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main.cu
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#include <cstdio>
#include <bitset>
#include <cstdlib>
#include <vector>
#include <unordered_map>
#include "Geometry.cuh"
#include "OctNode.cuh"
#include "cuda.h"
#include "cuda_runtime.h"
#include "PointStream.cuh"
#include "CmdLineParser.cuh"
#include "Debug.cuh"
#include "thrust/host_vector.h"
#include "thrust/device_vector.h"
#include "thrust/async/reduce.h"
#include "thrust/scan.h"
#include "thrust/sort.h"
#include "thrust/copy.h"
#include "Hash.cuh"
#include "PPolynomial.cuh"
#include "FunctionData.cuh"
#include "BinaryNode.cuh"
#include "ConfirmedPPolynomial.cuh"
#include "ConfirmedSparseMatrix.cuh"
#include "CG_CUDA.cuh"
#include "MarchingCubes.cuh"
#include "iomanip"
#define FORCE_UNIT_NORMALS 1
__device__ __host__ int qpow(int p,int q) {
int res=1;
while(q) {
if(q&1) res *= p;
q>>=1;
p*=p;
}
return res;
}
//#define FORCE_UNIT_NORMALS 1
__global__ void outputDeviceArray(Point3D<float> *d_addr,int size) {
printf("print array:\n");
for(int i=0;i<size;++i) {
printf("%f %f %f\n",d_addr[i].coords[0],d_addr[i].coords[1],d_addr[i].coords[2]);
}
}
__global__ void outputDeviceArray(int *d_addr,int size) {
printf("print array:\n");
for(int i=0;i<size;++i) {
printf("%d\n",d_addr[i]);
}
}
__global__ void outputDeviceArray(float *d_addr,int size) {
printf("print array:\n");
for(int i=0;i<size;++i) {
printf("%f\n",d_addr[i]);
}
}
//__constant__ double EPSILON=float(1e-6);
#define EPSILON float(1e-6)
//__constant__ float ROUND_EPS=float(1e-5);
#define ROUND_EPS float(1e-5)
//__constant__ int maxDepth=9;
#define maxDepth 8
//__constant__ int markOffset=31;
#define markOffset 31
//__constant__ int resolution=1023;
#define resolution (1<<(maxDepth+1))-1
//#define resolution 511
#define stackCapacity 2000
#define convTimes 2
__constant__ int LUTparent[8][27]={
{0,1,1,3,4,4,3,4,4,9,10,10,12,13,13,12,13,13,9,10,10,12,13,13,12,13,13},
{1,1,2,4,4,5,4,4,5,10,10,11,13,13,14,13,13,14,10,10,11,13,13,14,13,13,14},
{3,4,4,3,4,4,6,7,7,12,13,13,12,13,13,15,16,16,12,13,13,12,13,13,15,16,16},
{4,4,5,4,4,5,7,7,8,13,13,14,13,13,14,16,16,17,13,13,14,13,13,14,16,16,17},
{9,10,10,12,13,13,12,13,13,9,10,10,12,13,13,12,13,13,18,19,19,21,22,22,21,22,22},
{10,10,11,13,13,14,13,13,14,10,10,11,13,13,14,13,13,14,19,19,20,22,22,23,22,22,23},
{12,13,13,12,13,13,15,16,16,12,13,13,12,13,13,15,16,16,21,22,22,21,22,22,24,25,25},
{13,13,14,13,13,14,16,16,17,13,13,14,13,13,14,16,16,17,22,22,23,22,22,23,25,25,26}
};
__constant__ int LUTchild[8][27]={
{7,6,7,5,4,5,7,6,7,3,2,3,1,0,1,3,2,3,7,6,7,5,4,5,7,6,7},
{6,7,6,4,5,4,6,7,6,2,3,2,0,1,0,2,3,2,6,7,6,4,5,4,6,7,6},
{5,4,5,7,6,7,5,4,5,1,0,1,3,2,3,1,0,1,5,4,5,7,6,7,5,4,5},
{4,5,4,6,7,6,4,5,4,0,1,0,2,3,2,0,1,0,4,5,4,6,7,6,4,5,4},
{3,2,3,1,0,1,3,2,3,7,6,7,5,4,5,7,6,7,3,2,3,1,0,1,3,2,3},
{2,3,2,0,1,0,2,3,2,6,7,6,4,5,4,6,7,6,2,3,2,0,1,0,2,3,2},
{1,0,1,3,2,3,1,0,1,5,4,5,7,6,7,5,4,5,1,0,1,3,2,3,1,0,1},
{0,1,0,2,3,2,0,1,0,4,5,4,6,7,6,4,5,4,0,1,0,2,3,2,0,1,0}
};
const int markOffset_h=31;
const int maxDepth_h=maxDepth;
#define normalize 0
int LUTparent_h[8][27]={
{0,1,1,3,4,4,3,4,4,9,10,10,12,13,13,12,13,13,9,10,10,12,13,13,12,13,13},
{1,1,2,4,4,5,4,4,5,10,10,11,13,13,14,13,13,14,10,10,11,13,13,14,13,13,14},
{3,4,4,3,4,4,6,7,7,12,13,13,12,13,13,15,16,16,12,13,13,12,13,13,15,16,16},
{4,4,5,4,4,5,7,7,8,13,13,14,13,13,14,16,16,17,13,13,14,13,13,14,16,16,17},
{9,10,10,12,13,13,12,13,13,9,10,10,12,13,13,12,13,13,18,19,19,21,22,22,21,22,22},
{10,10,11,13,13,14,13,13,14,10,10,11,13,13,14,13,13,14,19,19,20,22,22,23,22,22,23},
{12,13,13,12,13,13,15,16,16,12,13,13,12,13,13,15,16,16,21,22,22,21,22,22,24,25,25},
{13,13,14,13,13,14,16,16,17,13,13,14,13,13,14,16,16,17,22,22,23,22,22,23,25,25,26}
};
int LUTchild_h[8][27]={
{7,6,7,5,4,5,7,6,7,3,2,3,1,0,1,3,2,3,7,6,7,5,4,5,7,6,7},
{6,7,6,4,5,4,6,7,6,2,3,2,0,1,0,2,3,2,6,7,6,4,5,4,6,7,6},
{5,4,5,7,6,7,5,4,5,1,0,1,3,2,3,1,0,1,5,4,5,7,6,7,5,4,5},
{4,5,4,6,7,6,4,5,4,0,1,0,2,3,2,0,1,0,4,5,4,6,7,6,4,5,4},
{3,2,3,1,0,1,3,2,3,7,6,7,5,4,5,7,6,7,3,2,3,1,0,1,3,2,3},
