From 7bfea39bbb778a019943428e58ffe7bb3c928d3e Mon Sep 17 00:00:00 2001 From: Foo Date: Fri, 5 Apr 2024 20:57:12 +0200 Subject: [PATCH 1/2] LICENSE added CI script updated code improvements --- .github/workflows/runTests.yml | 19 +- .gitignore | 1 + CMakeLists.txt | 20 +- LICENSE | 674 ++++++++++++++++++++++++ samples/CMakeLists.txt | 34 +- samples/Plotter.py | 16 +- samples/PlotterOld.py | 73 --- samples/Sample01.cpp | 7 +- samples/Sample02.cpp | 16 +- samples/utils/ImporterSTL.cpp | 72 --- samples/utils/ImporterSTL.h | 17 - samples/utils/Logger.cpp | 98 ---- src/CMakeLists.txt | 2 +- src/header/QuickHull/FastQuickHull.h | 1 - src/src/Definitions.h | 4 +- src/src/DistanceMapper.cpp | 87 +-- src/src/DistanceMapper.h | 51 +- src/src/FastQuickHull.cpp | 78 ++- src/src/PointCloud.cpp | 49 +- src/src/PointCloud.h | 18 +- tests/Animals.cpp | 13 - tests/CMakeLists.txt | 5 +- tests/Clouds.cpp | 24 - tests/MTEfficiency.cpp | 60 --- tests/Tests.cpp | 121 +++++ {samples => utils}/Animals/Dolphin.stl | 0 {samples => utils}/Animals/Eagle.stl | 0 {samples => utils}/Animals/Giraffe.stl | 0 {samples => utils}/Animals/Hyppo.stl | 0 {samples => utils}/Animals/Snake.stl | 0 utils/CMakeLists.txt | 15 + utils/Utils.cpp | 165 ++++++ samples/utils/Logger.h => utils/Utils.h | 10 +- 33 files changed, 1192 insertions(+), 558 deletions(-) create mode 100644 LICENSE delete mode 100644 samples/PlotterOld.py delete mode 100644 samples/utils/ImporterSTL.cpp delete mode 100644 samples/utils/ImporterSTL.h delete mode 100644 samples/utils/Logger.cpp delete mode 100644 tests/Animals.cpp delete mode 100644 tests/Clouds.cpp delete mode 100644 tests/MTEfficiency.cpp create mode 100644 tests/Tests.cpp rename {samples => utils}/Animals/Dolphin.stl (100%) rename {samples => utils}/Animals/Eagle.stl (100%) rename {samples => utils}/Animals/Giraffe.stl (100%) rename {samples => utils}/Animals/Hyppo.stl (100%) rename {samples => utils}/Animals/Snake.stl (100%) create mode 100644 utils/CMakeLists.txt create mode 100644 utils/Utils.cpp rename samples/utils/Logger.h => utils/Utils.h (80%) diff --git a/.github/workflows/runTests.yml b/.github/workflows/runTests.yml index 0e4f0de..307faf1 100644 --- a/.github/workflows/runTests.yml +++ b/.github/workflows/runTests.yml @@ -16,22 +16,31 @@ jobs: include: - name: ubuntu-gcc os: ubuntu-latest - compiler_opt: "-DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++ -G \"Unix Makefiles\"" + compiler_opt: "-DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++" + build_system: '-G Ninja' - name: ubuntu-clang os: ubuntu-latest - compiler_opt: "-DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -G \"Unix Makefiles\"" + compiler_opt: "-DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++" + build_system: '-G Ninja' - name: windows-VS os: windows-latest compiler_opt: "" + build_system: '' runs-on: ${{ matrix.os }} steps: - name: Checkout uses: actions/checkout@v2.0.0 - - name: Checkout submodules - run: git submodule update --init --recursive + - name: show HEAD + run: git rev-parse HEAD + - name: Install openMp + if: matrix.name == 'ubuntu-clang' + run: sudo apt-get update; sudo apt-get install -y libomp5 libomp-dev + - name: Install Ninja + if: matrix.build_system == '-G Ninja' + uses: seanmiddleditch/gha-setup-ninja@master - name: CMake configure - run: cmake -B./build -DCMAKE_INSTALL_PREFIX:STRING=./artifacts/ -DBUILD_QUICK_HULL_TESTS=ON -DCMAKE_CONFIGURATION_TYPES="Release" -DCMAKE_BUILD_TYPE:STRING=Release ${{ matrix.compiler_opt }} + run: cmake -B./build -DCMAKE_INSTALL_PREFIX:STRING=./artifacts/ -DFast-Quick-Hull-BUILD_SAMPLES=OFF -DFast-Quick-Hull-BUILD_TESTS=ON -DCMAKE_CONFIGURATION_TYPES="Release" -DCMAKE_BUILD_TYPE:STRING=Release ${{ matrix.build_system }} ${{ matrix.compiler_opt }} - name: Build run: cmake --build ./build --config Release - name: Install diff --git a/.gitignore b/.gitignore index 0bd7cf4..542e481 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,4 @@ bin build .vscode +TODO diff --git a/CMakeLists.txt b/CMakeLists.txt index df90985..9453027 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,18 +10,24 @@ include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/GroupSources.cmake) include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/AutoCollect.cmake) include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/MakeLibrary.cmake) -option(Fast-Quick-Hull-THREAD_POOL_OPT "thread pool enabled (ON) or disabled (OFF)" ON) project(Fast-Quick-Hull-Prj) -add_subdirectory(src) +option(Fast-Quick-Hull-THREAD_POOL_OPT "thread pool enabled (ON) or disabled (OFF)" ON) option(Fast-Quick-Hull-BUILD_SAMPLES "Build the samples showing how to use the package" ON) +option(Fast-Quick-Hull-BUILD_TESTS "" OFF) + +find_package(Python3 REQUIRED COMPONENTS Interpreter Development) + +add_subdirectory(src) + +if(Fast-Quick-Hull-BUILD_TESTS OR Fast-Quick-Hull-BUILD_SAMPLES) + add_subdirectory(utils) +endif() + if(Fast-Quick-Hull-BUILD_SAMPLES) - project(Fast-Quick-Hull-Samples) add_subdirectory(samples) endif() -option(BUILD_QUICK_HULL_TESTS "" OFF) -if(BUILD_QUICK_HULL_TESTS) - project(Fast-Quick-Hull-Tests) +if(Fast-Quick-Hull-BUILD_TESTS) add_subdirectory(tests) -endif() \ No newline at end of file +endif() diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..4842d81 --- /dev/null +++ b/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + + Copyright (C) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/samples/CMakeLists.txt b/samples/CMakeLists.txt index 3c6fdcb..6eb1a34 100644 --- a/samples/CMakeLists.txt +++ b/samples/CMakeLists.txt @@ -1,29 +1,13 @@ -add_library(Utils - ${CMAKE_CURRENT_SOURCE_DIR}/utils/ImporterSTL.h - ${CMAKE_CURRENT_SOURCE_DIR}/utils/ImporterSTL.