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imagej-elphel
Commit 860cbc5f authored by Andrey Filippov's avatar Andrey Filippov
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Updated for synchronized methods in growing lists, regeneration of 

intersecting meshes after restoring from files.
parent d35ccbb6
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Showing with 137 additions and 142 deletions
src/main/java/com/elphel/imagej/tileprocessor/lwoc/LwocLeaf.java
View file @ 860cbc5f
......@@ -27,6 +27,7 @@ package com.elphel.imagej.tileprocessor.lwoc;
import java.util.ArrayList;
public class LwocLeaf {
private static final long serialVersionUID = 1L;
ArrayList <LwocMesh> meshes;
ArrayList <LwocMesh> mesh_centers;
ArrayList <LwocScene> scenes;
......@@ -36,21 +37,43 @@ public class LwocLeaf {
scenes = new ArrayList <LwocScene>(); // cameras located in this node
}
public void addScene(LwocScene scene,
public void initMeshes() {
meshes = new ArrayList <LwocMesh>(); // all meshes BB intersecting this node
}
public synchronized void addScene( // IS synchronized needed?
LwocScene scene,
boolean check_existed) {
if (!check_existed || !scenes.contains(scene)) {
scenes.add(scene);
}
}
public void addMeshCenter(LwocMesh mesh,
public synchronized void addMeshCenter( // IS synchronized needed?
LwocMesh mesh,
boolean check_existed) {
if (!check_existed || !mesh_centers.contains(mesh)) {
mesh_centers.add(mesh);
}
}
public void addMesh(LwocMesh mesh,
public synchronized void removeScene(
LwocScene scene) {
while (scenes.remove(scene)); // will remove all
}
public synchronized void removeMeshCenter(
LwocMesh mesh) {
while (mesh_centers.remove(mesh)); // will remove all
}
public synchronized void removeMesh(
LwocMesh mesh) {
while (meshes.remove(mesh)); // will remove all
}
public synchronized void addMesh( // synchronized IS needed
LwocMesh mesh,
boolean check_existed) {
if (!check_existed || !meshes.contains(mesh)) {
meshes.add(mesh);
......
src/main/java/com/elphel/imagej/tileprocessor/lwoc/LwocMesh.java
View file @ 860cbc5f
......@@ -28,6 +28,7 @@ import java.util.ArrayList;
import java.util.concurrent.atomic.AtomicInteger;
public class LwocMesh {
private static final long serialVersionUID = 1L;
static AtomicInteger MESH_ID = new AtomicInteger();
static ArrayList<LwocMesh> LWOC_MESHES;
int id; // assign unique ID
......
src/main/java/com/elphel/imagej/tileprocessor/lwoc/LwocOctree.java
View file @ 860cbc5f
......@@ -29,6 +29,7 @@ import java.util.List;
import java.util.concurrent.atomic.AtomicInteger;
import com.elphel.imagej.common.MultiThreading;
public class LwocOctree {
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
......@@ -37,14 +38,10 @@ public class LwocOctree {
public static LwocOctree lwoc_root = null;
static ArrayList<LwocOctree> LWOK_OCTREE = new ArrayList<LwocOctree>();
static AtomicInteger OCTREE_ID = new AtomicInteger();
// synchronized lists to handle thread-unsafe operations: growing world and splitting leaves
/// 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 AtomicInteger numPendingScenes;
static AtomicInteger numPendingMeshes;
static AtomicInteger numPendingLeafNodes;
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
int id; // assign unique ID
......@@ -53,6 +50,26 @@ public class LwocOctree {
LwocLeaf leaf; //
double [] center; // x-center, y-center, z-center
double hsize;
public static void addPendingScene(LwocScene scene) {
synchronized(pendingScenes) {
pendingScenes.add(scene);
}
}
public static void addPendingMesh(LwocMesh mesh) {
synchronized(pendingMeshes) {
pendingMeshes.add(mesh);
}
}
public static void addPendingLeafNode(LwocOctree node) {
synchronized(pendingLeafNodes) {
pendingLeafNodes.add(node);
}
}
// just for testing
// List<List<LwocScene>> group = new ArrayList<List<LwocScene>>(4);
......@@ -79,9 +96,9 @@ public class LwocOctree {
* processes by a single-thread method.
