd>*>(pointer);
if (ptr) {
A = ptr->value();
} else {
// Or a dynamic vector
A = handle_matrix<Eigen::VectorXd, true>()(j, pointer); // will throw if not....
}
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