Skip to content

I
imagej-elphel
Commit 8176593d authored by Andrey Filippov's avatar Andrey Filippov
Browse files
Options

Refactored to have multiple world (needed when scenes can not be 

matched)
parent 7e53b24d
Hide whitespace changes
Inline Side-by-side
Showing with 274 additions and 151 deletions
src/main/java/com/elphel/imagej/tileprocessor/lwoc/LwocMesh.java
View file @ 8176593d
......@@ -25,11 +25,11 @@
package com.elphel.imagej.tileprocessor.lwoc;
import java.io.Serializable;
import java.util.concurrent.atomic.AtomicInteger;
///import java.util.concurrent.atomic.AtomicInteger;
public class LwocMesh implements Serializable {
private static final long serialVersionUID = 1L;
static AtomicInteger MESH_ID = new AtomicInteger();
/// static AtomicInteger MESH_ID = new AtomicInteger();
// static ArrayList<LwocMesh> LWOC_MESHES;
int id; // assign unique ID
String stimestamp; // mesh is always referenced to a single scene
......@@ -37,7 +37,7 @@ public class LwocMesh implements Serializable {
double [] hdims_xyz; // world bounding box half-dimensions along x,y,z
public static void resetMeshes() {
MESH_ID.set(0);
/// MESH_ID.set(0);
// LWOC_MESHES = new ArrayList<LwocMesh>();
}
// maybe use mesh properties instead of id?
......@@ -48,7 +48,7 @@ public class LwocMesh implements Serializable {
String stimestamp
) {
this.stimestamp = stimestamp;
id = MESH_ID.getAndIncrement();
/// id = MESH_ID.getAndIncrement();
// LWOC_MESHES.add(this);
}
......
src/main/java/com/elphel/imagej/tileprocessor/lwoc/LwocOctree.java
View file @ 8176593d
......@@ -24,11 +24,11 @@
package com.elphel.imagej.tileprocessor.lwoc;
import java.io.FileInputStream;
import java.io.FileOutputStream;
import java.io.IOException;
import java.io.ObjectInputStream;
import java.io.ObjectOutputStream;
//import java.io.FileInputStream;
//import java.io.FileOutputStream;
//import java.io.IOException;
//import java.io.ObjectInputStream;
//import java.io.ObjectOutputStream;
import java.io.Serializable;
import java.util.ArrayList;
import java.util.List;
......@@ -37,99 +37,21 @@ import com.elphel.imagej.common.MultiThreading;
public class LwocOctree implements Serializable {
private static final long serialVersionUID = 1L;
public static final int NUM_CHILDREN = 8;
public static double MIN_HSIZE = 0.3; // meter - do not subdivide more
// can not be used as intersecting meshes' bb will not decrease number after splitting
public static int MAX_MESH_CENTERS = 10; // maximal number of meshes in a leaf;
public static int MAX_CAMERAS = 10; // maximal number of cameras in a leaf;
public static LwocOctree lwoc_root = null;
// static ArrayList<LwocOctree> LWOK_OCTREE = new ArrayList<LwocOctree>();
static AtomicInteger OCTREE_ID = new AtomicInteger();
// static AtomicInteger OCTREE_ID = new AtomicInteger();
static List<LwocScene> pendingScenes; // synchronized - add not-yet-added scenes pending growing world
static List<LwocMesh> pendingMeshes; // synchronized - add not-yet-added meshes pending growing world
static List<LwocOctree> pendingLeafNodes;// synchronized - leaf nodes needed to be split
// static List<LwocWorld> lwoc_worlds; //
int id; // assign unique ID
LwocOctree parent;
transient LwocWorld world;
transient LwocOctree parent;
LwocOctree [] children;
LwocLeaf leaf; //
double [] center; // x-center, y-center, z-center
double hsize;
/**
* Serialize and write world to an output stream
* @param oos ObjectOutputStream to write to.