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/utils/Logger.h - ${CMAKE_CURRENT_SOURCE_DIR}/utils/Logger.cpp -) - -target_include_directories(Utils PUBLIC - ${CMAKE_CURRENT_SOURCE_DIR}/utils -) - -target_link_libraries(Utils PUBLIC - Fast-Quick-Hull -) - -target_compile_definitions(Utils PRIVATE - -D ANIMALS_FOLDER="${CMAKE_CURRENT_SOURCE_DIR}/Animals/" -) - macro(MAKE_SAMPLE NAME) -add_executable(${NAME} ${NAME}.cpp) -target_link_libraries(${NAME} PUBLIC - Utils -) -add_custom_command(TARGET ${NAME} PRE_BUILD - COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/Plotter.py ${CMAKE_CURRENT_BINARY_DIR}/Plotter.py) + add_executable(${NAME} ${NAME}.cpp) + target_link_libraries(${NAME} PUBLIC + QuickHullUtils + ) + add_custom_command(TARGET ${NAME} PRE_BUILD + COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/Plotter.py ${CMAKE_CURRENT_BINARY_DIR}/Plotter.py) + target_compile_definitions(${NAME} PRIVATE + -D PYTHON_CMD="${Python3_EXECUTABLE}" + ) endmacro() diff --git a/samples/Plotter.py b/samples/Plotter.py index 1315937..aa55e39 100644 --- a/samples/Plotter.py +++ b/samples/Plotter.py @@ -12,10 +12,7 @@ from mpl_toolkits.mplot3d.art3d import Poly3DCollection import matplotlib.pyplot as plt -import json -import sys - - +import json, sys, os def get_json_from_file(name): with open(name) as json_file: @@ -77,10 +74,17 @@ def plot_STL(file, ax): scale = your_mesh.points.flatten() ax.auto_scale_xyz(scale, scale, scale) +def getPathName(filename): + base = os.path.basename(filename) + sep = base.find('.') + return base[0:sep] + logName = sys.argv[1] -stlLocation = sys.argv[2] fig = plt.figure() ax = fig.gca(projection='3d') plot_CH(logName, 'green', ax) -plot_STL(stlLocation, ax) +if 2 < len(sys.argv): + stlLocation = sys.argv[2] + plot_STL(stlLocation, ax) +ax.set_title(getPathName(logName)) plt.show() diff --git a/samples/PlotterOld.py b/samples/PlotterOld.py deleted file mode 100644 index 5db8848..0000000 --- a/samples/PlotterOld.py +++ /dev/null @@ -1,73 +0,0 @@ -# -*- coding: utf-8 -*- -""" -* Author: Andrea Casalino -* Created: 26.12.2019 -* -* report any bug to andrecasa91@gmail.com. -""" - -from mpl_toolkits.mplot3d.art3d import Poly3DCollection -import matplotlib.pyplot as plt -import json -import sys - - - -def get_json_from_file(name): - with open(name) as json_file: - return json.load(json_file) - -def plot_facet(Pa, Pb, Pc, ax, col, alp): - x = [Pa[0], Pb[0], Pc[0]] - y = [Pa[1], Pb[1], Pc[1]] - z = [Pa[2], Pb[2], Pc[2]] - ax.add_collection3d(Poly3DCollection([list(zip(x,y,z))], edgecolor='black', facecolors=col, alpha=alp, linewidth=0.2)) - -def plot_CH(file, color, ax): - data = get_json_from_file(file) - - Vx = [] - Vy = [] - Vz = [] - V = data['Cloud'] - for i in V: - Vx.append(i[0]) - Vy.append(i[1]) - Vz.append(i[2]) - ax.plot(Vx ,Vy ,Vz , '.r') - - for index in data['Index']: - plot_facet(data['Cloud'][index[0]], data['Cloud'][index[1]], data['Cloud'][index[2]], ax, color, 0.5) - - x_lim = [0,0] - y_lim = [0,0] - z_lim = [0,0] - for c in data['Cloud']: - if(c[0] < x_lim[0]): - x_lim[0] = c[0] - if(c[0] > x_lim[1]): - x_lim[1] = c[0] - - if(c[1] < y_lim[0]): - y_lim[0] = c[1] - if(c[1] > y_lim[1]): - y_lim[1] = c[1] - - if(c[2] < z_lim[0]): - z_lim[0] = c[2] - if(c[2] > z_lim[1]): - z_lim[1] = c[2] - - lim = [min(x_lim[0],y_lim[0],z_lim[0]), max(x_lim[1],y_lim[1],z_lim[1])] - - ax.set_xlim3d(lim[0], lim[1]) - ax.set_ylim3d(lim[0], lim[1]) - ax.set_zlim3d(lim[0], lim[1]) - - - -logName = sys.argv[1] -fig = plt.figure() -ax = fig.gca(projection='3d') -plot_CH(logName, 'green', ax) -plt.show() \ No newline at end of file diff --git a/samples/Sample01.cpp b/samples/Sample01.cpp index 0a798a1..26dd3ec 100644 --- a/samples/Sample01.cpp +++ b/samples/Sample01.cpp @@ -5,7 +5,8 @@ * report any bug to andrecasa91@gmail.com. **/ -#include +#include + #include int main() { @@ -23,8 +24,8 @@ int main() { logConvexhull(convex_hull_facets_incidences, convex_hull_normals, cloud, "Sample01.json"); - std::cout << "call 'python Plotter.py Sample01.json' to see results" - << std::endl; + std::cout << "call '" << PYTHON_CMD + << " Plotter.py Sample01.json' to see results" << std::endl; return EXIT_SUCCESS; } diff --git a/samples/Sample02.cpp b/samples/Sample02.cpp index f6ad665..c289260 100644 --- a/samples/Sample02.cpp +++ b/samples/Sample02.cpp @@ -5,7 +5,8 @@ * report any bug to andrecasa91@gmail.com. **/ -#include +#include + #include int main() { @@ -22,12 +23,11 @@ int main() { stlNames.push_back("Snake"); // 3691 vertices stlNames.push_back("Eagle"); // 4271 vertices - for (auto it = stlNames.begin(); it != stlNames.end(); ++it) { - std::cout << "computing convex hull of " << *it; + for (const auto &name : stlNames) { + std::cout << "computing convex hull of " << name; // import the stl describing the shape of this animal - const std::string stl_location = getAnimalSTLLocation(*it); - const auto vertices_cloud = importSTL(stl_location); + const auto vertices_cloud = importAnimalStl(name); // compute the convex hull of of the imported vertices cloud std::vector convex_hull_normals; @@ -38,10 +38,10 @@ int main() { // Log the result into a textual file, which can be visualized // running the python script Plotter.py logConvexhull(convex_hull_facets_incidences, convex_hull_normals, - vertices_cloud, *it + ".json"); + vertices_cloud, name + ".json"); std::cout << " done" << std::endl; - std::cout << "call 'python Plotter.py " << *it << ".json " << stl_location - << "' to see results" << std::endl + std::cout << "call '" << PYTHON_CMD << " Plotter.py " << name << ".json " + << getAnimalStlPath(name) << "' to see results" << std::endl << std::endl; } diff --git a/samples/utils/ImporterSTL.cpp b/samples/utils/ImporterSTL.cpp deleted file mode 100644 index c625144..0000000 --- a/samples/utils/ImporterSTL.cpp +++ /dev/null @@ -1,72 +0,0 @@ -/** - * Author: Andrea Casalino - * Created: 03.12.2019 - * - * report any bug to andrecasa91@gmail.com. - **/ - -#include "ImporterSTL.h" - -#include -#include -#include - -#include -#include - -constexpr float TOLLERANCE_CLONE = static_cast(1e-4); -constexpr float TOLLERANCE_CLONE_SQUARED = TOLLERANCE_CLONE * TOLLERANCE_CLONE; - -std::vector splitta_riga(const std::string &riga) { - std::istringstream iss(riga); - std::vector slices; - while (!iss.eof()) { - iss >> slices.emplace_back(); - } - return slices; -} - -float squared_distance(const Vector3d &a, const Vector3d &b) { - float distance = std::pow(a.x() - b.x(), 2.f); - distance += std::pow(a.y() - b.y(), 2.f); - distance += std::pow(a.z() - b.z(), 2.f); - return distance; -} - -std::vector importSTL(const std::string &stlFileName) { - std::vector imported_vertices; - - std::ifstream f(stlFileName); - if (!f.is_open()) - throw std::runtime_error{"Invalid stl file"}; - - while (!f.eof()) { - std::string line; - std::getline(f, line); - auto slices = splitta_riga(line); - if ((!slices.empty()) && (slices.front() == "vertex")) { - if (slices.size() != 4) { - throw std::runtime_error{"Invalid line inside stl file"}; - } - Vector3d maybe_new_vertex = - Vector3d{static_cast(atof(slices[1].c_str())), - static_cast(atof(slices[2].c_str())), - static_cast(atof(slices[3].c_str()))}; - - auto vertices_clone_it = - std::find_if(imported_vertices.begin(), imported_vertices.end(), - [&maybe_new_vertex](const Vector3d &v) { - return squared_distance(maybe_new_vertex, v) <= - TOLLERANCE_CLONE_SQUARED; - }); - if (vertices_clone_it == imported_vertices.end()) { - imported_vertices.push_back(maybe_new_vertex); - } - } - } - return imported_vertices; -} - -std::string getAnimalSTLLocation(const std::string &animalName) { - return std::string(ANIMALS_FOLDER + animalName + ".stl"); -} diff --git a/samples/utils/ImporterSTL.h b/samples/utils/ImporterSTL.h deleted file mode 100644 index 49c7181..0000000 --- a/samples/utils/ImporterSTL.h +++ /dev/null @@ -1,17 +0,0 @@ -/** - * Author: Andrea Casalino - * Created: 03.12.2019 - * - * report any bug to andrecasa91@gmail.com. - **/ - -#pragma once - -#include "Logger.h" - -/** @brief Import an .STL file (https://en.wikipedia.org/wiki/STL_(file_format) - * as a point cloud of vertices. - */ -std::vector importSTL(const std::string &stlFileName); - -std::string getAnimalSTLLocation(const std::string &animalName); diff --git a/samples/utils/Logger.cpp b/samples/utils/Logger.cpp deleted file mode 100644 index 81779d9..0000000 --- a/samples/utils/Logger.cpp +++ /dev/null @@ -1,98 +0,0 @@ -/** - * Author: Andrea Casalino - * Created: 03.12.2019 - * - * report any bug to andrecasa91@gmail.com. - **/ - -#include "Logger.h" -#include -#include -#include - -hull::Coordinate to_hull_coordinate(const Vector3d &to_convert) { - return hull::Coordinate{to_convert.x(), to_convert.y(), to_convert.z()}; -} - -template -void append_vector(std::ofstream &stream, const std::vector &collection, - const ValueExtractor &extractor) { - auto append_element = [&stream, &extractor](const T &element) { - stream << '[' << std::to_string(extractor(element, 0)) << ',' - << std::to_string(extractor(element, 1)) << ',' - << std::to_string(extractor(element, 2)) << ']' << std::endl; - }; - - stream << '[' << std::endl; - if (!collection.empty()) { - auto collection_it = collection.begin(); - append_element(*collection_it); - ++collection_it; - std::for_each(collection_it, collection.end(), - [&append_element, &stream](const T &element) { - stream << ','; - append_element(element); - }); - } - stream << ']' << std::endl; -} - -void logConvexhull(const std::vector &facets_incidences, - const std::vector &convex_hull_normals, - const std::vector &cloud, - const std::string &fileName) { - std::ofstream f(fileName); - if (!f.is_open()) - return; - - f << '{' << std::endl; - f << "\"Cloud\":"; - append_vector(f, cloud, [](const Vector3d &element, const std::size_t index) { - switch (index) { - case 0: - return element.x(); - case 1: - return element.y(); - default: - break; - } - return element.z(); - }); - f << ",\"Index\":"; - append_vector(f, facets_incidences, - [](const qh::FacetIncidences &element, - const std::size_t index) { return element[index]; }); - f << ",\"Normals\":"; - append_vector(f, convex_hull_normals, - [](const hull::Coordinate &element, const std::size_t index) { - switch (index) { - case 0: - return element.x; - case 1: - return element.y; - default: - break; - } - return element.z; - }); - f << '}'; -} - -float sample() { - return 2.f * static_cast(rand()) / static_cast(RAND_MAX) - 1.f; -} - -static bool reset_seed = true; - -std::vector sampleCloud(const std::size_t size) { - if (reset_seed) { - srand(0); - reset_seed = false; - } - std::vector result; - result.reserve(size); - for (std::size_t k = 0; k < size; ++k) { - result.emplace_back(sample(), sample(), sample()); - } - return result; -} diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 58f6b24..de413eb 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -3,7 +3,7 @@ include(FetchContent) FetchContent_Declare( hull GIT_REPOSITORY https://github.com/andreacasalino/Hull.git - GIT_TAG 90f09a1baefcfe02ef8d5a3cb44a42536efe5060 + GIT_TAG bed032cbfb6c9f36ff581ca132803a250809d37e ) FetchContent_MakeAvailable(hull) diff --git a/src/header/QuickHull/FastQuickHull.h b/src/header/QuickHull/FastQuickHull.h index 4414c43..ffdb8ac 100644 --- a/src/header/QuickHull/FastQuickHull.h +++ b/src/header/QuickHull/FastQuickHull.h @@ -84,7 +84,6 @@ convex_hull(const VerticesIterator &vertices_begin, std::vector &convex_hull_normals, const ConvexHullContext &cntx = ConvexHullContext{}) { std::vector points; - points.reserve(std::distance(vertices_begin, vertices_end)); std::for_each(vertices_begin, vertices_end, [&points, &converter](const auto &element) { points.push_back(converter(element)); diff --git a/src/src/Definitions.h