{2,3,2,0,1,0,2,3,2,6,7,6,4,5,4,6,7,6,2,3,2,0,1,0,2,3,2},
{1,0,1,3,2,3,1,0,1,5,4,5,7,6,7,5,4,5,1,0,1,3,2,3,1,0,1},
{0,1,0,2,3,2,0,1,0,4,5,4,6,7,6,4,5,4,0,1,0,2,3,2,0,1,0}
};
struct markCompact{
__device__ bool operator()(const long long &x){
return ( x & (1ll<<markOffset) ) > 0;
}
};
__device__ long long encodePoint(const Point3D<float> &pos,const long long& idx){
long long key=0ll;
Point3D<float> myCenter;
myCenter.coords[0]=float(0.5);
myCenter.coords[1]=float(0.5);
myCenter.coords[2]=float(0.5);
float myWidth=0.25f;
for(int i=maxDepth-1;i>=0;--i){
if(pos.coords[0] > myCenter.coords[0]) {
key |= 1ll << (3 * i + 34);
myCenter.coords[0] += myWidth;
}else{
myCenter.coords[0] -= myWidth;
}
if(pos.coords[1] > myCenter.coords[1]) {
key |= 1ll << (3 * i + 33);
myCenter.coords[1] += myWidth;
}else{
myCenter.coords[1] -= myWidth;
}
if(pos.coords[2] > myCenter.coords[2]) {
key |= 1ll << (3 * i + 32);
myCenter.coords[2] += myWidth;
}else{
myCenter.coords[2] -= myWidth;
}
myWidth/=2;
}
return key+idx;
}
__global__ void generateCode(Point3D<float> *points,long long *code,int size){
long long stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
long long blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
long long offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
for(long long i=offset;i<size;i+=stride){
code[i]= encodePoint(points[i],i);
}
}
__global__ void generateStartHash(long long *key,KeyValue *hashTable,int size){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
for(int i=offset;i<size;i+=stride){
// same key[i]>>32 meet, the point at same node meet
insertMin(hashTable,int(key[i]>>32),i);
}
}
__global__ void generateCountHash(long long *key,KeyValue *hashTable,int size){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
for(int i=offset;i<size;i+=stride){
keyAdd(hashTable,int(key[i]>>32));
}
}
__global__ void generateMark(long long *code,int size){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
if(offset==0){
code[0] &= ~((1ll<<32)-1);
code[0]|=1ll<<markOffset;
offset+=stride;
}
for(int i=offset;i<size;i+=stride){
code[i] &= ~((1ll<<32)-1);
code[i] += i;
if(code[i]>>32 != code[i-1]>>32) {
code[i] |= 1ll << markOffset;
}
}
}
__global__ void initUniqueNode(long long *uniqueCode, KeyValue *keyStart,KeyValue *keyCount,
int *OriginIdx,OctNode *uniqueNode, int size){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
for(int i=offset;i<size;i+=stride){
uniqueNode[i].key= int(uniqueCode[i] >> 32 ) ;
uniqueNode[i].pidx=find(keyStart,uniqueNode[i].key);
uniqueNode[i].pnum=find(keyCount,uniqueNode[i].key);
OriginIdx[i]=int(uniqueCode[i] & ((1ll<<markOffset)-1) );
}
}
__global__ void generateNodeNums(long long* uniqueCode,int *nodeNums,int size,int depthD){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
if(offset==0){
offset+=stride;
}
for(int i=offset;i<size;i+=stride){
if( (uniqueCode[i-1]>>(32 + 3 * (maxDepth-depthD+1) ) ) != (uniqueCode[i]>>(32 + 3 * (maxDepth-depthD+1) ) ) ){
nodeNums[i]=8;
}
}
}
__global__ void generateNodeArrayD(int *OriginIdx,OctNode *uniqueNode,int *nodeAddress,int *PointToNodeArrayD,OctNode *NodeArrayD,int size){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
for(int i=offset;i<size;i+=stride){
int idx=nodeAddress[i] + ( uniqueNode[i].key & 7);
NodeArrayD[idx] = uniqueNode[i];
PointToNodeArrayD[OriginIdx[i]] = idx;
}
}
__global__ void processPointToNodeArrayD(int *PointToNodeArrayD,int count) {
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
for(int i=offset;i<count;i+=stride) {
int nowIdx=i;
int val=PointToNodeArrayD[nowIdx];
while(val==-1) {
--nowIdx;
val=PointToNodeArrayD[nowIdx];
}
PointToNodeArrayD[i]=val;
}
}
__global__ void initNodeArrayD_DIdxDnum(OctNode *NodeArrayD,int size){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
for(int i=offset;i<size;i+=stride){
NodeArrayD[i].dnum = 1;
NodeArrayD[i].didx = i;
}
}
__global__ void parallelSet0xff(OctNode *uniqueNode_D_1,int size){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
for(int i=offset;i<size;i+=stride) {
uniqueNode_D_1[i].pidx=0x7fffffff;
uniqueNode_D_1[i].didx=0x7fffffff;
}
}