* @throws IOException
*/
private void writeObject(ObjectOutputStream oos)
throws IOException {
oos.defaultWriteObject();
if (parent == null) { // write static members
oos.writeObject(MIN_HSIZE);
oos.writeObject(MAX_MESH_CENTERS);
oos.writeObject(MAX_CAMERAS);
oos.writeObject(OCTREE_ID.get());
oos.writeObject(LwocMesh.MESH_ID.get());
}
}
/**
* Read input stream and deserialize it to world octree structure.
* @param ois ObjectInputStream to read from
* @throws ClassNotFoundException
* @throws IOException
*/
private void readObject(ObjectInputStream ois)
throws ClassNotFoundException, IOException {
ois.defaultReadObject();
if (parent == null) { // read static members
MIN_HSIZE = (Double) ois.readObject();
MAX_MESH_CENTERS = (Integer) ois.readObject();
MAX_CAMERAS = (Integer) ois.readObject();
OCTREE_ID.set( (Integer) ois.readObject());
LwocMesh.MESH_ID.set((Integer) ois.readObject());
}
}
/**
*
* @param path
*/
public static void saveWorld(String path) {
try {
FileOutputStream fileOut = new FileOutputStream(path);
ObjectOutputStream out = new ObjectOutputStream(fileOut);
out.writeObject(lwoc_root); // will cause all world to be saved
out.close();
fileOut.close();
System.out.printf("Serialized data is saved in "+path);
} catch (IOException e) {
e.printStackTrace();
}
}
public static void restoreWorld(String path) {
try {
FileInputStream fileIn = new FileInputStream(path);
ObjectInputStream in = new ObjectInputStream(fileIn);
lwoc_root = (LwocOctree) in.readObject();
in.close();
fileIn.close();
} catch (IOException e) {
e.printStackTrace();
return;
} catch (ClassNotFoundException c) {
System.out.println(path+" not found");
c.printStackTrace();
return;
}
}
public static void addPendingScene(LwocScene scene) {
synchronized(pendingScenes) {
pendingScenes.add(scene);
......@@ -147,23 +69,7 @@ public class LwocOctree implements Serializable {
pendingLeafNodes.add(node);
}
}
/**
* Initialize Octree data and set initial world node. It is possible to grow
* world as needed later.
* @param center world center: x,y,z in meters. Usually {0,0,0}
* @param world_hsize Half linear dimension of the world
*/
public static void initOctree(double [] center, double world_hsize) {
LwocMesh.resetMeshes();
LwocScene.resetScenes();
resetPending();
// LWOK_OCTREE = new ArrayList<LwocOctree>();
// Add a single leaf node
lwoc_root = new LwocOctree(null, center, world_hsize);
lwoc_root.leaf = new LwocLeaf();
}
/**
* Synchronized lists of pending scenes, meshes and nodes are used to delay modification of
* the world octree and its elements from the multithreaded environment. These lists should
......@@ -202,18 +108,19 @@ public class LwocOctree implements Serializable {
/**
* LwocOctree constructor
* @param parent Parent node
* @param xyz position of the node center in meters
* @param hsize Node half size - each of the X,Y,Z coordinates of the internal
* points are limited within +/-hsize from the node center
* @param lwocWorld World global parameters
* @param parent Parent node
* @param xyz Position of the node center in meters
* @param hsize Node half size - each of the X,Y,Z coordinates of the internal
* points are limited within +/-hsize from the node center
*/
public LwocOctree (LwocOctree parent,
double [] xyz,
double hsize) {
id = OCTREE_ID.getAndIncrement();
public LwocOctree (
LwocWorld lwocWorld,
LwocOctree parent,
double [] xyz,
