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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
*/
#ifndef _PCL_TEST_GPU_OCTREE_DATAGEN_
#define _PCL_TEST_GPU_OCTREE_DATAGEN_
#include <vector>
#include <algorithm>
#include <iostream>
#include <Eigen/StdVector>
#include <cstdlib>
#if defined (_WIN32) || defined(_WIN64)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(pcl::PointXYZ)
#endif
namespace pcl
{
namespace gpu
{
struct DataGenerator
{
using PointType = Octree::PointType;
std::size_t data_size;
std::size_t tests_num;
float cube_size;
float max_radius;
float shared_radius;
std::vector<PointType> points;
std::vector<PointType> queries;
std::vector<float> radiuses;
std::vector< std::vector<int> > bfresutls;
std::vector<int> indices;
DataGenerator() : data_size(871000), tests_num(10000), cube_size(1024.f)
{
max_radius = cube_size/15.f;
shared_radius = cube_size/20.f;
}
void operator()()
{
srand (0);
points.resize(data_size);
for(std::size_t i = 0; i < data_size; ++i)
{
points[i].x = ((float)rand())/RAND_MAX * cube_size;
points[i].y = ((float)rand())/RAND_MAX * cube_size;
points[i].z = ((float)rand())/RAND_MAX * cube_size;
}
queries.resize(tests_num);
radiuses.resize(tests_num);
for (std::size_t i = 0; i < tests_num; ++i)
{
queries[i].x = ((float)rand())/RAND_MAX * cube_size;
queries[i].y = ((float)rand())/RAND_MAX * cube_size;
queries[i].z = ((float)rand())/RAND_MAX * cube_size;
radiuses[i] = ((float)rand())/RAND_MAX * max_radius;
};
for(std::size_t i = 0; i < tests_num/2; ++i)
indices.push_back(i*2);
}
void bruteForceSearch(bool log = false, float radius = -1.f)
{
if (log)
std::cout << "BruteForceSearch";
int value100 = std::min<int>(tests_num, 50);
int step = tests_num/value100;
bfresutls.resize(tests_num);
for(std::size_t i = 0; i < tests_num; ++i)
{
if (log && i % step == 0)
{
std::cout << ".";
std::cout.flush();
}
std::vector<int>& curr_res = bfresutls[i];
curr_res.clear();
float query_radius = radius > 0 ? radius : radiuses[i];
const PointType& query = queries[i];
for(std::size_t ind = 0; ind < points.size(); ++ind)
{
const PointType& point = points[ind];
float dx = query.x - point.x;
float dy = query.y - point.y;
float dz = query.z - point.z;
if (dx*dx + dy*dy + dz*dz < query_radius * query_radius)
curr_res.push_back(ind);
}
std::sort(curr_res.begin(), curr_res.end());
}
if (log)
std::cout << "Done" << std::endl;
}
void printParams() const
{
std::cout << "Points number = " << data_size << std::endl;
std::cout << "Queries number = " << tests_num << std::endl;
std::cout << "Cube size = " << cube_size << std::endl;
std::cout << "Max radius = " << max_radius << std::endl;
std::cout << "Shared radius = " << shared_radius << std::endl;
}
template<typename Dst>
struct ConvPoint
{
Dst operator()(const PointType& src) const
{
Dst dst;
dst.x = src.x;
dst.y = src.y;
dst.z = src.z;
return dst;
}
};
};
} // namespace gpu
} // namespace pcl
#endif /* _PCL_TEST_GPU_OCTREE_DATAGEN_ */
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