__global__ void generateNodeKeyIndexHash(OctNode *uniqueNode,int *nodeAddress,int uniqueCount,int depthD,KeyValue *keyIndexHash){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
for(int i=offset;i<uniqueCount;i+=stride){
int fatherKey=uniqueNode[i].key & (~ (7<< (3 * (maxDepth-depthD) ) ) );
// printf("key:%d\n",fatherKey);
insertMin(keyIndexHash,fatherKey,nodeAddress[i]/8);
}
}
__global__ void generateUniqueNodeArrayD_1(OctNode *NodeArray_D,int DSize,KeyValue *keyIndexHash,int depthD,OctNode *uniqueNodeArrayD_1,KeyValue *uniqueNode_D_1_Idx_To_NodeArray_D_Idx){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
for(int i=offset;i<DSize;i+=stride){
if(NodeArray_D[i].pnum==0){
int st = i-i%8;
int valid_idx;
for(int j=0;j<8;++j){
valid_idx = st+j;
if(NodeArray_D[valid_idx].pnum != 0){
break;
}
}
int fatherKey=NodeArray_D[valid_idx].key & (~ (7<< (3 * (maxDepth-depthD) ) ) );
int idx=find(keyIndexHash,fatherKey);
if(NodeArray_D[i].dnum!=0) {
atomicAdd(&uniqueNodeArrayD_1[idx].dnum, NodeArray_D[i].dnum);
atomicMin(&uniqueNodeArrayD_1[idx].didx, NodeArray_D[i].didx);
}
continue;
}
int fatherKey=NodeArray_D[i].key & (~ (7<< (3 * (maxDepth-depthD) ) ) );
int idx=find(keyIndexHash,fatherKey);
int sonKey = ( NodeArray_D[i].key >> (3 * (maxDepth-depthD)) ) & 7;
uniqueNodeArrayD_1[idx].key=fatherKey;
atomicAdd(&uniqueNodeArrayD_1[idx].pnum,NodeArray_D[i].pnum);
atomicMin(&uniqueNodeArrayD_1[idx].pidx,NodeArray_D[i].pidx);
atomicAdd(&uniqueNodeArrayD_1[idx].dnum,NodeArray_D[i].dnum);
atomicMin(&uniqueNodeArrayD_1[idx].didx,NodeArray_D[i].didx);
insert(uniqueNode_D_1_Idx_To_NodeArray_D_Idx,idx,i);
uniqueNodeArrayD_1[idx].children[sonKey]=i;
}
}
__global__ void generateNodeNumsD_1(OctNode *uniqueNodeArrayD_1,int *NodeNums_D_1,int size,int depthD){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
if(offset==0){
offset+=stride;
}
for(int i=offset;i<size;i+=stride){
if( (uniqueNodeArrayD_1[i-1].key >> (3 * (maxDepth-depthD+1) ) ) != (uniqueNodeArrayD_1[i].key >> ( 3 * (maxDepth-depthD+1) ) ) ){
NodeNums_D_1[i]=8;
}
}
}
__global__ void generateNodeArrayD_1(OctNode *uniqueNodeArrayD_1,int *nodeAddressD_1,OctNode *NodeArrayD_1,int size,int depthD,KeyValue *uniqueNode_D_1_Idx_To_NodeArray_D_Idx,OctNode *NodeArray_D){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
for(int i=offset;i<size;i+=stride){
int newIdx=nodeAddressD_1[i] + ( (uniqueNodeArrayD_1[i].key>>(3*(maxDepth-depthD+1) ) ) & 7);
NodeArrayD_1[newIdx] = uniqueNodeArrayD_1[i];
NodeArray_D[find(uniqueNode_D_1_Idx_To_NodeArray_D_Idx,i)].parent=newIdx;
}
}
__host__ void pipelineUniqueNode_D_1(OctNode *uniqueNode_D,int *nodeAddress_D,int uniqueCount_D,OctNode *NodeArray_D,int allNodeNums_D,int depthD,
OctNode *&uniqueNode_D_1, int &uniqueCount_D_1, KeyValue *&uniqueNode_D_1_Idx_To_NodeArray_D_Idx)
{
if(uniqueNode_D_1_Idx_To_NodeArray_D_Idx!=NULL){
destroy_hashtable(uniqueNode_D_1_Idx_To_NodeArray_D_Idx);
}
uniqueNode_D_1_Idx_To_NodeArray_D_Idx=create_hashtable();
uniqueCount_D_1=allNodeNums_D/8;
long long nByte = 1ll * sizeof(OctNode) * uniqueCount_D_1;
// CHECK(cudaMalloc((OctNode **)&uniqueNode_D_1,nByte));
// CHECK(cudaMemset(uniqueNode_D_1,0,nByte));
KeyValue *keyIndexHash=create_hashtable();
dim3 grid=(32,32);
dim3 block=(32,32);
parallelSet0xff<<<grid,block>>>(uniqueNode_D_1,uniqueCount_D_1);
generateNodeKeyIndexHash<<<grid,block>>>(uniqueNode_D,nodeAddress_D,uniqueCount_D,depthD,keyIndexHash);
cudaDeviceSynchronize();
generateUniqueNodeArrayD_1<<<grid,block>>>(NodeArray_D,allNodeNums_D,keyIndexHash,depthD,uniqueNode_D_1,uniqueNode_D_1_Idx_To_NodeArray_D_Idx);
cudaDeviceSynchronize();
destroy_hashtable(keyIndexHash);
}
__host__ void pipelineNodeAddress_D_1(OctNode *uniqueNode_D_1,int uniqueCount_D_1,int depthD,
int *&NodeAddress_D_1)
{
dim3 grid=(32,32);
dim3 block=(32,32);
int *NodeNums_D_1=NULL;
long long nByte = 1ll * sizeof(int)*uniqueCount_D_1;
CHECK(cudaMalloc((int **)&NodeNums_D_1,nByte));
CHECK(cudaMemset(NodeNums_D_1,0,nByte));
// CHECK(cudaMalloc((int **)&NodeAddress_D_1,nByte));
// CHECK(cudaMemset(NodeAddress_D_1,0,nByte));
generateNodeNumsD_1<<<grid,block>>>(uniqueNode_D_1, NodeNums_D_1, uniqueCount_D_1, depthD-1);