double hsize) {
this.parent = parent;
this.hsize = hsize;
// LWOK_OCTREE.add(this);
}
/**
......@@ -222,14 +129,15 @@ public class LwocOctree implements Serializable {
* @return Octree node that includes the point or null if the point
* is outside the root node (the whole world)
*/
public static LwocOctree getLeafNode( // if null - needs growing world
//FIXME: obey border (on the edges of max hsize of the root) nodes
public LwocOctree getLeafNode( // if null - needs growing world
double [] xyz) { // thread safe
if (!lwoc_root.contains(xyz)) return null; // needs growing world
LwocOctree node = lwoc_root;
while (lwoc_root.children != null) {
if (!world.getLwocRoot().contains(xyz)) return null; // needs growing world
LwocOctree node = world.getLwocRoot();
while (world.getLwocRoot().children != null) {
int indx = 0;
for (int dm = 0; dm < 3; dm++) {
if (xyz[dm] >= lwoc_root.center[dm] ) {
if (xyz[dm] >= world.getLwocRoot().center[dm] ) {
indx += 1 << dm;
}
}
......@@ -245,7 +153,7 @@ public class LwocOctree implements Serializable {
* @param check_existed - do not add duplicate scenes and nodes
* @return An octree node where scene is added or null if the world needs growing
*/
public static LwocOctree addScene(
public LwocOctree addScene(
LwocScene scene,
boolean check_existed
) {// returns null and adds to pendingScenes if needs growing
......@@ -259,8 +167,8 @@ public class LwocOctree implements Serializable {
} else {
node.leaf.addScene(scene,check_existed);
// Check if leaf node requires splitting
if (node.leaf.getScenes().size() > MAX_CAMERAS) {
if (node.hsize > MIN_HSIZE) {
if (node.leaf.getScenes().size() > world.getMaxCameras()) {
if (node.hsize > world.getMinHsize()) {
if (!check_existed || !pendingLeafNodes.contains(node)) {
addPendingLeafNode(node);
}
......@@ -274,7 +182,7 @@ public class LwocOctree implements Serializable {
* Tend to pending scenes list. Not thread-safe, should be run in a single-thread mode.
* @param check_existed - do not add duplicate scenes and nodes
*/
public static void tendPendingScenes(
public void tendPendingScenes(
boolean check_existed
) {
if (pendingScenes.isEmpty()) {
......@@ -295,7 +203,7 @@ public class LwocOctree implements Serializable {
* Only adds mesh centers and grows the world if needed.
* @param check_existed do not add duplicate meshes
*/
public static void tendPendingMeshCentersOnly(
public void tendPendingMeshCentersOnly(
boolean check_existed
) {
if (pendingMeshes.isEmpty()) {
......@@ -326,14 +234,14 @@ public class LwocOctree implements Serializable {
* Should be run after tendPendingMeshCentersOnly().
* @param check_existed do not add duplicate meshes
*/
public static void tendPendingMeshes(
public void tendPendingMeshes(
boolean check_existed ) {
if (pendingMeshes.isEmpty()) {
return; // nothing to do
} else {
for (LwocMesh mesh: pendingMeshes) {
// int num_added =
lwoc_root.addMesh(
world.lwoc_root.addMesh(
mesh,
check_existed);
}
......@@ -417,6 +325,7 @@ public class LwocOctree implements Serializable {
xyz[dm] +=new_hsize * ((((nchild >> dm) & 1) > 0)? 1 : -1);
}
children[nchild] = new LwocOctree(
world,
this,
xyz,
new_hsize);
......@@ -481,41 +390,44 @@ public class LwocOctree implements Serializable {
* until the specified point gets inside. Not thread safe, should run in single-thread mode
* @param xyz The point to be included in the world.
