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GridKNNCuda.cu
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#include "cuda_runtime.h"
#include "device_launch_parameters.h"
#include <thrust/system/omp/execution_policy.h>
#include <thrust/system/omp/vector.h>
#include <thrust/unique.h>
#include <thrust/reduce.h>
#include <thrust/execution_policy.h>
#include <thrust/sort.h>
#include <thrust/scan.h>
#include <thrust/sequence.h>
#include <thrust/gather.h>
#include <string>
#include <stdio.h>
#include <time.h>
#include <iostream>
#include <fstream>
#include <vector>
#include <map>
#include "GridKNNCuda.cuh"
#define OLDCODE 0
#define NEWCODE 1
//#define MAX_PNTS_IN_CUBE 500
namespace {
template<typename Tkey, typename Tvalue>
bool exist(std::map<Tkey, Tvalue> mapIn, Tvalue value) {
return (mapIn.find(value) != mapIn.end());
}
template<typename T>
__device__
int binarySearchInt(T array[], T x, int low, int high) {
// Repeat until the pointers low and high meet each other
while (low <= high) {
int mid = low + (high - low) / 2;
if (array[mid] == x)
return mid;
if (array[mid] < x)
low = mid + 1;
else
high = mid - 1;
}
return -1;
}
__device__
int binarySearchFloat(float value, float a, float h, int bucketsCount) {
int lower = 0;
int upper = bucketsCount;
int middle = (lower + upper) / 2;
while (middle > lower) {
if (a + middle * h > value) upper = middle;
else lower = middle;
middle = (lower + upper) / 2;
}
return middle;
}
template<typename T>
__global__
void setValue(T *vector, T value, int elementCount) {
unsigned int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < elementCount) {
vector[i] = value;
}
}
template<typename T>
__global__
void get_buckets_no_binary(float *pnts_x, float *pnts_y, float *pnts_z,
T *bucket_indexes, int pointsCount, int bucketsCount, float a, float b) {
unsigned int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointsCount) {
float x = pnts_x[i];
float y = pnts_y[i];
float z = pnts_z[i];
int xi = (int) ((x - a) / (b - a) * bucketsCount);
int yi = (int) ((y - a) / (b - a) * bucketsCount);
int zi = (int) ((z - a) / (b - a) * bucketsCount);
bucket_indexes[i] = xi + yi * bucketsCount + zi * bucketsCount * bucketsCount;
}
}
__device__ __host__
float EucledianDistance(int i, int j, float *pnts_x, float *pnts_y, float *pnts_z) {
float xi = pnts_x[i];
float yi = pnts_y[i];
float zi = pnts_z[i];
float xj = pnts_x[j];
float yj = pnts_y[j];
float zj = pnts_z[j];
return (xi - xj) * (xi - xj) + (yi - yj) * (yi - yj) + (zi - zj) * (zi - zj);
}
__device__ __host__
float EucledianDistance(int i, int j, float *pntsi_x, float *pntsi_y, float *pntsi_z,
float *pntsj_x, float *pntsj_y, float *pntsj_z) {
float xi = pntsi_x[i];
float yi = pntsi_y[i];
float zi = pntsi_z[i];
float xj = pntsj_x[j];
float yj = pntsj_y[j];
float zj = pntsj_z[j];
return (xi - xj) * (xi - xj) + (yi - yj) * (yi - yj) + (zi - zj) * (zi - zj);
}
__device__
void GetMaximumGrid(float *knnDistances, float &maximum, int &index, int indexReference, int k) {
maximum = knnDistances[k * indexReference];
index = 0;
for (int i = 1; i < k; i++) {
float dist = knnDistances[indexReference * k + i];
if (maximum < dist) {
index = i;
maximum = dist;
}
}
}
__device__
int FindPosition(float array[], float x, int low, int high) {
// Repeat until the pointers low and high meet each other
while (low <= high) {
int mid = low + (high - low) / 2;
if (array[mid] == x)
return mid;
if (array[mid] < x)
low = mid + 1;
else
high = mid - 1;
}
return low + (high - low) / 2;