cudaDeviceSynchronize();
thrust::device_ptr<int> NodeNums_D_1_ptr=thrust::device_pointer_cast<int>(NodeNums_D_1);
thrust::device_ptr<int> NodeAddress_D_1_ptr=thrust::device_pointer_cast<int>(NodeAddress_D_1);
thrust::inclusive_scan(NodeNums_D_1_ptr,NodeNums_D_1_ptr+uniqueCount_D_1,NodeAddress_D_1_ptr);
cudaDeviceSynchronize();
cudaFree(NodeNums_D_1);
}
__global__ void updateParentChildren(int *BaseAddressArray_d,OctNode *NodeArray,int size){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
for(int i=offset;i<size;i+=stride){
if(NodeArray[i].pnum == 0) continue;
int depth;
for(depth=0;depth<maxDepth_h;++depth){
if(BaseAddressArray_d[depth] <= i && BaseAddressArray_d[depth+1] > i){
break;
}
}
if(i == 0){
NodeArray[i].parent=-1;
#pragma unroll
for(int child=0;child<8;++child){
NodeArray[i].children[child] += BaseAddressArray_d[depth+1];
}
}else {
NodeArray[i].parent += BaseAddressArray_d[depth - 1];
#pragma unroll
for(int child=0;child<8;++child){
if(NodeArray[i].children[child]!=0)
NodeArray[i].children[child] += BaseAddressArray_d[depth+1];
}
}
}
}
__global__ void updateEmptyNodeInfo(int *BaseAddressArray_d,OctNode *NodeArray,int size){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
for(int i=1+8*offset;i<size;i+=8*stride){
int nowPIdx;
int nowDIdx;
int validIdx;
int commonParent;
for(validIdx=0;validIdx<8;++validIdx){
if(NodeArray[i+validIdx].pnum!=0){
nowPIdx=NodeArray[i+validIdx].pidx;
nowDIdx=NodeArray[i+validIdx].didx;
commonParent=NodeArray[i+validIdx].parent;
break;
}
}
int depth;
for(depth=0;depth<maxDepth_h;++depth){
if(BaseAddressArray_d[depth] <= i && BaseAddressArray_d[depth+1] > i){
break;
}
}
int baseKey = NodeArray[i+validIdx].key - ( ( NodeArray[i+validIdx].key ) & ( 7 << (3 * (maxDepth-depth)) ) );
for(int j=0;j<8;++j){
int idx=i+j;
if(NodeArray[idx].pnum==0){
for(int k=0;k<8;++k){
NodeArray[idx].children[k]=-1;
}
}else{
int basePos;
for(int k=0;k<8;++k){
if(NodeArray[idx].children[k]>0){
basePos=NodeArray[idx].children[k]-k;
break;
}
}
for(int k=0;k<8;++k){
NodeArray[idx].children[k]=basePos+k;
}
}
NodeArray[idx].key = baseKey + ( j << (3 * (maxDepth-depth)) );
NodeArray[idx].pidx = nowPIdx;
nowPIdx += NodeArray[idx].pnum;
if(depth != maxDepth) {
NodeArray[idx].didx = nowDIdx;
nowDIdx += NodeArray[idx].dnum;
}
NodeArray[idx].parent=commonParent;
}
}
}
__global__ void computeNeighbor(OctNode *NodeArray,int left,int right,int depthD){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
offset+=left;
for(int i=offset;i<right;i+=stride){
for(int j=0;j<27;++j){
int sonKey = ( NodeArray[i].key >> (3 * (maxDepth-depthD)) ) & 7;
int parentIdx = NodeArray[i].parent;
int neighParent = NodeArray[ parentIdx ].neighs[LUTparent[sonKey][j]];
if(neighParent != -1){
NodeArray[i].neighs[j] = NodeArray[ neighParent ].children[LUTchild[sonKey][j]];
}else{
NodeArray[i].neighs[j]= -1;
}
}
}
}
__host__ void pipelineBuildNodeArray(char *fileName,Point3D<float> ¢er,float &scale,int &count,int &NodeArray_sz,
int NodeArrayCount_h[maxDepth_h+1],int BaseAddressArray_h[maxDepth_h+1], //host
Point3D<float> *&samplePoints_d,Point3D<float> *&sampleNormals_d,int *&PointToNodeArrayD,OctNode *&NodeArray) //device
{
count=0;
PointStream<float>* pointStream;
char* ext = GetFileExtension(fileName);
if (!strcasecmp(ext,"bnpts")) pointStream = new BinaryPointStream<float>(fileName);
else if (!strcasecmp(ext,"ply")) pointStream = new PLYPointStream<float>(fileName);
else pointStream = new ASCIIPointStream<float>(fileName);
Point3D<float> position,normal;
Point3D<float> mx,mn;
scale=1;
float scaleFactor=1.25;
double st=cpuSecond();
/** Step 1: compute bounding box */
while(pointStream->nextPoint(position,normal)){
for(int i=0;i<DIMENSION;++i){
if(!count || position.coords[i]<mn.coords[i]) mn.coords[i]=position.coords[i];
if(!count || position.coords[i]>mx.coords[i]) mx.coords[i]=position.coords[i];
}
++count;
}
for(int i=0;i<DIMENSION;++i){
if(!i || scale<mx.coords[i]-mn.coords[i]) scale=float(mx.coords[i]-mn.coords[i]);
center.coords[i]=float(mx.coords[i]+mn.coords[i])/2;
}
scale*=scaleFactor;