*/
public static void growXYZ(double [] xyz) {
while (!lwoc_root.contains(xyz)) {// already fits, do not grow
public void growXYZ(double [] xyz) {
while (!world.lwoc_root.contains(xyz)) {// already fits, do not grow
// grow once
int indx=0; //direction to grow
double [] new_center = new double[3];
double [] root_center = world.lwoc_root.center;
double root_hsize = world.lwoc_root.hsize;
for (int dm = 0; dm < new_center.length; dm++) {
if (xyz[dm] >= lwoc_root.center[dm] ) {
if (xyz[dm] >= root_center[dm] ) {
indx += 1 << dm;
new_center[dm]= lwoc_root.center[dm] + lwoc_root.hsize;
new_center[dm]= root_center[dm] + root_hsize;
} else {
new_center[dm]= lwoc_root.center[dm] - lwoc_root.hsize;
new_center[dm]= root_center[dm] - root_hsize;
}
}
LwocOctree new_root = new LwocOctree(null, new_center, lwoc_root.hsize * 2);
LwocOctree new_root = new LwocOctree(world,null, new_center, world.lwoc_root.hsize * 2);
new_root.children = new LwocOctree[NUM_CHILDREN];
int child = (~indx ) & (NUM_CHILDREN -1); // opposite direction, from new root to old root
for (int ichild = 0; ichild < NUM_CHILDREN; ichild++) {
if (ichild == child) {
lwoc_root.parent = new_root;
new_root.children[ichild] = lwoc_root;
world.lwoc_root.parent = new_root;
new_root.children[ichild] = world.lwoc_root;
} else { // create empty leaf nodes
new_root.children[ichild] = new LwocOctree(
world,
new_root,
new double [] {
new_center[0] + lwoc_root.hsize * ((((child >> 0) & 1) > 0)? 1 : -1),
new_center[1] + lwoc_root.hsize * ((((child >> 1) & 1) > 0)? 1 : -1),
new_center[2] + lwoc_root.hsize * ((((child >> 2) & 1) > 0)? 1 : -1)
new_center[0] + root_hsize * ((((child >> 0) & 1) > 0)? 1 : -1),
new_center[1] + root_hsize * ((((child >> 1) & 1) > 0)? 1 : -1),
new_center[2] + root_hsize * ((((child >> 2) & 1) > 0)? 1 : -1)
},
lwoc_root.hsize);
root_hsize);
// add leaf
new_root.children[ichild].leaf = new LwocLeaf();
}
}
lwoc_root = new_root;
world.lwoc_root = new_root;
}
}
......@@ -525,6 +437,7 @@ public class LwocOctree implements Serializable {
* @param half_whd half width(x), height(y) and depth(z)
* @return True if it intersects
*/
//FIXME: obey border (on the edges of max hsize of the root) nodes
public boolean intersects (
double [] xyz,
double [] half_whd) {
......@@ -544,6 +457,7 @@ public class LwocOctree implements Serializable {
* @param xyz point
* @return True if it intersects
*/
//FIXME: obey border (on the edges of max hsize of the root) nodes
public boolean contains (
double [] xyz) {
for (int dm = 0; dm < center.length; dm++) {
......@@ -563,6 +477,8 @@ public class LwocOctree implements Serializable {
* @param half_whd half width(x), height(y) and depth(z)
* @return True if it intersects
*/
//FIXME: obey border (on the edges of max hsize of the root) nodes
public boolean contains (
double [] xyz,
double [] half_whd) {
......@@ -584,7 +500,7 @@ public class LwocOctree implements Serializable {
* @param check_existed Add only if the same mesh did not exist
* @return number of nodes it was added to (intersecting)
*/
public static boolean addMeshCenter( // returns 0 and adds to pendingMeshes if needs growing
public boolean addMeshCenter( // returns 0 and adds to pendingMeshes if needs growing
LwocMesh mesh,
boolean check_existed
) {
......@@ -594,7 +510,7 @@ public class LwocOctree implements Serializable {
double [] corner_xyz = center.clone();
for (int dm = 0; dm < center.length; dm++) {
corner_xyz[dm] += dims[dm];
if (!lwoc_root.contains(corner_xyz)){
if (!world.lwoc_root.contains(corner_xyz)){
if (pendingMeshes != null) {
if (!check_existed || !pendingMeshes.contains(mesh)) {
addPendingMesh(mesh);
......@@ -603,7 +519,7 @@ public class LwocOctree implements Serializable {
return false;
}
corner_xyz[dm] -= 2*dims[dm];
if (!lwoc_root.contains(corner_xyz)){
if (!world.lwoc_root.contains(corner_xyz)){
if (pendingMeshes != null) {
if (!check_existed || !pendingMeshes.contains(mesh)) {
addPendingMesh(mesh);
......@@ -617,8 +533,8 @@ public class LwocOctree implements Serializable {
LwocOctree node = getLeafNode(center);
node.leaf.addMeshCenter(mesh, check_existed);
// Check if leaf node requires splitting
if (node.leaf.getMeshCenters().size() > MAX_MESH_CENTERS) {
if (node.hsize > MIN_HSIZE) {
if (node.leaf.getMeshCenters().size() > world.getMaxMeshCenters()) {
if (node.hsize > world.getMinHsize()) {
if (!check_existed || !pendingLeafNodes.contains(node)) {
addPendingLeafNode(node);
}
......@@ -659,7 +575,7 @@ public class LwocOctree implements Serializable {
* Should fit in a root node (as it was earlier added)
* @param mesh new mesh to add
*/
public static void removeMeshCenter(
public void removeMeshCenter(
LwocMesh mesh) { // check and remove duplicates
LwocOctree node = getLeafNode(mesh.getCenter());
node.leaf.removeMeshCenter(mesh);
......@@ -688,6 +604,26 @@ public class LwocOctree implements Serializable {
return removed;
}
/**
* Restore pointers to .parent and .world
* @param world
* @param parent
*/
public void restoreWorldParent(
LwocWorld world,
LwocOctree parent) {
this.parent = parent;
this.world = world;
if (!isLeaf()) {
for (LwocOctree child:children) {
child.restoreWorldParent(
world, // LwocWorld world,
this); // LwocOctree parent)
}
}
}
/**
* Recursively create a list of all leave nodes in the world.