}
__device__
bool appendDistanceGrid(float *knnDistances, int *knn, float distQuery, int idxNeighbor, int indexReference, int k,
int pointCount, int counter,
float &maximum, int &indexmaximum) {
if (counter < k) {
bool found = false;
for (int i = 0; i < counter; i++) {
if (knn[i + k * indexReference] == idxNeighbor) {
found = true;
break;
}
}
if (!found) {
int pos = 0;
if (counter > 0) {
pos = FindPosition(knnDistances + k * indexReference, distQuery, 0, counter - 1);
for (int i = counter - 1; i >= pos; i--) {
knnDistances[i + 1 + k * indexReference] = knnDistances[i + k * indexReference];
knn[i + 1 + k * indexReference] = knn[i + k * indexReference];
}
}
knnDistances[pos + k * indexReference] = distQuery;
knn[pos + k * indexReference] = idxNeighbor;
if (counter == k - 1) {
maximum = knnDistances[k - 1 + k * indexReference];
indexmaximum = knn[k - 1 + k * indexReference];
}
return true;
}
return false;
} else {
if (distQuery < knnDistances[k - 1 + k * indexReference]) {
bool found = false;
for (int i = 0; i < k; i++) {
if (knn[i + k * indexReference] == idxNeighbor) {
found = true;
break;
}
}
if (!found) {
int pos = FindPosition(knnDistances + k * indexReference, distQuery, 0, k - 1);
for (int i = k - 2; i >= pos; i--) {
knnDistances[i + 1 + k * indexReference] = knnDistances[i + k * indexReference];
knn[i + 1 + k * indexReference] = knn[i + k * indexReference];
}
knnDistances[pos + k * indexReference] = distQuery;
knn[pos + k * indexReference] = idxNeighbor;
maximum = knnDistances[k - 1 + k * indexReference];
indexmaximum = knn[k - 1 + k * indexReference];
return true;
}
}
}
return false;
}
__global__
void add2vector(int *dvector, int *dtoaddvector, int pointsCount) {
unsigned int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointsCount) {
dvector[i] |= dtoaddvector[i];
}
}
__device__
bool inbounds(int x, int min, int max) {
if ((x >= min) && (x < max)) return true;
return false;
}
__global__
void invalidateIndexesNotValid(int *indexesQuery, int *indexesContinue, int *invalidIndexes, int pointsLeft) {
unsigned int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointsLeft) {
int realIdxQuery = indexesQuery[i];
if (indexesContinue[i]) {
if (invalidIndexes[realIdxQuery]) indexesContinue[i] = !indexesContinue[i];
}
}
}
__global__
void invalidateNotFinishedNeighbors(int *indexesQuery, int *indexesContinue, int *knn, int pointsLeft, int offset) {
unsigned int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointsLeft) {
int realIdxQuery = indexesQuery[i];
realIdxQuery -= offset;
if (indexesContinue[i]) {
knn[realIdxQuery] = -1;
}
}
}
}
//namespace{
struct PointCloud{
float *pnts_x;
float *pnts_y;
float *pnts_z;
};
template <typename T>
struct NeighborHelper{
int pointBucketCount;
int pointsReference;
int bucketCount;
int k;
float xmin;
float xmax;
float h;
int *pointBucketIndexes;
T* bucketIndexes;
float* knnDistances;
int* knn;
int *counters;
int *indexesQuery;
int *indexes;
int *continues;
int *reverseQueryIndexes;
int *invalidIndexes;
};
//}
namespace newNeighborSearch{
__global__
void getNewData(int *scannedIndexes, int *continues,
int *indexes, int *newindexes,
int *counters, int *newCounters,
int pointsCount) {
unsigned int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointsCount) {
if (continues[i]) {
int idx = scannedIndexes[i] - 1;
newindexes[idx] = indexes[i];
newCounters[idx] = counters[i];
}
}
}
__global__
void invalidateNotFinishedNeighbors(int* indexesQuery, int* indexesContinue, int* invalidIndexes, int pointsLeft){