for(int i=0;i<DIMENSION;++i)
center.coords[i]-=scale/2;
Point3D<float> *p_h=(Point3D<float> *)malloc(sizeof(Point3D<float>) * count);
Point3D<float> *n_h=(Point3D<float> *)malloc(sizeof(Point3D<float>) * count);
pointStream->reset();
int idx=0;
while(pointStream->nextPoint(position,normal)){
int i;
for(i=0;i<DIMENSION;++i)
position.coords[i]=(position.coords[i]-center.coords[i])/scale;
for(i=0;i<DIMENSION;++i)
if(position.coords[i]<0 || position.coords[i]>1)
break;
p_h[idx]=position;
#if FORCE_UNIT_NORMALS
float len=float(Length(normal));
if(len>EPSILON)
len=1.0f/len;
len*=(2<<maxDepth);
for(i=0;i<DIMENSION;++i)
normal.coords[i]*=len;
#endif
n_h[idx]=normal;
++idx;
}
// input process may can be optimized as GPU parallel
double mid=cpuSecond();
printf("Total points number:%d ,Read takes:%lfs\n",count,mid-st);
CHECK(cudaMalloc((Point3D<float> **)&samplePoints_d,sizeof(Point3D<float>) * count));
CHECK(cudaMemcpy(samplePoints_d,p_h,sizeof(Point3D<float>) * count, cudaMemcpyHostToDevice));
CHECK(cudaMalloc((Point3D<float> **)&sampleNormals_d,sizeof(Point3D<float>) * count));
CHECK(cudaMemcpy(sampleNormals_d,n_h,sizeof(Point3D<float>) * count, cudaMemcpyHostToDevice));
/** Step 2: compute shuffled xyz key and sorting code */
long long *key=NULL;
long long nByte = 1ll * sizeof(long long)*count;
CHECK(cudaMalloc((long long **)&key, nByte));
dim3 grid=(32,32);
dim3 block=(32,32);
generateCode<<<grid,block>>>(samplePoints_d,key,count);
cudaDeviceSynchronize();
long long *key_backup=NULL;
CHECK(cudaMalloc((long long **)&key_backup, nByte));
CHECK(cudaMemcpy(key_backup,key,nByte,cudaMemcpyDeviceToDevice));
/** Step 3: sort all sample points */
thrust::device_ptr<long long> key_ptr=thrust::device_pointer_cast<long long>(key);
thrust::sort_by_key(key_ptr,key_ptr+count,samplePoints_d);
cudaDeviceSynchronize();
key_ptr=thrust::device_pointer_cast<long long>(key_backup);
thrust::sort_by_key(key_ptr,key_ptr+count,sampleNormals_d);
cudaDeviceSynchronize();
cudaFree(key_backup);
key_ptr=thrust::device_pointer_cast<long long>(key);
KeyValue* start_hashTable=create_hashtable();
KeyValue* count_hashTable=create_hashtable();
generateStartHash<<<grid,block>>>(key, start_hashTable,count);
generateCountHash<<<grid,block>>>(key, count_hashTable,count);
/** Step 4: find the unique nodes */
generateMark<<<grid,block>>>(key,count);
cudaDeviceSynchronize();
long long *uniqueCode=NULL;
CHECK(cudaMalloc((long long **)&uniqueCode,sizeof(long long) * count));
thrust::device_ptr<long long> uniqueCode_ptr=thrust::device_pointer_cast<long long>(uniqueCode);
thrust::device_ptr<long long> uniqueCode_end=thrust::copy_if(key_ptr,key_ptr+count,uniqueCode_ptr,markCompact());
cudaDeviceSynchronize();
cudaFree(key);
int uniqueCount_h=uniqueCode_end-uniqueCode_ptr;
/** Create uniqueNode according to uniqueCode */
OctNode *uniqueNode=NULL;
nByte = 1ll * sizeof(OctNode)*uniqueCount_h;
CHECK(cudaMalloc((OctNode **)&uniqueNode,nByte));
CHECK(cudaMemset(uniqueNode,0,nByte));
int *OriginIdx=NULL;
nByte = 1ll * sizeof(int)*uniqueCount_h;
CHECK(cudaMalloc((int**)&OriginIdx,nByte));
// CHECK(cudaMemset(OriginIdx,-1,nByte));
initUniqueNode<<<grid,block>>>(uniqueCode,start_hashTable,count_hashTable,
OriginIdx,uniqueNode,uniqueCount_h);
cudaDeviceSynchronize();
destroy_hashtable(start_hashTable);
destroy_hashtable(count_hashTable);
/** Step 5: augment uniqueNode */
int *nodeNums=NULL;
int *nodeAddress=NULL;
nByte = 1ll * sizeof(int)*uniqueCount_h;
CHECK(cudaMalloc((int **)&nodeNums,nByte));
CHECK(cudaMemset(nodeNums,0,nByte));
CHECK(cudaMalloc((int **)&nodeAddress,nByte));
CHECK(cudaMemset(nodeAddress,0,nByte));
generateNodeNums<<<grid,block>>>(uniqueCode,nodeNums,uniqueCount_h,maxDepth_h);
cudaDeviceSynchronize();
cudaFree(uniqueCode);
thrust::device_ptr<int> nodeNums_ptr=thrust::device_pointer_cast<int>(nodeNums);
thrust::device_ptr<int> nodeAddress_ptr=thrust::device_pointer_cast<int>(nodeAddress);
thrust::inclusive_scan(nodeNums_ptr,nodeNums_ptr+uniqueCount_h,nodeAddress_ptr);
cudaDeviceSynchronize();
cudaFree(nodeNums);
/** Step 6: create NodeArrayD */
int lastAddr;