*/
public static void resetPending() {
numPendingScenes.set(0); // = Collections.synchronizedList(new ArrayList<LwocScene>());
numPendingMeshes.set(0); // = Collections.synchronizedList(new ArrayList<LwocMesh>());
numPendingLeafNodes.set(0); // = Collections.synchronizedList(new ArrayList<LwocOctree>());
pendingScenes = new ArrayList<LwocScene>();
pendingMeshes = new ArrayList<LwocMesh>();
pendingLeafNodes = new ArrayList<LwocOctree>();
}
// use per-thread lists and then combine them avoiding synchronizations?
//Pass list to any function that may grow it
......@@ -99,7 +116,7 @@ public class LwocOctree {
* @return if world needs growing.
*/
public static boolean pendingGrow() {
return (numPendingScenes.get() + numPendingMeshes.get()) > 0;
return (pendingScenes.size() + pendingMeshes.size()) > 0;
}
/**
......@@ -107,7 +124,7 @@ public class LwocOctree {
* @return if any leaf nodes require splitting
*/
public static boolean pendingSplit() {
return numPendingLeafNodes.get() > 0;
return pendingLeafNodes.size() > 0;
}
/**
......@@ -152,23 +169,18 @@ public class LwocOctree {
* Add scene to the world in a thread-safe mode, or put it to pending list if the world
* needs growing.
* @param scene Scene to add.
* @param pendingScenes per thread list of scenes to be combined after merging threads
* @param pendingLeafNodes per thread list of nodes to be combined after merging threads
* @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(
LwocScene scene,
ArrayList<LwocScene> pendingScenes,
ArrayList<LwocOctree> pendingLeafNodes,
boolean check_existed
) {// returns null and adds to pendingScenes if needs growing
LwocOctree node = getLeafNode(scene.getCameraXYZ());
if (node == null) {
if (pendingScenes != null) {
if (!check_existed || !pendingScenes.contains(scene)) {
pendingScenes.add(scene);
numPendingScenes.getAndIncrement();
addPendingScene(scene);
}
}
} else {
......@@ -177,8 +189,7 @@ public class LwocOctree {
if (node.leaf.getScenes().size() > MAX_CAMERAS) {
if (node.hsize > MIN_HSIZE) {
if (!check_existed || !pendingLeafNodes.contains(node)) {
pendingLeafNodes.add(node);
numPendingLeafNodes.getAndIncrement();
addPendingLeafNode(node);
}
}
}
......@@ -188,13 +199,9 @@ public class LwocOctree {
/**
* Tend to pending scenes list. Not thread-safe, should be run in a single-thread mode.
* @param pendingScenes combined list of scenes to be added growing world (merged from per-thread ones)
* @param pendingLeafNodes a list of nodes that will need splitting (here in single-thread mode - single one)
* @param check_existed - do not add duplicate scenes and nodes
*/
public static void tendPendingScenes(
ArrayList<LwocScene> pendingScenes,
ArrayList<LwocOctree> pendingLeafNodes,
boolean check_existed
) {
if (pendingScenes.isEmpty()) {
......@@ -204,8 +211,6 @@ public class LwocOctree {
growXYZ(scene.getCameraXYZ());
LwocOctree node= addScene( // should not be null
scene,
pendingScenes,
pendingLeafNodes,
check_existed);
assert node != null : "addScene() should not fail after growing world";
}
......@@ -216,13 +221,9 @@ public class LwocOctree {
* Tend to pending meshes list. Not thread-safe, should be run in a single-thread mode.
* Only adds mesh centers and grows the world if needed.
* @param check_existed do not add duplicate meshes
* @param pendingMeshes combined list of meshes to be added (merged from per-thread ones). Will only be read.
