Implemented "infinity" so nodes may have sides open to infinity (93ac2c14) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/tileprocessor/lwoc/LwocOctree.java

+115 −68

Original line number	Diff line number	Diff line
		@@ -37,13 +37,10 @@ import com.elphel.imagej.common.MultiThreading;
		public class LwocOctree implements Serializable {
		private static final long serialVersionUID = 1L;
		public static final int NUM_CHILDREN = 8;
		// 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
		transient LwocWorld world;
		transient LwocOctree parent;
		@@ -51,6 +48,7 @@ public class LwocOctree implements Serializable {
		LwocLeaf leaf; //
		double [] center; // x-center, y-center, z-center
		double hsize;
		int infinity = 0;

		public static void addPendingScene(LwocScene scene) {
		synchronized(pendingScenes) {
		@@ -107,20 +105,36 @@ public class LwocOctree implements Serializable {
		}

		/**
		* LwocOctree constructor
		* LwocOctree constructor. Sets infinity bitmap +1 - no limit for negative X,
		* +2 - no limit for positive X, +4 - no limit for negative Y, ...,
		* +32 - no limit for positive Z.
		* @param lwocWorld World global parameters
		* @param parent Parent node
		* @param parent_in 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
		* @param h_size Node half size - each of the X,Y,Z coordinates of the internal
		* points are limited within +/-hsize from the node center
		*/
		public LwocOctree (
		LwocWorld lwocWorld,
		LwocOctree parent,
		LwocOctree parent_in,
		double [] xyz,
		double hsize) {
		this.parent = parent;
		this.hsize = hsize;
		double h_size) {
		world = lwocWorld;
		parent = parent_in;
		center = xyz;
		hsize = h_size;
		// set which directions are to infinity (not limited by hsize)
		infinity = 0;
		double max_hsize = world.getMaxHsize();
		LwocOctree lwoc_root = world.getLwocRoot();
		for (int dm = 0; dm < center.length; dm++) {
		if ((center[dm] - hsize) <= (lwoc_root.center[dm] - max_hsize)) {
		infinity \|= (1 << (2 * dm));
		}
		if ((center[dm] + hsize) >= (lwoc_root.center[dm] + max_hsize)) {
		infinity \|= (1 << (2 * dm + 1));
		}
		}
		}

		/**
		@@ -129,7 +143,6 @@ 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)
		*/
		//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 (!world.getLwocRoot().contains(xyz)) return null; // needs growing world
		@@ -189,7 +202,7 @@ public class LwocOctree implements Serializable {
		return; // nothing to do
		} else {
		for (LwocScene scene: pendingScenes) {
		growXYZ(scene.getCameraXYZ());
		growXYZ(scene.getCameraXYZ()); // will not grow in infinity direction
		LwocOctree node= addScene( // should not be null
		scene,
		check_existed);
		@@ -215,9 +228,9 @@ public class LwocOctree implements Serializable {
		double [] corner_xyz = center.clone();
		for (int dm = 0; dm < center.length; dm++) {
		corner_xyz[dm] += dims[dm];
		growXYZ(corner_xyz);
		growXYZ(corner_xyz); // will not grow in infinity direction
		corner_xyz[dm] -= 2*dims[dm];
		growXYZ(corner_xyz);
		growXYZ(corner_xyz); // will not grow in infinity direction
		corner_xyz[dm] += dims[dm];
		}
		boolean ok= addMeshCenter( // should not be null
		@@ -251,17 +264,9 @@ public class LwocOctree implements Serializable {
		/**
		* 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 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.
		* @param max_cameras Maximasl number of scenes (camera positions) in a node. Larger
		* number triggers node split.
		* @param check_existed Filter identical meshes or scenes from corresponding lists.
		*/
		public static void tendPendingLeafNodes(
		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> pendingLeafNodesFiltered = new ArrayList<LwocOctree>();
		@@ -270,6 +275,11 @@ public class LwocOctree implements Serializable {
		pendingLeafNodesFiltered.add(node);
		}
		}
		if (!pendingLeafNodesFiltered.isEmpty()) {
		LwocWorld world = pendingLeafNodesFiltered.get(0).world;
		final double min_hsize = world.getMinHsize();
		final int max_mesh_centers = world.getMaxMeshCenters();
		final int max_cameras = world.getMaxCameras();
		// run splitting multithreaded
		final Thread[] threads = MultiThreading.newThreadArray();
		final AtomicInteger ai = new AtomicInteger(0);
		@@ -291,6 +301,7 @@ public class LwocOctree implements Serializable {
		}
		MultiThreading.startAndJoin(threads);
		}
		}

		/**
		* Split recursively the octree node (and its children if needed) to keep number of scenes and
		@@ -388,10 +399,12 @@ public class LwocOctree implements Serializable {
		/**
		* Grow the world to include specified point Will repeat growing twice (in each direction)
		* until the specified point gets inside. Not thread safe, should run in single-thread mode
		* Will mark infinity directions (inside LwocOctree constructor), so contains() will return
		* true when the world size is big enough.
		* @param xyz The point to be included in the world.
		*/
		public void growXYZ(double [] xyz) {
		while (!world.lwoc_root.contains(xyz)) {// already fits, do not grow
		while (!world.lwoc_root.contains(xyz)) {// already fits, do not grow. Will obey infinity
		// grow once
		int indx=0; //direction to grow
		double [] new_center = new double[3];
		@@ -405,7 +418,11 @@ public class LwocOctree implements Serializable {
		new_center[dm]= root_center[dm] - root_hsize;
		}
		}
		LwocOctree new_root = new LwocOctree(world,null, new_center, world.lwoc_root.hsize * 2);
		LwocOctree new_root = new LwocOctree( // will mark infinities
		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++) {
		@@ -413,7 +430,7 @@ public class LwocOctree implements Serializable {
		world.lwoc_root.parent = new_root;
		new_root.children[ichild] = world.lwoc_root;
		} else { // create empty leaf nodes
		new_root.children[ichild] = new LwocOctree(
		new_root.children[ichild] = new LwocOctree( // will mark infinities
		world,
		new_root,
		new double [] {
		@@ -437,10 +454,10 @@ 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) {
		if (infinity == 0) { // this branch is just for performance, it may be removed
		for (int dm = 0; dm < center.length; dm++) {
		if ((xyz[dm] - half_whd[dm]) >= (center[dm] + hsize)) { // semiinterval
		return false;
		@@ -449,6 +466,16 @@ public class LwocOctree implements Serializable {
		return false;
		}
		}
		} else {
		for (int dm = 0; dm < center.length; dm++) {
		if (((xyz[dm] - half_whd[dm]) >= (center[dm] + hsize)) && (((infinity >> (2 * dm + 1)) & 1 ) == 0)) { // semiinterval
		return false;
		}
		if (((xyz[dm] + half_whd[dm]) < (center[dm] - hsize)) && (((infinity >> (2 * dm)) & 1 ) == 0)) {
		return false;
		}
		}
		}
		return true;
		}

		@@ -457,9 +484,9 @@ 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) {
		if (infinity == 0) { // this branch is just for performance, it may be removed
		for (int dm = 0; dm < center.length; dm++) {
		if (xyz[dm] < (center[dm] - hsize)) { // semi-interval
		return false;
		@@ -469,6 +496,17 @@ public class LwocOctree implements Serializable {
		}
		}
		return true;
		} else {
		for (int dm = 0; dm < center.length; dm++) {
		if ((xyz[dm] < (center[dm] - hsize)) && (((infinity >> (2 * dm)) & 1 ) == 0)) { // semi-interval
		return false;
		}
		if ((xyz[dm] >= (center[dm] + hsize)) && (((infinity >> (2 * dm + 1)) & 1 ) == 0)) {
		return false;
		}
		}
		return true;
		}
		}

		/**
		@@ -477,11 +515,10 @@ 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) {
		if (infinity == 0) { // this branch is just for performance, it may be removed
		for (int dm = 0; dm < center.length; dm++) {
		if ((xyz[dm] - half_whd[dm]) < (center[dm] - hsize)) { // semiinterval
		return false;
		@@ -490,6 +527,16 @@ public class LwocOctree implements Serializable {
		return false;
		}
		}
		} else {
		for (int dm = 0; dm < center.length; dm++) {
		if (((xyz[dm] - half_whd[dm]) < (center[dm] - hsize)) && (((infinity >> (2 * dm)) & 1 ) == 0)){ // semiinterval
		return false;
		}
		if (((xyz[dm] + half_whd[dm]) >= (center[dm] + hsize)) && (((infinity >> (2 * dm + 1)) & 1 ) == 0)){
		return false;
		}
		}
		}
		return true;
		}

		@@ -500,7 +547,7 @@ 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 boolean addMeshCenter( // returns 0 and adds to pendingMeshes if needs growing
		public boolean addMeshCenter( // returns 0 and adds to pendingMeshes if needs growing. Obeys infinity
		LwocMesh mesh,
		boolean check_existed
		) {
		@@ -554,7 +601,7 @@ public class LwocOctree implements Serializable {
		public int addMesh(
		LwocMesh mesh,
		boolean check_existed) {
		if (!intersects(
		if (!intersects( // supports infinity
		mesh.getCenter(),
		mesh.getDims())) {
		return 0;
		@@ -605,7 +652,7 @@ public class LwocOctree implements Serializable {
		}

		/**
		* Restore pointers to .parent and .world
		* Restore pointers to .parent and .world after de-serialization
		* @param world
		* @param parent
		*/

src/main/java/com/elphel/imagej/tileprocessor/lwoc/LwocWorld.java

+2 −4

Original line number	Diff line number	Diff line
		@@ -35,11 +35,10 @@ public class LwocWorld implements Serializable {
		private static final long serialVersionUID = 1L;
		static List<LwocWorld> lwoc_worlds; //

		public final double max_hsize; // = 10000.0; // meter - do not grow more
		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
		@@ -53,7 +52,7 @@ public class LwocWorld implements Serializable {
		double [] atr,
		double [] xyz) {
		setMinHsize (min_hsize);
		setMaxHsize (max_hsize);
		this.max_hsize = max_hsize; // it is final, only can and has to be set in the constructor
		setMaxMeshCenters(max_mesh_centers);
		setMaxCameras (max_cameras);
		setLwocRoot (lwoc_root);
		@@ -69,7 +68,6 @@ public class LwocWorld implements Serializable {
		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;}

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