unsigned int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointsLeft){
int realIdxQuery = indexesQuery[i];
if (indexesContinue[i]){
invalidIndexes[realIdxQuery] = 1;
}
}
}
__global__
void negateNotValidKnnIndexes(int* knn, int k, int* invalidIndexes, int pointCount, int offset){
unsigned int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointCount){
int idxInvalidIndexes = i + offset;
if (invalidIndexes[idxInvalidIndexes]){
for (int j = 0; j < k; j++){
knn[i * k + j] = -1;
}
}
}
}
__device__
bool appendDistanceGrid(float *knnDistances, int *knn, float distQuery, int idxNeighbor, int indexReference, int k,
int &counter, int offset) {
indexReference -= offset;
float maxRadius = knnDistances[k - 1 + k * indexReference];
if (distQuery < maxRadius) {
bool found = false;
for (int i = 0; i < counter; i++) {
if (knn[i + k * indexReference] == idxNeighbor) {
found = true;
break;
}
}
if (!found) {
int pos = FindPosition(knnDistances + k * indexReference, distQuery,
0, counter - 1);
if (counter == k) counter--;
for (int i = counter - 1; i >= pos; i--) {
knnDistances[i + 1 + k * indexReference] = knnDistances[i + k * indexReference];
knn[i + 1 + k * indexReference] = knn[i + k * indexReference];
}
knnDistances[pos + k * indexReference] = distQuery;
knn[pos + k * indexReference] = idxNeighbor;
counter++;
return true;
}
}
return false;
}
template<typename T>
__global__
void
construct_neighbors(PointCloud referencePC, PointCloud queryPC, NeighborHelper<T> helper,
int offset, int ii, int jj, int kk, int pointsLeftCount, int advance,
float thres, int max_points_in_bucket = 1e5, bool invalidateOutOfCube = false) {
int MAX_PNTS_IN_CUBE = max_points_in_bucket;
unsigned int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointsLeftCount) {
int realIdxQuery = helper.indexesQuery[i];
int counter = helper.counters[i];
int xi = (int) ((queryPC.pnts_x[realIdxQuery] - helper.xmin) / (helper.xmax - helper.xmin) * helper.bucketCount);
int yi = (int) ((queryPC.pnts_y[realIdxQuery] - helper.xmin) / (helper.xmax - helper.xmin) * helper.bucketCount);
int zi = (int) ((queryPC.pnts_z[realIdxQuery] - helper.xmin) / (helper.xmax - helper.xmin) * helper.bucketCount);
int xni = xi + ii;
int yni = yi + jj;
int zni = zi + kk;
if (inbounds(xni, 0, helper.bucketCount) && inbounds(yni, 0, helper.bucketCount) && inbounds(zni, 0, helper.bucketCount)) {
T bucketIndex = xni + yni * helper.bucketCount + zni * helper.bucketCount * helper.bucketCount;
int bucketPosition = binarySearchInt<T>(helper.bucketIndexes, bucketIndex, 0, helper.pointBucketCount - 1);
if (bucketPosition >= 0 && !helper.invalidIndexes[realIdxQuery]) {
int startPointIndex = helper.pointBucketIndexes[bucketPosition];
int endPointIndex = bucketPosition < helper.pointBucketCount - 1 ? helper.pointBucketIndexes[bucketPosition + 1]
: helper.pointsReference;
int numbPnts = endPointIndex - startPointIndex;
if (numbPnts < MAX_PNTS_IN_CUBE) {
for (int idx = startPointIndex; idx < endPointIndex; idx++) {
int realIdxNeighbor = helper.indexes[idx];
float dist = EucledianDistance(realIdxQuery, realIdxNeighbor, queryPC.pnts_x, queryPC.pnts_y, queryPC.pnts_z,
referencePC.pnts_x, referencePC.pnts_y, referencePC.pnts_z);
if (dist < thres)
appendDistanceGrid(helper.knnDistances, helper.knn, dist, realIdxNeighbor,
helper.reverseQueryIndexes[realIdxQuery],
helper.k, counter,
advance);
}
} else helper.invalidIndexes[realIdxQuery] = 1;
}
helper.counters[i] = counter;
}
else{
if (offset == 0 && invalidateOutOfCube){