* @return A list of all leaf nodes
......@@ -708,9 +644,9 @@ public class LwocOctree implements Serializable {
* Rebuild meshes lists from mesh_centers for all leaf nodes after restoring the world.
* Used after restoring world from serialized form
*/
public static void rebuildMeshLists(
public void rebuildMeshLists(
final boolean check_existed) {
final List<LwocOctree> leaves = lwoc_root.getAllLeafNodes();
final List<LwocOctree> leaves = world.lwoc_root.getAllLeafNodes();
final List<LwocMesh> meshes = new ArrayList<LwocMesh>();
for (LwocOctree node : leaves) {
node.leaf.initMeshes();
......@@ -726,7 +662,7 @@ public class LwocOctree implements Serializable {
public void run() {
for (int indx_mesh = ai.getAndIncrement(); indx_mesh < meshes.size(); indx_mesh = ai.getAndIncrement()) {
LwocMesh mesh = meshes.get(indx_mesh);
lwoc_root.addMesh(mesh, check_existed);
world.lwoc_root.addMesh(mesh, check_existed);
}
}
};
......
src/main/java/com/elphel/imagej/tileprocessor/lwoc/LwocWorld.java 0 → 100644
View file @ 8176593d
/**
**
** LwocWorld.java - Octree world parameters (previous static)
**
** Copyright (C) 2022 Elphel, Inc.
**
** -----------------------------------------------------------------------------**
**
** LwocWorld.java 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 <http://www.gnu.org/licenses/>.
** -----------------------------------------------------------------------------**
**
*/
package com.elphel.imagej.tileprocessor.lwoc;
import java.io.IOException;
import java.io.ObjectInputStream;
import java.io.ObjectOutputStream;
import java.io.Serializable;
import java.util.ArrayList;
import java.util.List;
public class LwocWorld implements Serializable {
private static final long serialVersionUID = 1L;
static List<LwocWorld> lwoc_worlds; //
public double min_hsize; // = 0.3; // meter - do not subdivide more
public double max_hsize; // = 10000.0; // meter - do not grow more
public int max_mesh_centers; // = 10; // maximal number of meshes in a leaf;
public int max_cameras; // = 10; // maximal number of cameras in a leaf;
// public transient LwocOctree lwoc_root; // = null;
public LwocOctree lwoc_root; // = null;
public double [] atr; // = null; // Azimuth, tilt, roll - may be used to merge
public double [] xyz; // = null; // this world offset (before rotation) or
// null if not known.