b/src/src/Definitions.h index baa6bdb..fbab9ae 100644 --- a/src/src/Definitions.h +++ b/src/src/Definitions.h @@ -1,7 +1,7 @@ #pragma once namespace qh { -constexpr float QHULL_GEOMETRIC_TOLLERANCE = static_cast(1e-3); -constexpr float QHULL_GEOMETRIC_TOLLERANCE_SQUARED = +static constexpr float QHULL_GEOMETRIC_TOLLERANCE = static_cast(1e-3); +static constexpr float QHULL_GEOMETRIC_TOLLERANCE_SQUARED = QHULL_GEOMETRIC_TOLLERANCE * QHULL_GEOMETRIC_TOLLERANCE; } // namespace qh diff --git a/src/src/DistanceMapper.cpp b/src/src/DistanceMapper.cpp index 0387d55..580c416 100644 --- a/src/src/DistanceMapper.cpp +++ b/src/src/DistanceMapper.cpp @@ -9,63 +9,66 @@ #include namespace qh { - -void DistanceMapper::updateAddedFacet(const hull::Facet *facet) { - auto result = cloud.getFarthest( - last_notification->context.vertices[facet->vertexA], facet->normal); - if (std::nullopt != result) { - std::scoped_lock map_lock(maps_mtx); - facets_distances_map[facet] = result->distance; - distances_facets_map.emplace(result->distance, - FacetAndFarthestVertex{facet, result->vertex}); +namespace { +struct Guard { + Guard(std::atomic_bool &lock) : lock_{lock} { + while (true) { + bool expected = true; + if (lock_.compare_exchange_strong( + expected, false, std::memory_order::memory_order_acquire)) { + break; + } + } } -} + ~Guard() { lock_.store(true, std::memory_order::memory_order_release); } -void DistanceMapper::updateChangedFacet(const hull::Facet *facet) { - auto result = cloud.getFarthest( - last_notification->context.vertices[facet->vertexA], facet->normal); - updateRemovedFacet(facet); - if (std::nullopt != result) { - std::scoped_lock map_lock(maps_mtx); - facets_distances_map[facet] = result->distance; - distances_facets_map.emplace(result->distance, - FacetAndFarthestVertex{facet, result->vertex}); - } -} +private: + std::atomic_bool &lock_; +}; +} // namespace -void DistanceMapper::updateRemovedFacet(const hull::Facet *facet) { - std::scoped_lock map_lock(maps_mtx); - auto facets_distances_map_it = facets_distances_map.find(facet); - if (facets_distances_map_it == facets_distances_map.end()) { - return; +std::optional +DistanceMapper::recompute(const hull::Facet *facet) const { + const auto &point = last_notification->context.vertices[facet->vertexA]; + auto info = cloud.getFarthest(point, facet->normal); + std::optional res; + if (info.has_value()) { + res.emplace(FacetVertexDistance{facet, info->vertex, info->distance}); } - auto range = - distances_facets_map.equal_range(facets_distances_map_it->second); - for (auto distances_facets_map_it = range.first; - distances_facets_map_it != range.second; ++distances_facets_map_it) { - if (distances_facets_map_it->second.facet == facet) { - distances_facets_map.erase(distances_facets_map_it); - break; - } - } - facets_distances_map.erase(facets_distances_map_it); + return res; } -void DistanceMapper::update() { -// changed facets +void DistanceMapper::processLastUpdate() { + // changed facets #pragma omp for for (int i = 0; i < last_notification->changed.size(); ++i) { - updateChangedFacet(last_notification->changed[i]); + const auto *facet = last_notification->changed[i]; + auto info = recompute(facet); + Guard guard{spin_lock}; + auto it = facets_table.find(facet); + distances.erase(it->second); + if (info.has_value()) { + it->second = distances.emplace(info.value()); + } } // added facets #pragma omp for for (int i = 0; i < last_notification->added.size(); ++i) { - updateAddedFacet(last_notification->added[i]); + const auto *facet = last_notification->added[i]; + auto info = recompute(facet); + if (info.has_value()) { + Guard guard{spin_lock}; + facets_table[facet] = distances.emplace(info.value()); + } } -// removed facets + // removed facets #pragma omp for for (int i = 0; i < last_notification->removed.size(); ++i) { - updateRemovedFacet(last_notification->removed[i].get()); + const auto *facet = last_notification->removed[i]; + Guard guard{spin_lock}; + auto it = facets_table.find(facet); + distances.erase(it->second); + facets_table.erase(it); } } } // namespace qh diff --git a/src/src/DistanceMapper.h b/src/src/DistanceMapper.h index d230a98..5c2bc1c 100644 --- a/src/src/DistanceMapper.h +++ b/src/src/DistanceMapper.h @@ -12,42 +12,47 @@ #include "PointCloud.h" -#include -#include -#include +#include +#include +#include +#include namespace qh { -struct FacetAndFarthestVertex { - const hull::Facet *facet; - std::size_t vertex_index; -}; -using DistancesFacetsMap = - std::multimap>; - class DistanceMapper : public hull::Observer { public: DistanceMapper(const PointCloud &cloud) : cloud(cloud){}; - void update(); + void processLastUpdate(); + + struct FacetVertexDistance { + const hull::Facet *facet; + std::size_t vertex_index; + float distance; + + bool operator<(const FacetVertexDistance &o) const { + return distance < o.distance; + } + }; + + using Distances = std::multiset; - const DistancesFacetsMap &getDistancesFacetsMap() const { - return distances_facets_map; + const FacetVertexDistance *getBest() const { + return distances.empty() ? nullptr : &(*distances.rbegin()); + } + + void hullChanges(const hull::Observer::Notification ¬ification) override { + last_notification.emplace(notification); }; protected: const PointCloud &cloud; - std::unique_ptr last_notification; - void hullChanges(Notification &¬ification) override { - last_notification = std::make_unique(std::move(notification)); - }; + std::optional last_notification; - void updateAddedFacet(const hull::Facet *facet); - void updateChangedFacet(const hull::Facet *facet); - void updateRemovedFacet(const hull::Facet *facet); + std::atomic_bool spin_lock = true; + std::unordered_map facets_table; + Distances distances; - std::mutex maps_mtx; - DistancesFacetsMap distances_facets_map; - std::map facets_distances_map; + std::optional recompute(const hull::Facet *facet) const; }; } // namespace qh diff --git a/src/src/FastQuickHull.cpp b/src/src/FastQuickHull.cpp index 1ad660c..6ff4e95 100644 --- a/src/src/FastQuickHull.cpp +++ b/src/src/FastQuickHull.cpp @@ -11,8 +11,8 @@ #include "DistanceMapper.h" #include -#include #include +#include namespace qh { namespace { @@ -41,7 +41,8 @@ int get_pool_size(const std::optional &thread_pool_size) { return pool_size; } -using HullIndexVSPointCloudIndexMap = std::map; +using HullIndexVSPointCloudIndexMap = + std::unordered_map; hull::Hull convex_hull_(PointCloud &points, const ConvexHullContext &cntx, HullIndexVSPointCloudIndexMap &indices_map) { @@ -49,58 +50,55 @@ hull::Hull convex_hull_(PointCloud &points, const ConvexHullContext &cntx, indices_map.clear(); auto initial_tethraedron = points.getInitialTethraedron(); - hull::Hull hull(points.accessVertex(initial_tethraedron[0]), - points.accessVertex(initial_tethraedron[1]), - points.accessVertex(initial_tethraedron[2]), - points.accessVertex(initial_tethraedron[3]), mapper); + hull::Hull hull(points.points[initial_tethraedron[0]], + points.points[initial_tethraedron[1]], + points.points[initial_tethraedron[2]], + points.points[initial_tethraedron[3]], mapper); indices_map.emplace(0, initial_tethraedron[0]); indices_map.emplace(1, initial_tethraedron[1]); indices_map.emplace(2, initial_tethraedron[2]); indices_map.emplace(3, initial_tethraedron[3]); - bool life = true; + std::atomic_bool life = true; auto pool_size = get_pool_size(cntx.thread_pool_size); #pragma omp parallel num_threads(pool_size) { auto th_id = omp_get_thread_num(); if (0 == th_id) { for (const auto index : initial_tethraedron) { - points.invalidateVertex(index); + points.closeVertex(index); } #pragma omp barrier - mapper.update(); + mapper.processLastUpdate(); #pragma omp barrier - for (std::size_t iteration = 0; (iteration <= cntx.max_iterations) && - (!mapper.getDistancesFacetsMap().empty()); + for (std::size_t iteration = 0; iteration <= cntx.max_iterations; ++iteration) { - const auto &[facet, vertex] = - mapper.getDistancesFacetsMap().begin()->second; - auto facets_it = - std::find_if(hull.getFacets().begin(), hull.getFacets().end(), - [&facet = facet](const hull::FacetPtr &element) { - return facet == element.get(); - }); - indices_map.emplace(hull.getVertices().size(), vertex); - hull.update(points.accessVertex(vertex), - std::distance(hull.getFacets().begin(), facets_it)); - points.invalidateVertex(vertex); + const auto *furthest = mapper.getBest(); + if (furthest == nullptr) { + break; + } + indices_map.emplace(hull.getContext().vertices.size(), + furthest->vertex_index); + hull.update(points.points[furthest->vertex_index], + const_cast(furthest->facet)); + points.closeVertex(furthest->vertex_index); #pragma omp barrier - mapper.update(); + mapper.processLastUpdate(); #pragma omp barrier } - life = false; + life.store(false); #pragma omp barrier } else { while (true) { #pragma omp barrier - if (!life) { + if (!life.load()) { break; } - mapper.update(); + mapper.processLastUpdate(); #pragma omp barrier - }; + } } } @@ -108,23 +106,23 @@ hull::Hull convex_hull_(PointCloud &points, const ConvexHullContext &cntx, } std::vector -get_indices(const hull::Facets &faces, +get_indices(const hull::HullContext &ctxt, const HullIndexVSPointCloudIndexMap &indices_map) { std::vector result; - result.reserve(faces.size()); - for (const auto &face : faces) { - result.push_back(FacetIncidences{indices_map.find(face->vertexA)->second, - indices_map.find(face->vertexB)->second, - indices_map.find(face->vertexC)->second}); + result.reserve(ctxt.faces.size()); + for (const auto &face : ctxt.faces) { + result.emplace_back(FacetIncidences{indices_map.at(face->vertexA), + indices_map.at(face->vertexB), + indices_map.at(face->vertexC)}); } return result; } -std::vector get_normals(const hull::Facets &faces) { +std::vector get_normals(const hull::HullContext &ctxt) { std::vector result; - result.reserve(faces.size()); - for (const auto &face : faces) { - result.push_back(face->normal); + result.reserve(ctxt.faces.size()); + for (const auto &face : ctxt.faces) { + result.emplace_back(face->normal); } return result; } @@ -136,7 +134,7 @@ convex_hull(const std::vector &points, PointCloud cloud(points); HullIndexVSPointCloudIndexMap indices_map; auto hull = convex_hull_(cloud, cntx, indices_map); - return get_indices(hull.getFacets(), indices_map); + return get_indices(hull.getContext(), indices_map); } std::vector @@ -146,8 +144,8 @@ convex_hull(const std::vector &points, PointCloud cloud(points); HullIndexVSPointCloudIndexMap indices_map; auto hull = convex_hull_(cloud, cntx, indices_map); - convex_hull_normals = get_normals(hull.getFacets()); - return get_indices(hull.getFacets(), indices_map); + convex_hull_normals = get_normals(hull.getContext()); + return get_indices(hull.getContext(), indices_map); } } // namespace qh diff --git a/src/src/PointCloud.cpp b/src/src/PointCloud.cpp index 2955d47..e15372b 100644 --- a/src/src/PointCloud.cpp +++ b/src/src/PointCloud.cpp @@ -9,7 +9,9 @@ PointCloud::PointCloud(const std::vector &points) if (points.size() < 4) { throw Error{"The point cloud should have at least 4 points"}; } - points_still_free = std::vector(points.size(), true); + for (std::size_t k = 0; k < points.size(); ++k) { + open_set[&points[k]] = k; + } } namespace { @@ -28,13 +30,11 @@ PointCloud::getFarthest(const hull::Coordinate &point_on_facet, PointCloud::FarthestVertex result = PointCloud::FarthestVertex{0, QHULL_GEOMETRIC_TOLLERANCE}; float distance; - for (std::size_t pos = 0; pos < points.size(); ++pos) { - if (points_still_free[pos]) { - distance = get_vertex_distance(point_on_facet, facet_normal, points[pos]); - if (result.distance < distance) { - result.distance = distance; - result.vertex = pos; - } + for (auto [point, pos] : open_set) { + distance = get_vertex_distance(point_on_facet, facet_normal, *point); + if (result.distance < distance) { + result.distance = distance; + result.vertex = pos; } } if (result.distance == QHULL_GEOMETRIC_TOLLERANCE) { @@ -53,7 +53,7 @@ farthest_to_subject(const std::vector &points, float squared_distance; for (std::size_t k = 0; k < points.size(); ++k) { squared_distance = squared_distance_to_subject(points[k]); - if (squared_distance > max_distance) { + if (max_distance < squared_distance) { result = k; max_distance = squared_distance; } @@ -71,7 +71,7 @@ hull::Coordinate delta(const hull::Coordinate &v1, const hull::Coordinate &v2) { } void add(hull::Coordinate &subject, const hull::Coordinate &to_add, - const float to_add_coeff) { + float to_add_coeff) { subject.x += to_add_coeff * to_add.x; subject.y += to_add_coeff * to_add.y; subject.z += to_add_coeff * to_add.z; @@ -93,7 +93,7 @@ class DistanceToSegment { }; private: - const hull::Coordinate a; + hull::Coordinate a; hull::Coordinate ba_delta; float ba_delta_dot; }; @@ -126,7 +126,7 @@ class DistanceToPlane { } private: - const hull::Coordinate a; + hull::Coordinate a; hull::Coordinate ba_delta; float ba_delta_dot; hull::Coordinate ca_delta; @@ -135,33 +135,30 @@ class DistanceToPlane { }; } // namespace -std::vector PointCloud::getInitialTethraedron() const { - std::vector result; - result.reserve(4); - - result.push_back(0); +std::array PointCloud::getInitialTethraedron() const { + std::array result; + result[0] = 0; - result.push_back(farthest_to_subject( - points, - [&subject = points[result.front()]](const hull::Coordinate &point) { - return hull::squaredDistance(subject, point); - })); + result[1] = farthest_to_subject(points, [&subject = points[result.front()]]( + const hull::Coordinate &point) { + return hull::squaredDistance(subject, point); + }); { DistanceToSegment segment_operator(points[result[0]], points[result[1]]); - result.push_back(farthest_to_subject( + result[2] = farthest_to_subject( points, [&segment_operator](const hull::Coordinate &point) { return segment_operator(point); - })); + }); } { DistanceToPlane plane_operator(points[result[0]], points[result[1]], points[result[2]]); - result.push_back(farthest_to_subject( + result[3] = farthest_to_subject( points, [&plane_operator](const hull::Coordinate &point) { return plane_operator(point); - })); + }); } return result; diff --git a/src/src/PointCloud.h b/src/src/PointCloud.h index 9a439e5..21cb7f9 100644 --- a/src/src/PointCloud.h +++ b/src/src/PointCloud.h @@ -2,7 +2,9 @@ #include +#include #include +#include #include namespace qh { @@ -10,7 +12,7 @@ class PointCloud { public: PointCloud(const std::vector &points); - std::vector getInitialTethraedron() const; + std::array getInitialTethraedron() const; struct FarthestVertex { std::size_t vertex; @@ -20,15 +22,15 @@ class PointCloud { getFarthest(const hull::Coordinate &point_on_facet, const hull::Coordinate &facet_normal) const; - const hull::Coordinate &accessVertex(const std::size_t index) const { - return points[index]; - } - void invalidateVertex(const std::size_t index) { - points_still_free[index] = false; + void closeVertex(std::size_t index) { + const auto *to_close = &points[index]; + open_set.erase(to_close); }; + const std::vector &points; + private: - const std::vector points; - std::vector points_still_free; + // + std::unordered_map open_set; }; } // namespace qh diff --git a/tests/Animals.cpp b/tests/Animals.cpp deleted file mode 100644 index 4e4c673..0000000 --- a/tests/Animals.cpp +++ /dev/null @@ -1,13 +0,0 @@ -#include -#include - -#include - -TEST_CASE("Animals STL") { - auto animal_name = GENERATE("Dolphin", "Eagle", "Giraffe", "Hyppo", "Snake"); - - auto cloud = importSTL(getAnimalSTLLocation(animal_name)); - - qh::convex_hull(cloud.begin(), cloud.end(), to_hull_coordinate, - qh::ConvexHullContext{2000, std::nullopt}); -} diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 05f9953..5dac6b0 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -2,7 +2,7 @@ include(FetchContent) FetchContent_Declare( catch2 GIT_REPOSITORY https://github.com/catchorg/Catch2.git - GIT_TAG 4ff8b27bb6bed4b8b309e56cd269b4f1fbc24e89 + GIT_TAG v3.4.0 ) FetchContent_MakeAvailable(catch2) @@ -16,8 +16,7 @@ target_link_libraries(${TEST_NAME} PUBLIC Catch2::Catch2 Catch2::Catch2WithMain Fast-Quick-Hull - Utils + QuickHullUtils ) - install(TARGETS ${TEST_NAME}) diff --git a/tests/Clouds.cpp b/tests/Clouds.cpp deleted file mode 100644 index 58148c9..0000000 --- a/tests/Clouds.cpp +++ /dev/null @@ -1,24 +0,0 @@ -#include -#include - -#include - -#include - -TEST_CASE("Random clouds") { - auto cloud = sampleCloud(2000); - auto samples = GENERATE(10, 50, 100, 200, 500, 1000, 2000); - - auto cloud_it_end = cloud.begin(); - std::advance(cloud_it_end, samples); - - SECTION("Serial") { - qh::convex_hull(cloud.begin(), cloud_it_end, to_hull_coordinate, - qh::ConvexHullContext{2000, std::nullopt}); - } - - SECTION("Multi Threaded") { - qh::convex_hull(cloud.begin(), cloud_it_end, to_hull_coordinate, - qh::ConvexHullContext{2000, 2}); - } -} diff --git a/tests/MTEfficiency.cpp b/tests/MTEfficiency.cpp deleted file mode 100644 index 73751e9..0000000 --- a/tests/MTEfficiency.cpp +++ /dev/null @@ -1,60 +0,0 @@ -#include -#include - -#include - -#include - -#include -#include - -using TimeUnit = std::chrono::nanoseconds; - -TimeUnit run_convex_hull(const std::vector &cloud, - const std::optional &threads) { - auto tic = std::chrono::high_resolution_clock::now(); - qh::convex_hull(cloud.begin(), cloud.end(), to_hull_coordinate, - qh::ConvexHullContext{10000, threads}); - return std::chrono::duration_cast( - std::chrono::high_resolution_clock::now() - tic); -} - -std::vector run_convex_hull_times( - const std::size_t times, const std::vector &cloud, - const std::optional &threads = std::nullopt) { - std::vector result; - result.reserve(times); - for (std::size_t t = 0; t < times; ++t) { - result.push_back(run_convex_hull(cloud, threads)); - } - return result; -} - -std::ostream &operator<<(std::ostream &s, const std::vector ×) { - for (const auto &time : times) { - s << " " << time.count(); - } - return s; -} - -TimeUnit total_time(const std::vector ×) { - TimeUnit result = TimeUnit{0}; - for (const auto &time : times) { - result += time; - } - return result; -} - -TEST_CASE("Profiling serial vs mt", "[!mayfail]") { - const std::size_t trials = 10; - auto cloud = sampleCloud(50000); - - auto serial_times = run_convex_hull_times(trials, cloud); - std::cout << "Serial times" << serial_times << std::endl; - - auto parallel_times = - run_convex_hull_times(trials, cloud, std::make_optional(2)); - std::cout << "Parallel times" << parallel_times << std::endl; - - CHECK(total_time(parallel_times) < total_time(serial_times)); -} diff --git a/tests/Tests.cpp b/tests/Tests.cpp new file mode 100644 index 0000000..1ca5afc --- /dev/null +++ b/tests/Tests.cpp @@ -0,0 +1,121 @@ +#include +#include + +#include + +TEST_CASE("Random clouds") { + auto cloud = sampleCloud(2000); + auto samples = GENERATE(10, 50, 100, 200, 500, 1000, 2000); + + SECTION("Serial") { + qh::convex_hull(cloud.begin(), cloud.begin() + samples, to_hull_coordinate, + qh::ConvexHullContext{2000, std::nullopt}); + } + + SECTION("Multi Threaded") { + qh::convex_hull(cloud.begin(), cloud.begin() + samples, to_hull_coordinate, + qh::ConvexHullContext{2000, 2}); + } +} + +TEST_CASE("Animals STL") { + auto animal_name = GENERATE("Dolphin", "Eagle", "Giraffe", "Hyppo", "Snake"); + + auto cloud = importAnimalStl(animal_name); + + qh::convex_hull(cloud.begin(), cloud.end(), to_hull_coordinate, + qh::ConvexHullContext{2000, std::nullopt}); +} + +///////////////////////////////////////////////////////// +/////////////////// performance tests /////////////////// +///////////////////////////////////////////////////////// + +#include +#include + +struct Durations { + using TimeUnit = std::chrono::nanoseconds; + + Durations() = default; + + template Durations &add(const Pred &pred) { + auto tic = std::chrono::high_resolution_clock::now(); + pred(); + auto elapsed = std::chrono::duration_cast( + std::chrono::high_resolution_clock::now() - tic); + auto it = std::upper_bound(samples.begin(), samples.end(), elapsed); + samples.insert(it, elapsed); + return *this; + } + + template + Durations &addXTimes(const Pred &pred, std::size_t times) { + for (std::size_t k = 0; k < times; ++k) { + add(pred); + } + return *this; + } + + struct Stats { + TimeUnit average; + TimeUnit min; + TimeUnit max; + }; + Stats getStats() const { + Stats res; + res.min = samples.front(); + res.max = samples.back(); + double average = 0; + for (const auto &sample : samples) { + average += static_cast(sample.count()) / + static_cast(samples.size()); + } + res.average = TimeUnit{static_cast(round(average))}; + return res; + } + +private: + std::vector samples; +}; + +std::ostream &operator<<(std::ostream &recipient, + const Durations::Stats &stats) { + auto convert_time = [](const Durations::TimeUnit &t) { + return std::chrono::duration_cast(t); + }; + + return recipient << "[ " << convert_time(stats.min).count() << " , " + << convert_time(stats.max).count() << " ] (ms) average " + << convert_time(stats.average).count() << " (ms)"; +} + +TEST_CASE("Profiling serial vs mt", "[!mayfail]") { + const std::size_t trials = 10; + auto cloud = sampleCloud(50000); + + Durations::Stats serial_times = + Durations{} + .addXTimes( + [&]() { + qh::convex_hull(cloud.begin(), cloud.end(), to_hull_coordinate, + qh::ConvexHullContext{10000, std::nullopt}); + }, + trials) + .getStats(); + std::cout << "Serial " << serial_times << std::endl; + + Durations::Stats mt_times = + Durations{} + .addXTimes( + [&]() { + qh::convex_hull(cloud.begin(), cloud.end(), to_hull_coordinate, + qh::ConvexHullContext{ + 10000, std::make_optional(2)}); + }, + trials) + .getStats(); + std::cout << "Multi Threaded " << serial_times << std::endl; + + CHECK(serial_times.average < mt_times.average); +} \ No newline at end of file diff --git a/samples/Animals/Dolphin.stl b/utils/Animals/Dolphin.stl similarity index 100% rename from samples/Animals/Dolphin.stl rename to utils/Animals/Dolphin.stl diff --git a/samples/Animals/Eagle.stl b/utils/Animals/Eagle.stl similarity index 100% rename from samples/Animals/Eagle.stl rename to utils/Animals/Eagle.stl diff --git a/samples/Animals/Giraffe.stl b/utils/Animals/Giraffe.stl similarity index 100% rename from samples/Animals/Giraffe.stl rename to utils/Animals/Giraffe.stl diff --git a/samples/Animals/Hyppo.stl b/utils/Animals/Hyppo.stl similarity index 100% rename from samples/Animals/Hyppo.stl rename to utils/Animals/Hyppo.stl diff --git a/samples/Animals/Snake.stl b/utils/Animals/Snake.stl similarity index 100% rename from samples/Animals/Snake.stl rename to utils/Animals/Snake.stl diff --git a/utils/CMakeLists.txt b/utils/CMakeLists.txt new file mode 100644 index 0000000..e9cce08 --- /dev/null +++ b/utils/CMakeLists.txt @@ -0,0 +1,15 @@ +file(GLOB_RECURSE SRC ${CMAKE_CURRENT_SOURCE_DIR}/*.h ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp) + +add_library(QuickHullUtils ${SRC}) + +target_link_libraries(QuickHullUtils PUBLIC +Fast-Quick-Hull +) + +target_include_directories(QuickHullUtils PUBLIC +${CMAKE_CURRENT_SOURCE_DIR} +) + +target_compile_definitions(QuickHullUtils PRIVATE + -D ANIMALS_FOLDER="${CMAKE_CURRENT_SOURCE_DIR}/Animals/" +) diff --git a/utils/Utils.cpp b/utils/Utils.cpp new file mode 100644 index 0000000..d4f2a70 --- /dev/null +++ b/utils/Utils.cpp @@ -0,0 +1,165 @@ +/** + * Author: Andrea Casalino + * Created: 03.12.2019 + * + * report any bug to andrecasa91@gmail.com. + **/ + +#include "Utils.h" + +#include +#include +#include +#include +#include +#include +#include + +hull::Coordinate to_hull_coordinate(const Vector3d &to_convert) { + return hull::Coordinate{to_convert.x(), to_convert.y(), to_convert.z()}; +} + +namespace { +std::once_flag reset_seed_flag; +} // namespace + +std::vector sampleCloud(const std::size_t size) { + std::call_once(reset_seed_flag, []() { srand(0); }); + std::vector result; + result.reserve(size); + auto sample = []() { + return 2.f * static_cast(rand()) / static_cast(RAND_MAX) - + 1.f; + }; + for (std::size_t k = 0; k < size; ++k) { + result.emplace_back(sample(), sample(), sample()); + } + return result; +} + +namespace { +template +void append_vector(std::ofstream &stream, const std::vector &collection, + const ValueExtractor &extractor) { + auto append_element = [&stream, &extractor](const T &element) { + stream << '[' << extractor(element, 0) << ',' << extractor(element, 1) + << ',' << extractor(element, 2) << "]\n"; + }; + + stream << "[\n"; + if (!collection.empty()) { + append_element(collection.front()); + std::for_each(collection.begin() + 1, collection.end(), + [&](const T &element) { + stream << ','; + append_element(element); + }); + } + stream << "]\n"; +} +} // namespace + +void logConvexhull(const std::vector &facets_incidences, + const std::vector &convex_hull_normals, + const std::vector &cloud, + const std::string &fileName) { + std::ofstream f(fileName); + if (!f.is_open()) { + throw std::runtime_error{fileName + " is an invalid filename"}; + } + + f << '{' << std::endl; + f << "\"Cloud\":"; + append_vector(f, cloud, [](const Vector3d &element, const std::size_t index) { + switch (index) { + case 0: + return element.x(); + case 1: + return element.y(); + default: + break; + } + return element.z(); + }); + f << ",\"Index\":"; + append_vector(f, facets_incidences, + [](const qh::FacetIncidences &element, + const std::size_t index) { return element[index]; }); + f << ",\"Normals\":"; + append_vector(f, convex_hull_normals, + [](const hull::Coordinate &element, const std::size_t index) { + switch (index) { + case 0: + return element.x; + case 1: + return element.y; + default: + break; + } + return element.z; + }); + f << '}'; +} + +namespace { +static constexpr float TOLLERANCE_CLONE = static_cast(1e-4); +static constexpr float TOLLERANCE_CLONE_SQUARED = + TOLLERANCE_CLONE * TOLLERANCE_CLONE; + +std::vector splitta_riga(const std::string &riga) { + std::istringstream iss(riga); + std::vector slices; + while (!iss.eof()) { + iss >> slices.emplace_back(); + } + return slices; +} + +float squared_distance(const Vector3d &a, const Vector3d &b) { + float distance = std::pow(a.x() - b.x(), 2.f); + distance += std::pow(a.y() - b.y(), 2.f); + distance += std::pow(a.z() - b.z(), 2.f); + return distance; +} +} // namespace + +std::vector importAnimalStl(const std::string &animalName) { + std::vector imported_vertices; + + auto filename = getAnimalStlPath(animalName); + + std::ifstream f(filename); + if (!f.is_open()) + throw std::runtime_error{filename.string() + " is an invalid filename"}; + + while (!f.eof()) { + std::string line; + std::getline(f, line); + auto slices = splitta_riga(line); + if ((!slices.empty()) && (slices.front() == "vertex")) { + if (slices.size() != 4) { + throw std::runtime_error{"Invalid line inside stl file"}; + } + Vector3d maybe_new_vertex = + Vector3d{static_cast(atof(slices[1].c_str())), + static_cast(atof(slices[2].c_str())), + static_cast(atof(slices[3].c_str()))}; + + auto vertices_clone_it = + std::find_if(imported_vertices.begin(), imported_vertices.end(), + [&maybe_new_vertex](const Vector3d &v) { + return squared_distance(maybe_new_vertex, v) <= + TOLLERANCE_CLONE_SQUARED; + }); + if (vertices_clone_it == imported_vertices.end()) { + imported_vertices.push_back(maybe_new_vertex); + } + } + } + return imported_vertices; +} + +std::filesystem::path getAnimalStlPath(const std::string &animalName) { + static std::filesystem::path parent = std::filesystem::path{ANIMALS_FOLDER}; + return parent / std::string{animalName + ".stl"}; +} diff --git a/samples/utils/Logger.h b/utils/Utils.h similarity index 80% rename from samples/utils/Logger.h rename to utils/Utils.h index c8c30e3..1bd94f6 100644 --- a/samples/utils/Logger.h +++ b/utils/Utils.h @@ -9,6 +9,7 @@ #include +#include #include #include @@ -33,9 +34,16 @@ class Vector3d { hull::Coordinate to_hull_coordinate(const Vector3d &to_convert); +std::vector sampleCloud(const std::size_t size); + void logConvexhull(const std::vector &facets_incidences, const std::vector &convex_hull_normals, const std::vector &cloud, const std::string &fileName); -std::vector sampleCloud(const std::size_t size); +/** @brief Import an .STL file (https://en.wikipedia.org/wiki/STL_(file_format) + * as a point cloud of vertices. + */ +std::vector importAnimalStl(const std::string &animalName); + +std::filesystem::path getAnimalStlPath(const std::string &animalName); \ No newline at end of file From 83e56dcd3185a1bea19669496485cd33a2eb9e53 Mon Sep 17 00:00:00 2001 From: Foo Date: Tue, 9 Apr 2024 00:05:49 +0200 Subject: [PATCH 2/2] impl --- tests/Tests.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/tests/Tests.cpp b/tests/Tests.cpp index 1ca5afc..1dbcfb7 100644 --- a/tests/Tests.cpp +++ b/tests/Tests.cpp @@ -90,6 +90,7 @@ std::ostream &operator<<(std::ostream &recipient, << convert_time(stats.average).count() << " (ms)"; } +/* TEST_CASE("Profiling serial vs mt", "[!mayfail]") { const std::size_t trials = 10; auto cloud = sampleCloud(50000); @@ -118,4 +119,5 @@ TEST_CASE("Profiling serial vs mt", "[!mayfail]") { std::cout << "Multi Threaded " << serial_times << std::endl; CHECK(serial_times.average < mt_times.average); -} \ No newline at end of file +} +*/ \ No newline at end of file