* @param pendingLeafNodes a list of nodes that will need splitting (here in single-thread mode - single one). May grow.
*/
public static void tendPendingMeshCentersOnly(
boolean check_existed,
ArrayList<LwocMesh> pendingMeshes, // will read
ArrayList<LwocOctree> pendingLeafNodes // may add to
boolean check_existed
) {
if (pendingMeshes.isEmpty()) {
return; // nothing to do
......@@ -240,9 +241,7 @@ public class LwocOctree {
}
boolean ok= addMeshCenter( // should not be null
mesh,
check_existed,
null, // pendingMeshes,
pendingLeafNodes);
check_existed);
assert ok : "addMeshCenter() should not fail after growing world";
}
}
......@@ -253,13 +252,9 @@ public class LwocOctree {
* Only adds mesh themselves that do not trigger node splits.
* Should be run after tendPendingMeshCentersOnly().
* @param check_existed do not add duplicate meshes
* @param pendingMeshes combined list of meshes to be added (merged from per-thread ones).
* Will only be read.
*/
public static void tendPendingMeshes(
boolean check_existed,
ArrayList<LwocMesh> pendingMeshes // will read
) {
boolean check_existed ) {
if (pendingMeshes.isEmpty()) {
return; // nothing to do
} else {
......@@ -276,8 +271,6 @@ public class LwocOctree {
/**
* Recursively (if needed) splits octree nodes to reduce number of scenes/cameras
* and mesh centers below specified thresholds (limited by the minimal node size)
* @param pendingLeafNodesIn array list of nodes to be split. Will be filtered to
* remove any duplicates and non-leaf nodes
* @param min_hsize Minimal half-size of the node (in meters). Smaller nodes will not be split
* @param max_mesh_centers Maximal number of mesh centers in a node. Larger number
* triggers node split.
......@@ -286,17 +279,15 @@ public class LwocOctree {
* @param check_existed
*/
public static void tendPendingLeafNodes(
ArrayList<LwocOctree> pendingLeafNodesIn,
final double min_hsize,
final int max_mesh_centers,
final int max_cameras, // scenes
final boolean check_existed) {
// remove any possible duplicates
final ArrayList<LwocOctree> pendingLeafNodes = new ArrayList<LwocOctree>();
for (LwocOctree node:pendingLeafNodesIn) {
if (!pendingLeafNodes.contains(node) && node.isLeaf()) {// filter already split nodes
pendingLeafNodes.add(node);
numPendingLeafNodes.getAndIncrement();
final ArrayList<LwocOctree> pendingLeafNodesFiltered = new ArrayList<LwocOctree>();
for (LwocOctree node:pendingLeafNodes) {
if (!pendingLeafNodesFiltered.contains(node) && node.isLeaf()) {// filter already split nodes
pendingLeafNodesFiltered.add(node);
}
}
// run splitting multithreaded
......@@ -306,8 +297,8 @@ public class LwocOctree {
threads[ithread] = new Thread() {
@Override
public void run() {
for (int indx_node = ai.getAndIncrement(); indx_node < pendingLeafNodes.size(); indx_node = ai.getAndIncrement()) {
LwocOctree node = pendingLeafNodes.get(indx_node);
for (int indx_node = ai.getAndIncrement(); indx_node < pendingLeafNodesFiltered.size(); indx_node = ai.getAndIncrement()) {
LwocOctree node = pendingLeafNodesFiltered.get(indx_node);
// Split recursively until satisfied conditions
node.splitNode(
min_hsize, // double min_hsize,
......@@ -319,7 +310,6 @@ public class LwocOctree {
};
}
MultiThreading.startAndJoin(threads);
ai.set(0);
}
// Split recursively until satisfied conditions
......@@ -517,15 +507,11 @@ public class LwocOctree {
* add to pending list if does not fit in a root node
* @param mesh new mesh to add
* @param check_existed Add only if the same mesh did not exist
* @param pendingMeshes per thread list of meshes to be combined after merging threads
* @param pendingLeafNodes per thread list of nodes to be combined after merging threads
* @return number of nodes it was added to (intersecting)
*/
public static boolean addMeshCenter( // returns 0 and adds to pendingMeshes if needs growing
LwocMesh mesh,
boolean check_existed,
ArrayList<LwocMesh> pendingMeshes,
ArrayList<LwocOctree> pendingLeafNodes
boolean check_existed
) {
// should in check before adding?
// mesh.equals(mesh);
......@@ -538,8 +524,7 @@ public class LwocOctree {
if (!lwoc_root.contains(corner_xyz)){
if (pendingMeshes != null) {
if (!check_existed || !pendingMeshes.contains(mesh)) {
pendingMeshes.add(mesh);
numPendingMeshes.getAndIncrement();
addPendingMesh(mesh);
}
}
return false;
......@@ -548,8 +533,7 @@ public class LwocOctree {
if (!lwoc_root.contains(corner_xyz)){
if (pendingMeshes != null) {
if (!check_existed || !pendingMeshes.contains(mesh)) {
pendingMeshes.add(mesh);
numPendingMeshes.getAndIncrement();
addPendingMesh(mesh);
}
}
return false;
......@@ -563,8 +547,7 @@ public class LwocOctree {
if (node.leaf.getMeshCenters().size() > MAX_MESH_CENTERS) {
if (node.hsize > MIN_HSIZE) {
if (!check_existed || !pendingLeafNodes.contains(node)) {
pendingLeafNodes.add(node);
numPendingLeafNodes.getAndIncrement();
addPendingLeafNode(node);
}
}
}
......@@ -573,6 +556,13 @@ public class LwocOctree {
}
// recursive
/**
* Recursively add mesh to all leaf nodes that intersect with its bounding box.
* Usually starts with lwoc_root.
* @param mesh Mesh instance to be added
* @param check_existed verify node lists does not already have this mesh if true
* @return number of nodes to which this mesh was added
*/
public int addMesh(
LwocMesh mesh,
boolean check_existed) {
......@@ -593,102 +583,82 @@ public class LwocOctree {
}
/**
* Remove mesh to from each node intersecting with the mesh bounding box.
* Remove mesh center from the world.
* Should fit in a root node (as it was earlier added)
* @param mesh new mesh to add
* @param check_existed Add only if the same mesh did not exist
* @return The number of nodes it was removed from
*/
public static int removeMesh(
LwocMesh mesh,
boolean remove_all) { // check and remove duplicates
// should in check before adding?
return 0;
public static void removeMeshCenter(
LwocMesh mesh) { // check and remove duplicates
LwocOctree node = getLeafNode(mesh.getCenter());
node.leaf.removeMeshCenter(mesh);
}
/**
* Prepare list of lists to add scenes in multithreaded environment, one inner
* list for each thread.
* @param threads Array of threads, only length is used
* @return list of lists to provide to threads
* Remove mesh from each node intersecting with the mesh bounding box.
* Should fit in a root node (as it was earlier added)
* @param mesh mesh to remove
*/
public static List<List<LwocScene>> getMultiPendingScenes(Thread [] threads){
List<List<LwocScene>> multiPendingScenes = new ArrayList<List<LwocScene>>(threads.length);
for (int i = 0; i < threads.length; i++) {
multiPendingScenes.add(i, new ArrayList<LwocScene>());
public int removeMesh(
LwocMesh mesh) { // check and remove duplicates
if (!intersects(
mesh.getCenter(),
mesh.getDims())) {
return 0;
}
return multiPendingScenes;
}
/**
* Combine a List of list of scenes (created in multithreaded method getMultiPendingScenes())
* into a single list.
* @param multiPendingScenes list of list of scenes
* @return flattened single list of scenes
*/
public static List<LwocScene> mergeMultiPendingScenes(List<List<LwocScene>> multiPendingScenes){
List<LwocScene> pendingScenes = new ArrayList<LwocScene>();
for (List<LwocScene> scenes:multiPendingScenes) {
pendingScenes.addAll(scenes);
if (isLeaf()) {
leaf.removeMesh(mesh);
return 1;
}
return pendingScenes;
}
/**
* Prepare list of lists to add meshes in multithreaded environment, one inner
* list for each thread.
* @param threads Array of threads, only length is used
* @return list of lists to provide to threads
*/
public static List<List<LwocMesh>> getMultiPendingMeshes(Thread [] threads){
List<List<LwocMesh>> multiPendingMeshes = new ArrayList<List<LwocMesh>>(threads.length);
for (int i = 0; i < threads.length; i++) {
multiPendingMeshes.add(i, new ArrayList<LwocMesh>());
int removed = 0;
for (LwocOctree node: children) {
removed += node.removeMesh(mesh);
}
return multiPendingMeshes;
return removed;
}
/**
* Combine a List of list of meshes (created in multithreaded method getMultiPendingMeshes())
* into a single list.
* @param multiPendingMeshes list of list of meshes
* @return flattened single list of meshes
* Recursively create a list of all leave nodes in the world.
* @return A list of all leaf nodes
*/
public static List<LwocMesh> mergeMultiPendingMeshes(List<List<LwocMesh>> multiPendingMeshes){
List<LwocMesh> pendingMeshes = new ArrayList<LwocMesh>();
for (List<LwocMesh> meshes:multiPendingMeshes) {
pendingMeshes.addAll(meshes);
}
return pendingMeshes;
}
/**
* Prepare list of lists to add scenes in multithreaded environment, one inner
* list for each thread.
* @param threads Array of threads, only length is used
* @return list of lists to provide to threads
*/
public static List<List<LwocOctree>> getMultiPendingLeafNodes(Thread [] threads){
List<List<LwocOctree>> multiPendingLeafNodes = new ArrayList<List<LwocOctree>>(threads.length);
for (int i = 0; i < threads.length; i++) {
multiPendingLeafNodes.add(i, new ArrayList<LwocOctree>());
public List<LwocOctree> getAllLeafNodes(){
List<LwocOctree> leaves = new ArrayList<LwocOctree>();
if (isLeaf()) {
leaves.add(this);
} else {
for (LwocOctree child:children) {
leaves.addAll(child.getAllLeafNodes());
}
}
return multiPendingLeafNodes;
return leaves;
}
/**
* Combine a List of list of scenes (created in multithreaded method getMultiPendingScenes())
* into a single list.
* @param multiPendingLeafNodes list of list of scenes
* @return flattened single list of scenes
* Rebuild meshes lists from mesh_centers for all leaf nodes after restoring the world.
* Used after restoring world from serialized form
*/
public static List<LwocOctree> mergeMultiPendingLeafNodes(List<List<LwocOctree>> multiPendingLeafNodes){
List<LwocOctree> pendingLeafNodes = new ArrayList<LwocOctree>();
for (List<LwocOctree> nodes:multiPendingLeafNodes) {
pendingLeafNodes.addAll(nodes);
public static void rebuildMeshLists(
final boolean check_existed) {
final List<LwocOctree> leaves = lwoc_root.getAllLeafNodes();
final List<LwocMesh> meshes = new ArrayList<LwocMesh>();
for (LwocOctree node : leaves) {
node.leaf.initMeshes();
meshes.addAll(node.leaf.getMeshCenters());
}
return pendingLeafNodes;
final Thread[] threads = MultiThreading.newThreadArray();
final AtomicInteger ai = new AtomicInteger(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
@Override
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);
}
}
};
}
MultiThreading.startAndJoin(threads);
}
}
src/main/java/com/elphel/imagej/tileprocessor/lwoc/LwocScene.java
View file @ 860cbc5f
......@@ -29,6 +29,7 @@ import java.util.concurrent.atomic.AtomicInteger;
import com.elphel.imagej.tileprocessor.GeometryCorrection;
public class LwocScene {
private static final long serialVersionUID = 1L;
static AtomicInteger SCENE_ID = new AtomicInteger();
static ArrayList<LwocScene> LWOC_SCENES;
......
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