public LwocWorld (
double min_hsize,
double max_hsize,
int max_mesh_centers,
int max_cameras,
LwocOctree lwoc_root,
double [] atr,
double [] xyz) {
setMinHsize (min_hsize);
setMaxHsize (max_hsize);
setMaxMeshCenters(max_mesh_centers);
setMaxCameras (max_cameras);
setLwocRoot (lwoc_root);
setATR (atr);
setXYZ (xyz);
}
public double getMinHsize() {return min_hsize;}
public double getMaxHsize() {return max_hsize;}
public int getMaxMeshCenters() {return max_mesh_centers;}
public int getMaxCameras() {return max_cameras;}
public LwocOctree getLwocRoot() {return lwoc_root;}
public double [] getATR() {return atr;}
public double [] getXYZ() {return xyz;}
public void setMinHsize (double min_hsize) {this.min_hsize = min_hsize;}
public void setMaxHsize (double max_hsize) {this.max_hsize = max_hsize;}
public void setMaxMeshCenters(int max_mesh_centers) {this.max_mesh_centers = max_mesh_centers;}
public void setMaxCameras (int max_cameras) {this.max_cameras = max_cameras;}
public void setLwocRoot (LwocOctree lwoc_root) {this.lwoc_root = lwoc_root;}
public void setATR (double [] atr) {this.atr = atr;}
public void setXYZ (double [] xyz) {this.xyz = xyz;}
/**
* Serialize and write world to an output stream
* @param oos ObjectOutputStream to write to.
* @throws IOException
*/
private void writeObject(ObjectOutputStream oos)
throws IOException {
oos.defaultWriteObject();
// as of now - nothing else, custom for reads only
// if (parent == null) { // write world members
/*
oos.writeObject(world.getMinHsize());
oos.writeObject(world.getMaxHsize());
oos.writeObject(world.getMaxMeshCenters());
oos.writeObject(world.getMaxCameras());
oos.writeObject(world.getATR());
oos.writeObject(world.getXYZ());
*/
// oos.writeObject(world);
// Remove those
// oos.writeObject(OCTREE_ID.get());
// oos.writeObject(LwocMesh.MESH_ID.get());
// }
}
/**
* Read input stream and deserialize it to world octree structure.
* @param ois ObjectInputStream to read from
* @throws ClassNotFoundException
* @throws IOException
*/
private void readObject(ObjectInputStream ois)
throws ClassNotFoundException, IOException {
ois.defaultReadObject();
// now rebuild transient .parent and .world field for the whole tree
lwoc_root.restoreWorldParent(
this, // LwocWorld world,
null); //LwocOctree parent)
lwoc_root.rebuildMeshLists(
true); // final boolean check_existed)
}
/**
* Init worlds and their list. Multiple worlds may be needed if some world initially can not
* be matched. They will grow independently and possibly merged later
*/
public static void initWorlds() {
LwocMesh.resetMeshes();
LwocScene.resetScenes();
LwocOctree.resetPending();
lwoc_worlds = new ArrayList<LwocWorld>();
}
/**
* Create a new empty world and add it to the list of worlds in the universe.
* @param center X,Y,Z of the new world
* @param world_hsize new world half-size
* @param min_hsize do not subdivide nodes if half-size is smaller than this
* @param max_hsize do not grow world if its half-size it >= this
* @param max_mesh_centers maximal number of mesh centers in a node to trigger subdivision
* @param max_cameras maximal number of scenes (cameras) in a node to trigger subdivision
* @param atr world rotation relative to the universe (non-null when defined)
* @param xyz world offset in the universe (non-null when defined)
* @return new world instance
*/
public static LwocWorld newWorld(
double [] center,
double world_hsize,
double min_hsize,
double max_hsize,
int max_mesh_centers,
int max_cameras,
double [] atr,
double [] xyz) {
LwocWorld new_world = new LwocWorld (
min_hsize, // double min_hsize,
max_hsize, // double max_hsize,
max_mesh_centers, // int max_mesh_centers,
max_cameras, // int max_cameras,
null, // LwocOctree lwoc_root,
null, //double [] atr,
null); //double [] xyz);
LwocOctree root_node = new LwocOctree (
new_world, // LwocWorld lwocWorld,
null, // LwocOctree parent,
center, // double [] xyz,
world_hsize); //double hsize)
root_node.leaf = new LwocLeaf();
new_world.setLwocRoot(root_node);
lwoc_worlds.add(new_world);
return new_world;
}
/**
* Delete world from the universe (if existed)
* @param world world instance to remove
* @return True if removed, false if did not exist.
*/
public static boolean deleteWorld (LwocWorld world) {
return lwoc_worlds.remove(world);
}
}
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment