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multithreading is OK

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This commit is contained in:
Paul Leroy
2025-10-22 15:34:01 +02:00
parent ce299dc153
commit f067d8beac
2 changed files with 46 additions and 106 deletions
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include/G3PointAction.h
+2 -7
View File
@@ -105,11 +105,8 @@ private:
bool computeNormalsAndOrientThemWithCloudCompare();
void orientNormals(const Eigen::Vector3d &sensorCenter);
bool computeNormalsWithOpen3D();
static bool FindNearestNeighborsNanoFlann(ccPointCloud* cloud, unsigned globalIndex, int k,
CCCoreLib::ReferenceCloud *points, KDTree *kdTree);
static bool ComputeNormsAtLevel(const CCCoreLib::DgmOctree::octreeCell& cell,
void** additionalParameters,
CCCoreLib::NormalizedProgress* nProgress=nullptr);
bool findNearestNeighborsNanoFlann(const unsigned int globalIndex, CCCoreLib::ReferenceCloud *points, const KDTree *kdTree);
bool computeNormWithFlann(unsigned int index, NormsTableType* theNorms, const KDTree *kdTree);
bool computeNormalsWithCloudCompare();
bool computeNormals();
bool queryNeighbors(ccPointCloud* cloud, ccMainAppInterface* appInterface, bool useParallelStrategy=true);
@@ -160,7 +157,5 @@ private:
GrainsAsEllipsoids* m_grainsAsEllipsoids;
int m_currentNumberOfSteps;
QSharedPointer<KDTree> m_kdTree;
};
}
src/G3PointAction.cpp
+44 -99
View File
@@ -1817,26 +1817,24 @@ bool G3PointAction::computeNormalsWithOpen3D()
#endif
}
bool G3PointAction::FindNearestNeighborsNanoFlann(ccPointCloud* cloud,
unsigned globalIndex,
int kNN,
bool G3PointAction::findNearestNeighborsNanoFlann(const unsigned globalIndex,
CCCoreLib::ReferenceCloud* points,
KDTree* kdTree)
const KDTree* kdTree)
{
// Prepare query
const CCVector3* Q = cloud->getPoint(globalIndex);
const CCVector3* Q = m_cloud->getPoint(globalIndex);
float query[3] = { Q->x, Q->y, Q->z };
std::vector<size_t> retIndexes(kNN);
std::vector<float> outDistsSqr(kNN);
std::vector<size_t> retIndexes(m_kNN);
std::vector<float> outDistsSqr(m_kNN);
// Perform search
nanoflann::KNNResultSet<float> resultSet(kNN);
nanoflann::KNNResultSet<float> resultSet(m_kNN);
resultSet.init(&retIndexes[0], &outDistsSqr[0]);
if(kdTree->findNeighbors(resultSet, &query[0]))
{
points->resize(kNN);
for (int i = 0; i < kNN; ++i)
points->resize(m_kNN);
for (int i = 0; i < m_kNN; ++i)
{
points->setPointIndex(i, retIndexes[i]);
}
@@ -1848,59 +1846,25 @@ bool G3PointAction::FindNearestNeighborsNanoFlann(ccPointCloud* cloud,
}
}
bool G3PointAction::ComputeNormsAtLevel(const CCCoreLib::DgmOctree::octreeCell& cell,
void** additionalParameters,
CCCoreLib::NormalizedProgress* nProgress /*=nullptr*/)
bool G3PointAction::computeNormWithFlann(unsigned index,
NormsTableType* theNorms,
const G3PointAction::KDTree* kdTree)
{
// additional parameters
NormsTableType* theNorms = static_cast<NormsTableType*>(additionalParameters[0]);
int* kNN = static_cast<int*>(additionalParameters[1]);
KDTree* kdTree = static_cast<KDTree*>(additionalParameters[2]);
ccPointCloud* cloud = static_cast<ccPointCloud*>(additionalParameters[3]);
CCVector3 N;
CCCoreLib::DgmOctree::NearestNeighboursSearchStruct nNSS;
nNSS.level = cell.level;
nNSS.minNumberOfNeighbors = *kNN;
cell.parentOctree->getCellPos(cell.truncatedCode, cell.level, nNSS.cellPos, true);
cell.parentOctree->computeCellCenter(nNSS.cellPos, cell.level, nNSS.cellCenter);
// we already know which points are lying in the current cell
unsigned pointCount = cell.points->size();
nNSS.pointsInNeighbourhood.resize(pointCount);
CCCoreLib::DgmOctree::NeighboursSet::iterator it = nNSS.pointsInNeighbourhood.begin();
QScopedPointer<CCCoreLib::ReferenceCloud> points(new CCCoreLib::ReferenceCloud(m_cloud));
if(findNearestNeighborsNanoFlann(index, points.data(), kdTree))
{
for (unsigned j = 0; j < pointCount; ++j, ++it)
{
it->point = cell.points->getPointPersistentPtr(j);
it->pointIndex = cell.points->getPointGlobalIndex(j);
}
CCCoreLib::Neighbourhood neighbourhood(points.data());
N = *neighbourhood.getLSPlaneNormal();
}
nNSS.alreadyVisitedNeighbourhoodSize = 1;
for (unsigned i = 0; i < pointCount; ++i)
else
{
cell.points->getPoint(i, nNSS.queryPoint);
unsigned int globalIndex = cell.points->getPointGlobalIndex(i);