helper.invalidIndexes[realIdxQuery] = 1;
}
}
bool lastCube = (ii == offset) && (jj == offset) && (kk == offset) && (!helper.invalidIndexes[realIdxQuery]);
if (lastCube) {
if (counter < helper.k) {
float x = queryPC.pnts_x[realIdxQuery];
float y = queryPC.pnts_y[realIdxQuery];
float z = queryPC.pnts_z[realIdxQuery];
bool searchMore = false;
if (xi - offset >= 0 && sqrt(thres) >= x - helper.xmin - (xi - offset) * helper.h)
searchMore = true;
else if (xi + offset + 1 <= helper.bucketCount &&
sqrt(thres) >= helper.xmin - x + (xi + offset + 1) * helper.h)
searchMore = true;
else if (yi - offset >= 0 && sqrt(thres) >= y - helper.xmin - (yi - offset) * helper.h)
searchMore = true;
else if (yi + offset + 1 <= helper.bucketCount &&
sqrt(thres) >= helper.xmin - y + (yi + offset + 1) * helper.h)
searchMore = true;
else if (zi - offset >= 0 && sqrt(thres) >= z - helper.xmin - (zi - offset) * helper.h)
searchMore = true;
else if (zi + offset + 1 <= helper.bucketCount &&
sqrt(thres) >= helper.xmin - z + (zi + offset + 1) * helper.h)
searchMore = true;
helper.continues[i] = searchMore ? 1 : 0;
} else {
float x = queryPC.pnts_x[realIdxQuery];
float y = queryPC.pnts_y[realIdxQuery];
float z = queryPC.pnts_z[realIdxQuery];
realIdxQuery -= advance;
float maximumRadius = helper.knnDistances[realIdxQuery * helper.k + helper.k - 1];
bool searchMore = false;
if (xi - offset >= 0 && sqrt(maximumRadius) >= x - helper.xmin - (xi - offset) * helper.h)
searchMore = true;
if (xi + offset + 1 <= helper.bucketCount &&
sqrt(maximumRadius) >= helper.xmin - x + (xi + offset + 1) * helper.h)
searchMore = true;
if (yi - offset >= 0 && sqrt(maximumRadius) >= y - helper.xmin - (yi - offset) * helper.h)
searchMore = true;
if (yi + offset + 1 <= helper.bucketCount &&
sqrt(maximumRadius) >= helper.xmin - y + (yi + offset + 1) * helper.h)
searchMore = true;
if (zi - offset >= 0 && sqrt(maximumRadius) >= z - helper.xmin - (zi - offset) * helper.h)
searchMore = true;
if (zi + offset + 1 <= helper.bucketCount &&
sqrt(maximumRadius) >= helper.xmin - z + (zi + offset + 1) * helper.h)
searchMore = true;
helper.continues[i] = searchMore ? 1 : 0;
}
}
}
}
template<typename T>
__global__
void
construct_neighbors(float *pnts_x, float *pnts_y, float *pnts_z, float *pntsq_x, float *pntsq_y, float *pntsq_z,
int *pointBucketIndexes, int pointBucketCount,
T *bucketIndexes, int pointsReference, float *knnDistances, int *knn, int bucketCount, int k,
int offset, int *counters, int *indexesQuery, int *indexes,
int *continues, int ii, int jj, int kk,
int pointsLeftCount, float xmin, float xmax, float h, int pointCountQuery, float thres,
int *reverseQueryIndexes,
int advance, int *invalidIndexes, int max_points_in_bucket = 1e5, bool invalidateOutOfCube = false) {
int MAX_PNTS_IN_CUBE = max_points_in_bucket;
unsigned int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointsLeftCount) {
int realIdxQuery = indexesQuery[i];
int counter = counters[i];
int xi = (int) ((pntsq_x[realIdxQuery] - xmin) / (xmax - xmin) * bucketCount);
int yi = (int) ((pntsq_y[realIdxQuery] - xmin) / (xmax - xmin) * bucketCount);
int zi = (int) ((pntsq_z[realIdxQuery] - xmin) / (xmax - xmin) * bucketCount);
int xni = xi + ii;
int yni = yi + jj;
int zni = zi + kk;
if (inbounds(xni, 0, bucketCount) && inbounds(yni, 0, bucketCount) && inbounds(zni, 0, bucketCount)) {
T bucketIndex = xni + yni * bucketCount + zni * bucketCount * bucketCount;
int bucketPosition = binarySearchInt<T>(bucketIndexes, bucketIndex, 0, pointBucketCount - 1);
if (bucketPosition >= 0 && !invalidIndexes[realIdxQuery]) {
int startPointIndex = pointBucketIndexes[bucketPosition];
int endPointIndex = bucketPosition < pointBucketCount - 1 ? pointBucketIndexes[bucketPosition + 1]
: pointsReference;
int numbPnts = endPointIndex - startPointIndex;
if (numbPnts < MAX_PNTS_IN_CUBE) {
for (int idx = startPointIndex; idx < endPointIndex; idx++) {
int realIdxNeighbor = indexes[idx];
float dist = EucledianDistance(realIdxQuery, realIdxNeighbor, pntsq_x, pntsq_y, pntsq_z,
pnts_x, pnts_y, pnts_z);
if (dist < thres)
appendDistanceGrid(knnDistances, knn, dist, realIdxNeighbor,
reverseQueryIndexes[realIdxQuery],
k, counter,
advance);
}
} else invalidIndexes[realIdxQuery] = 1;
}
counters[i] = counter;
}
else{
if (offset == 0 && invalidateOutOfCube){
invalidIndexes[realIdxQuery] = 1;
}
}
bool lastCube = (ii == offset) && (jj == offset) && (kk == offset) && (!invalidIndexes[realIdxQuery]);
if (lastCube) {
if (counter < k) {
float x = pntsq_x[realIdxQuery];
float y = pntsq_y[realIdxQuery];
float z = pntsq_z[realIdxQuery];
bool searchMore = false;
if (xi - offset >= 0 && sqrt(thres) >= x - xmin - (xi - offset) * h)
searchMore = true;
else if (xi + offset + 1 <= bucketCount &&
sqrt(thres) >= xmin - x + (xi + offset + 1) * h)
searchMore = true;
else if (yi - offset >= 0 && sqrt(thres) >= y - xmin - (yi - offset) * h)
searchMore = true;
else if (yi + offset + 1 <= bucketCount &&
sqrt(thres) >= xmin - y + (yi + offset + 1) * h)
searchMore = true;
else if (zi - offset >= 0 && sqrt(thres) >= z - xmin - (zi - offset) * h)
searchMore = true;
else if (zi + offset + 1 <= bucketCount &&
sqrt(thres) >= xmin - z + (zi + offset + 1) * h)
searchMore = true;
continues[i] = searchMore ? 1 : 0;
} else {
float x = pntsq_x[realIdxQuery];
float y = pntsq_y[realIdxQuery];
float z = pntsq_z[realIdxQuery];
realIdxQuery -= advance;
float maximumRadius = knnDistances[realIdxQuery * k + k - 1];
bool searchMore = false;
if (xi - offset >= 0 && sqrt(maximumRadius) >= x - xmin - (xi - offset) * h)
searchMore = true;
if (xi + offset + 1 <= bucketCount &&
sqrt(maximumRadius) >= xmin - x + (xi + offset + 1) * h)
searchMore = true;
if (yi - offset >= 0 && sqrt(maximumRadius) >= y - xmin - (yi - offset) * h)
searchMore = true;
if (yi + offset + 1 <= bucketCount &&
sqrt(maximumRadius) >= xmin - y + (yi + offset + 1) * h)
searchMore = true;
if (zi - offset >= 0 && sqrt(maximumRadius) >= z - xmin - (zi - offset) * h)
searchMore = true;
if (zi + offset + 1 <= bucketCount &&
sqrt(maximumRadius) >= xmin - z + (zi + offset + 1) * h)
searchMore = true;
continues[i] = searchMore ? 1 : 0;
}
}
}
}
template<typename T>
__global__
void
construct_neighbors_self(float *pnts_x, float *pnts_y, float *pnts_z,
int *pointBucketIndexes, int pointBucketCount,
T *bucketIndexes, int pointsReference, float *knnDistances, int *knn, int bucketCount, int k,
int offset, int *counters, int* indexesQuery, int *indexes,
int *continues, int ii, int jj, int kk,
int pointsLeftCount, float xmin, float xmax, float h, float thres,
int *reverseIndexesQuery,
int advance, int *invalidIndexes, int max_points_in_bucket = 1e5, bool invalidateOutOfCube = false) {
int MAX_PNTS_IN_CUBE = max_points_in_bucket;
unsigned int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointsLeftCount) {
int realIdxQuery = indexesQuery[i];
int counter = counters[i];
int xi = (int) ((pnts_x[realIdxQuery] - xmin) / (xmax - xmin) * bucketCount);