CHECK(cudaMemcpy(&lastAddr,nodeAddress+uniqueCount_h-1,sizeof(int),cudaMemcpyDeviceToHost));
int allNodeNums=lastAddr+8;
OctNode *NodeArrayD=NULL;
nByte = 1ll * sizeof(OctNode) * allNodeNums;
CHECK(cudaMalloc((OctNode **)&NodeArrayD, nByte));
CHECK(cudaMemset(NodeArrayD,0,nByte));
// int *PointToNodeArrayD=NULL;
nByte = 1ll * sizeof(int) * count;
CHECK(cudaMalloc((int**)&PointToNodeArrayD,nByte));
CHECK(cudaMemset(PointToNodeArrayD,-1,nByte));
generateNodeArrayD<<<grid,block>>>(OriginIdx,uniqueNode,nodeAddress,PointToNodeArrayD,NodeArrayD,uniqueCount_h);
cudaDeviceSynchronize();
initNodeArrayD_DIdxDnum<<<grid,block>>>(NodeArrayD,allNodeNums);
processPointToNodeArrayD<<<grid,block>>>(PointToNodeArrayD,count);
cudaDeviceSynchronize();
// OctNode *a=(OctNode *)malloc(sizeof(OctNode)*allNodeNums);
// cudaMemcpy(a,NodeArrayD,sizeof(OctNode)*(allNodeNums),cudaMemcpyDeviceToHost);
// for (int i = 0; i < 50; ++i) {
//// if(a[i].pnum==0) continue;
// std::cout << i << " " <<std::bitset<32>(a[i].key) << " pidx:" << a[i].pidx << " pnum:" << a[i].pnum << " parent:"
// << a[i].parent << " didx:"<< a[i].didx << " dnum:" << a[i].dnum << std::endl;
//// for(int k=0;k<8;++k){
//// printf("children[%d]:%d ",k,a[i].children[k]);
//// }
//// puts("");
//// for(int k=0;k<27;++k){
//// printf("neigh[%d]:%d ",k,a[i].neighs[k]);
//// }
//// puts("");
// }
/** D-1 */
memset(BaseAddressArray_h,0,sizeof(int) * (maxDepth_h+1));
OctNode **NodeArrays=(OctNode **)malloc(sizeof(OctNode *) * (maxDepth_h+1));
NodeArrays[maxDepth_h]=NodeArrayD;
OctNode *uniqueNode_D=uniqueNode;
int *NodeAddress_D=nodeAddress;
int uniqueCount_D=uniqueCount_h;
int allNodeNums_D=allNodeNums;
OctNode *NodeArray_D=NodeArrayD;
for(int depthD=maxDepth_h;depthD>=1;--depthD){
// printf("depthD:%d %d\n",depthD,allNodeNums_D);
NodeArrayCount_h[depthD]=allNodeNums_D;
OctNode *uniqueNode_D_1=NULL,*NodeArray_D_1=NULL;
int D_1Nums=allNodeNums_D/8;
nByte = 1ll * sizeof(OctNode) * D_1Nums;
CHECK(cudaMalloc((OctNode **)&uniqueNode_D_1,nByte));
CHECK(cudaMemset(uniqueNode_D_1,0,nByte));
int *NodeAddress_D_1=NULL;
nByte = 1ll * sizeof(int) * D_1Nums;
CHECK(cudaMalloc((int **)&NodeAddress_D_1,nByte));
CHECK(cudaMemset(NodeAddress_D_1,0,nByte));
int uniqueCount_D_1;
int allNodeNums_D_1;
KeyValue *uniqueNode_D_1_Idx_To_NodeArray_D_Idx=NULL;
pipelineUniqueNode_D_1(uniqueNode_D,NodeAddress_D,uniqueCount_D,NodeArray_D,allNodeNums_D,depthD,
uniqueNode_D_1,uniqueCount_D_1,uniqueNode_D_1_Idx_To_NodeArray_D_Idx);
pipelineNodeAddress_D_1(uniqueNode_D_1,uniqueCount_D_1,depthD,
NodeAddress_D_1);
if(depthD>1) {
int lastAddrD_1;
CHECK(cudaMemcpy(&lastAddrD_1, NodeAddress_D_1 + uniqueCount_D_1 - 1, sizeof(int), cudaMemcpyDeviceToHost));
allNodeNums_D_1 = lastAddrD_1 + 8;
nByte = 1ll * sizeof(OctNode) * allNodeNums_D_1;
CHECK(cudaMalloc((OctNode **) &NodeArray_D_1, nByte));
CHECK(cudaMemset(NodeArray_D_1, 0, nByte));
// update NodeArray_D's parent in this global function
generateNodeArrayD_1<<<grid, block>>>(uniqueNode_D_1, NodeAddress_D_1, NodeArray_D_1, uniqueCount_D_1, depthD,uniqueNode_D_1_Idx_To_NodeArray_D_Idx,NodeArray_D);
cudaDeviceSynchronize();
}else{
// D=1, D_1=0
// the parent of NodeArray_D = 0, don't need to update
allNodeNums_D_1 = 1;
NodeArray_D_1=uniqueNode_D_1;
}
NodeArrays[depthD-1]=NodeArray_D_1;
NodeArray_D=NodeArray_D_1;
// nByte = 1ll * sizeof(OctNode) *uniqueCount_D_1;
// OctNode *h=(OctNode*)malloc(nByte);
// cudaMemcpy(h,uniqueNode_D_1,nByte,cudaMemcpyDeviceToHost);
// for(int i=0;i<uniqueCount_D_1;++i){
// std::cout<<std::bitset<32>(h[i].key)<<" pidx:"<<h[i].pidx<<" pnum:"<<h[i].pnum<<std::endl;
// }
// printf("depth:%d uniqueNode:%d NodeArray:%d\n",depthD,uniqueCount_D_1, allNodeNums_D_1);
cudaFree(uniqueNode_D);
uniqueNode_D=uniqueNode_D_1;
cudaFree(NodeAddress_D);
NodeAddress_D=NodeAddress_D_1;
uniqueCount_D=uniqueCount_D_1;
allNodeNums_D=allNodeNums_D_1;
}
NodeArrayCount_h[0]=1;
for(int i=1;i<=maxDepth_h;++i){
BaseAddressArray_h[i]=BaseAddressArray_h[i-1]+NodeArrayCount_h[i-1];
// printf("%d %d\n",BaseAddressArray_h[i],NodeArrayCount_h[i]);
}
nByte = 1ll * sizeof(int)*(maxDepth_h+1);
// int *NodeArrayCount_d=NULL;
// CHECK(cudaMalloc((int **)&NodeArrayCount_d,nByte));
// CHECK(cudaMemcpy(NodeArrayCount_d,NodeArrayCount_h,nByte,cudaMemcpyHostToDevice));
int *BaseAddressArray_d=NULL;
CHECK(cudaMalloc((int **)&BaseAddressArray_d,nByte));
CHECK(cudaMemcpy(BaseAddressArray_d,BaseAddressArray_h,nByte,cudaMemcpyHostToDevice));
nByte = 1ll * sizeof(OctNode)*(BaseAddressArray_h[maxDepth_h]+NodeArrayCount_h[maxDepth_h]);
// printf("%d\n",BaseAddressArray[maxDepth_h]+NodeArrayCount_h[maxDepth_h]);
CHECK(cudaMalloc((OctNode **)&NodeArray,nByte));
for(int i=0;i<=maxDepth_h;++i){
CHECK(cudaMemcpy(NodeArray+BaseAddressArray_h[i],NodeArrays[i],sizeof(OctNode) * NodeArrayCount_h[i], cudaMemcpyDeviceToDevice ));
cudaFree(NodeArrays[i]);
}
NodeArray_sz=(BaseAddressArray_h[maxDepth_h]+NodeArrayCount_h[maxDepth_h]);
updateParentChildren<<<grid,block>>>(BaseAddressArray_d,NodeArray,NodeArray_sz);
cudaDeviceSynchronize();
updateEmptyNodeInfo<<<grid,block>>>(BaseAddressArray_d,NodeArray,NodeArray_sz);
cudaDeviceSynchronize();
cudaFree(BaseAddressArray_d);
int Node_0_Neighs[27];
for(int i=0;i<27;++i)
Node_0_Neighs[i]=-1;
Node_0_Neighs[13]=0;
CHECK(cudaMemcpy(NodeArray[0].neighs,Node_0_Neighs,sizeof(int) * 27,cudaMemcpyHostToDevice));
for(int depth=1;depth<=maxDepth_h;++depth){
computeNeighbor<<<grid,block>>>(NodeArray,BaseAddressArray_h[depth],BaseAddressArray_h[depth]+NodeArrayCount_h[depth],depth);
cudaDeviceSynchronize();
}
// OctNode *a=(OctNode *)malloc(sizeof(OctNode)*NodeArray_sz);
// cudaMemcpy(a,NodeArray,sizeof(OctNode)*(BaseAddressArray_h[maxDepth_h]+NodeArrayCount_h[maxDepth_h]),cudaMemcpyDeviceToHost);
// for(int j=0;j<=2;++j) {
// int all=0;
// for (int i = BaseAddressArray_h[j]; i < BaseAddressArray_h[j]+10; ++i) {
//// if(a[i].pnum==0) continue;
// all+=a[i].dnum;
// std::cout << i << " " <<std::bitset<32>(a[i].key) << " pidx:" << a[i].pidx << " pnum:" << a[i].pnum << " parent:"
// << a[i].parent << " didx:"<< a[i].didx << " dnum:" << a[i].dnum << std::endl;
// for(int k=0;k<8;++k){
// printf("children[%d]:%d ",k,a[i].children[k]);
// }
// puts("");
// for(int k=0;k<27;++k){
// printf("neigh[%d]:%d ",k,a[i].neighs[k]);
// }
// puts("");
// }
// printf("allD:%d\n",all);
// std::cout<<std::endl;
// }
double ed=cpuSecond();
printf("GPU NodeArray build takes:%lfs\n",ed-mid);
}
__host__ __device__ int getDepth(const int& idxOfNodeArray,int *&BaseAddressArray){
int depth=0;
#if defined(__CUDA_ARCH__)
for(depth=0;depth<maxDepth;++depth){
if(BaseAddressArray[depth] <= idxOfNodeArray && BaseAddressArray[depth+1] > idxOfNodeArray){
break;
}
}
#elif !defined(__CUDA_ARCH__)
for(depth=0;depth<maxDepth_h;++depth){
if(BaseAddressArray[depth] <= idxOfNodeArray && BaseAddressArray[depth+1] > idxOfNodeArray){
break;
}
}
#endif
return depth;
}
__host__ __device__ void getFunctionIdxOfNode(const int& key,const int &depthD,int idx[3]){
idx[0]=(1<<depthD)-1;
idx[1]=idx[0];
idx[2]=idx[1];
#if defined(__CUDA_ARCH__)
for(int depth=depthD;depth >= 1;--depth){
int sonKeyX = ( key >> (3 * (maxDepth-depth) + 2) ) & 1;
int sonKeyY = ( key >> (3 * (maxDepth-depth) + 1) ) & 1;
int sonKeyZ = ( key >> (3 * (maxDepth-depth)) ) & 1;
idx[0] += sonKeyX * (1<<(depthD-depth));
idx[1] += sonKeyY * (1<<(depthD-depth));
idx[2] += sonKeyZ * (1<<(depthD-depth));
}
// if(depthD==2) {
// printf("%d %d %d\n",idx[0],idx[1],idx[2]);
// }
#elif !defined(__CUDA_ARCH__)
for(int depth=depthD;depth >= 1;--depth){
int sonKeyX = ( key >> (3 * (maxDepth_h-depth) + 2) ) & 1;
int sonKeyY = ( key >> (3 * (maxDepth_h-depth) + 1) ) & 1;
int sonKeyZ = ( key >> (3 * (maxDepth_h-depth)) ) & 1;
idx[0] += sonKeyX * (1<<(depthD-depth));
idx[1] += sonKeyY * (1<<(depthD-depth));
idx[2] += sonKeyZ * (1<<(depthD-depth));
}
#endif
}
__host__ __device__ void getEncodedFunctionIdxOfNode(const int& key,const int &depthD,int *idx){
#if defined(__CUDA_ARCH__)
*idx = ((1<<depthD)-1)*(1+(1<<(maxDepth+1))+(1<<(2*(maxDepth+1))) );
for(int depth=depthD;depth >= 1;--depth){
int sonKeyX = ( key >> (3 * (maxDepth-depth) + 2) ) & 1;
int sonKeyY = ( key >> (3 * (maxDepth-depth) + 1) ) & 1;
int sonKeyZ = ( key >> (3 * (maxDepth-depth)) ) & 1;
*idx += sonKeyX * (1<<(depthD-depth)) +
sonKeyY * (1<<(depthD-depth)) * (1<<(maxDepth+1)) +
sonKeyZ * (1<<(depthD-depth)) * (1<<(2*(maxDepth+1)));
}
#elif !defined(__CUDA_ARCH__)
*idx = ((1<<depthD)-1)*(1+(1<<maxDepth_h)+(1<<(2*maxDepth_h)) );
for(int depth=depthD;depth >= 1;--depth){
int sonKeyX = ( key >> (3 * (maxDepth_h-depth) + 2) ) & 1;
int sonKeyY = ( key >> (3 * (maxDepth_h-depth) + 1) ) & 1;
int sonKeyZ = ( key >> (3 * (maxDepth_h-depth)) ) & 1;
*idx += sonKeyX * (1<<(depthD-depth)) +
sonKeyY * (1<<(depthD-depth)) * (1<<maxDepth_h) +
sonKeyZ * (1<<(depthD-depth)) * (1<<(2*maxDepth_h));
}
#endif
}
__device__ float F_center_width_Point(const ConfirmedPPolynomial<convTimes,convTimes+2> &BaseFunctionMaxDepth_d,const Point3D<float> ¢er,const float &width,const Point3D<float> &point){
ConfirmedPPolynomial<convTimes,convTimes+2> thisFunction_X = BaseFunctionMaxDepth_d.shift(center.coords[0]);
ConfirmedPPolynomial<convTimes,convTimes+2> thisFunction_Y = BaseFunctionMaxDepth_d.shift(center.coords[1]);
ConfirmedPPolynomial<convTimes,convTimes+2> thisFunction_Z = BaseFunctionMaxDepth_d.shift(center.coords[2]);
float x=value(thisFunction_X,point.coords[0]);
float y=value(thisFunction_Y,point.coords[1]);
float z=value(thisFunction_Z,point.coords[2]);
float ret = x*y*z;
switch(normalize){
case 2:
ret/=sqrt(1.0/(1<<(maxDepth)) );
break;
case 1:
ret/= 1.0/(1<<(maxDepth)) ;
break;
}
return ret;
}
__global__ void computeVectorField(ConfirmedPPolynomial<convTimes,convTimes+2> *BaseFunctionMaxDepth_d,Point3D<float> *samplePoints_d,Point3D<float> *sampleNormals_d,OctNode *NodeArray,int left,int right,Point3D<float> *VectorField){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
offset+=left;
for(int i=offset;i<right;i+=stride){
int idx[3];
float width;
getFunctionIdxOfNode(NodeArray[i].key,maxDepth,idx);
Point3D<float> o_c;
BinaryNode<float>::CenterAndWidth(idx[0],o_c.coords[0],width);
BinaryNode<float>::CenterAndWidth(idx[1],o_c.coords[1],width);
BinaryNode<float>::CenterAndWidth(idx[2],o_c.coords[2],width);
int IdxInMaxDepth=i-left;
Point3D<float> val;
for(int j=0;j<27;++j){
int neigh=NodeArray[i].neighs[j];
if(neigh!=-1){
for(int k=0;k<NodeArray[neigh].pnum;++k){
int pointIdx=NodeArray[neigh].pidx+k;
float weight= F_center_width_Point(*BaseFunctionMaxDepth_d,samplePoints_d[pointIdx],width,o_c);
val.coords[0] += weight * sampleNormals_d[pointIdx].coords[0];
val.coords[1] += weight * sampleNormals_d[pointIdx].coords[1];
val.coords[2] += weight * sampleNormals_d[pointIdx].coords[2];
}
}
}
VectorField[IdxInMaxDepth].coords[0] += val.coords[0];
VectorField[IdxInMaxDepth].coords[1] += val.coords[1];
VectorField[IdxInMaxDepth].coords[2] += val.coords[2];
// printf("%d %f\n",IdxInMaxDepth,VectorField[IdxInMaxDepth].coords[0]);
}
}
__host__ __device__ float DotProduct(const Point3D<float> &p1,const Point3D<float> &p2){
float res=0;
res += p1.coords[0]*p2.coords[0];
res += p1.coords[1]*p2.coords[1];
res += p1.coords[2]*p2.coords[2];
return res;
}
//deprecated
__global__ void precomputeFunctionIdxOfNode(int *BaseAddressArray_d,OctNode *NodeArray,int NodeArray_sz,int *NodeIdxInFunction){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
for(int i=offset;i<NodeArray_sz;i+=stride){
int depthD= getDepth(i,BaseAddressArray_d);
getFunctionIdxOfNode(NodeArray[i].key,depthD,NodeIdxInFunction+3*i);
}
}
__global__ void precomputeEncodedFunctionIdxOfNode(int *BaseAddressArray_d,OctNode *NodeArray,int NodeArray_sz,int *NodeIdxInFunction){
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;
for(int i=offset;i<NodeArray_sz;i+=stride){
int depthD= getDepth(i,BaseAddressArray_d);
getEncodedFunctionIdxOfNode(NodeArray[i].key,depthD,NodeIdxInFunction+i);
}
}
__global__ void precomputeEncodedFunctionIdxOfNode(OctNode *NodeArray,int NodeArray_sz,
int *DepthBuffer,int *NodeIdxInFunction)
{
int stride=gridDim.x * gridDim.y * gridDim.z * blockDim.x * blockDim.y * blockDim.z;
int blockId = (gridDim.x * blockIdx.y) + blockIdx.x;
int offset= (blockId * (blockDim.x * blockDim.y)) + (threadIdx.y * blockDim.x) + threadIdx.x;