CCVector3 N;
QScopedPointer<CCCoreLib::ReferenceCloud> points(new CCCoreLib::ReferenceCloud(cloud));
if(FindNearestNeighborsNanoFlann(cloud, globalIndex, *kNN, points.data(), kdTree))
{
CCCoreLib::Neighbourhood neighbourhood(points.data());
N = *neighbourhood.getLSPlaneNormal();
}
else
{
return false;
}
theNorms->setValue(globalIndex, N);
if (nProgress && !nProgress->oneStep())
return false;
return false;
}
theNorms->setValue(index, N);
return true;
}
@@ -1910,71 +1874,51 @@ bool G3PointAction::computeNormalsWithCloudCompare()
if (!m_cloud || m_cloud->size() == 0)
{
std::cerr << "Invalid cloud.\n";
ccLog::Error("Invalid cloud.");
return false;
}
CloudAdaptor adaptor(m_cloud);
// Build KD-tree (parameter: number of leaf nodes to inspect per query)
// Build KD-tree (parameter: number of leaf nodes to inspect per query)
size_t leaf_max_size = 10;
nanoflann::KDTreeSingleIndexAdaptorFlags flags = nanoflann::KDTreeSingleIndexAdaptorFlags::None;
unsigned int n_thread_build = 0; // 0 => nanoflann automatically determines the number of threads to use
nanoflann::KDTreeSingleIndexAdaptorParams params(leaf_max_size, flags, n_thread_build);
m_kdTree.reset(new KDTree(3, adaptor, params));
QSharedPointer<KDTree> m_kdTree(new KDTree(3, adaptor, params));
m_kdTree->buildIndex();
ccOctree::Shared octree = m_cloud->getOctree();
if (octree.isNull())
{
octree.reset(new ccOctree(m_cloud));
if (octree->build() <= 0)
{
octree.clear();
return false;
}
}
unsigned char level = octree->findBestLevelForAGivenPopulationPerCell(m_kNN);
// we instantiate 3D normal vectors
QScopedPointer<NormsTableType> theNorms(new NormsTableType);
// we instantiate 3D normal vectors
QSharedPointer<NormsTableType> theNorms(new NormsTableType);
QScopedPointer<NormsIndexesTableType> normsIndexes(new NormsIndexesTableType);
static const CCVector3 blankN(0, 0, 0);
if (!theNorms->resizeSafe(pointCount, true, &blankN))
{
normsIndexes->resize(0);
if (nullptr == octree)
{
octree.clear();
}
return false;
}
// theNorms->fill(0);
void* additionalParameters[4] = {reinterpret_cast<void*>(theNorms.data()),
reinterpret_cast<void*>(&m_kNN),
reinterpret_cast<void*>(m_kdTree.data()),
reinterpret_cast<void*>(m_cloud)};
unsigned processedCells = 0;
QScopedPointer<ccProgressDialog> progressCb;
processedCells = octree->executeFunctionForAllCellsStartingAtLevel(level,
&(ComputeNormsAtLevel),
additionalParameters,
m_kNN / 2,
m_kNN * 3,
true,
progressCb.data(),
"Normals Computation [G3Point]");
// error or canceled by user?
if (processedCells == 0 || (progressCb && progressCb->isCancelRequested()))
ccLog::Print("[computeNormalsWithCloudCompare]");
#ifdef QT_DEBUG
//manually call the static per-point method!
for (unsigned index = 0; index < pointCount; ++index)
{
normsIndexes->resize(0);
return false;
computeNormWithFlann(index, theNorms.data(), m_kNN, m_kdTree.data(), m_cloud);
}
#else
std::vector<unsigned> pointsIndexes;
pointsIndexes.resize(pointCount);
for (unsigned i = 0; i < pointCount; ++i)
{
pointsIndexes[i] = i;
}
int threadCount = std::max(1, ccQtHelpers::GetMaxThreadCount() - 2);
ccLog::Print("[computeNormalsWithCloudCompare] parallel strategy, thread count " + QString::number(threadCount));
QThreadPool::globalInstance()->setMaxThreadCount(threadCount);
QtConcurrent::blockingMap(pointsIndexes, [=](int index){computeNormWithFlann(index, theNorms.data(), m_kdTree.data());});
#endif
if (!m_cloud->hasNormals())
{
@@ -1997,6 +1941,7 @@ bool G3PointAction::computeNormalsWithCloudCompare()
}
// preferred orientation
ccLog::Print("[computeNormalsWithCloudCompare] orient normals, PLUS_Z ");
ccNormalVectors::UpdateNormalOrientations(m_cloud, *m_cloud->normals(), ccNormalVectors::PLUS_Z);
return true;
@@ -2011,7 +1956,7 @@ bool G3PointAction::computeNormals()
msgBox.setInformativeText("Recompute normals?");
msgBox.setText("There are existing normals, keep them or recompute.");
QPushButton *keepButton = msgBox.addButton(tr("Keep"), QMessageBox::ActionRole);
QPushButton *recomputeButton = msgBox.addButton(tr("Recompute"), QMessageBox::AcceptRole);
msgBox.addButton(tr("Recompute"), QMessageBox::AcceptRole);
QPushButton *cancelButton = msgBox.addButton(tr("Cancel"), QMessageBox::AcceptRole);
msgBox.exec();