int yi = (int) ((pnts_y[realIdxQuery] - xmin) / (xmax - xmin) * bucketCount);
int zi = (int) ((pnts_z[realIdxQuery] - xmin) / (xmax - xmin) * bucketCount);
int xni = xi + ii;
int yni = yi + jj;
int zni = zi + kk;
if (inbounds(xni, 0, bucketCount) && inbounds(yni, 0, bucketCount) && inbounds(zni, 0, bucketCount)) {
T bucketIndex = xni + yni * bucketCount + zni * bucketCount * bucketCount;
int bucketPosition = binarySearchInt<T>(bucketIndexes, bucketIndex, 0, pointBucketCount - 1);
if (bucketPosition >= 0 && !invalidIndexes[realIdxQuery]) {
int startPointIndex = pointBucketIndexes[bucketPosition];
int endPointIndex = bucketPosition < pointBucketCount - 1 ? pointBucketIndexes[bucketPosition + 1]
: pointsReference;
int numbPnts = endPointIndex - startPointIndex;
if (numbPnts < MAX_PNTS_IN_CUBE) {
for (int idx = startPointIndex; idx < endPointIndex; idx++) {
int realIdxNeighbor = indexes[idx];
if (realIdxNeighbor == realIdxQuery) continue;
float dist = EucledianDistance(realIdxQuery, realIdxNeighbor, pnts_x, pnts_y, pnts_z);
if (dist < thres)
appendDistanceGrid(knnDistances, knn, dist, realIdxNeighbor,
reverseIndexesQuery[realIdxQuery],
k, counter,
advance);
}
} else invalidIndexes[realIdxQuery] = 1;
}
counters[i] = counter;
}
else{
if (offset == 0 && invalidateOutOfCube){
invalidIndexes[realIdxQuery] = 1;
}
}
bool lastCube = (ii == offset) && (jj == offset) && (kk == offset) && (!invalidIndexes[realIdxQuery]);
if (lastCube) {
if (counter < k) {
float x = pnts_x[realIdxQuery];
float y = pnts_y[realIdxQuery];
float z = pnts_z[realIdxQuery];
bool searchMore = false;
if (xi - offset >= 0 && sqrt(thres) >= x - xmin - (xi - offset) * h)
searchMore = true;
else if (xi + offset + 1 <= bucketCount &&
sqrt(thres) >= xmin - x + (xi + offset + 1) * h)
searchMore = true;
else if (yi - offset >= 0 && sqrt(thres) >= y - xmin - (yi - offset) * h)
searchMore = true;
else if (yi + offset + 1 <= bucketCount &&
sqrt(thres) >= xmin - y + (yi + offset + 1) * h)
searchMore = true;
else if (zi - offset >= 0 && sqrt(thres) >= z - xmin - (zi - offset) * h)
searchMore = true;
else if (zi + offset + 1 <= bucketCount &&
sqrt(thres) >= xmin - z + (zi + offset + 1) * h)
searchMore = true;
continues[i] = searchMore ? 1 : 0;
} else {
float x = pnts_x[realIdxQuery];
float y = pnts_y[realIdxQuery];
float z = pnts_z[realIdxQuery];
realIdxQuery -= advance;
float maximumRadius = knnDistances[realIdxQuery * k + k - 1];
bool searchMore = false;
if (xi - offset >= 0 && sqrt(maximumRadius) >= x - xmin - (xi - offset) * h)
searchMore = true;
if (xi + offset + 1 <= bucketCount &&
sqrt(maximumRadius) >= xmin - x + (xi + offset + 1) * h)
searchMore = true;
if (yi - offset >= 0 && sqrt(maximumRadius) >= y - xmin - (yi - offset) * h)
searchMore = true;
if (yi + offset + 1 <= bucketCount &&
sqrt(maximumRadius) >= xmin - y + (yi + offset + 1) * h)
searchMore = true;
if (zi - offset >= 0 && sqrt(maximumRadius) >= z - xmin - (zi - offset) * h)
searchMore = true;
if (zi + offset + 1 <= bucketCount &&
sqrt(maximumRadius) >= xmin - z + (zi + offset + 1) * h)
searchMore = true;
continues[i] = searchMore ? 1 : 0;
}
}
}
}
template<typename T>
__global__
void
construct_neighbors_self_compact(PointCloud referencePC, NeighborHelper<T> helper,
int offset, int ii, int jj, int kk, int pointsLeftCount, int advance, float thres,
int max_points_in_bucket = 1e5, bool invalidateOutOfCube = false) {
int MAX_PNTS_IN_CUBE = max_points_in_bucket;
unsigned int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointsLeftCount) {
int realIdxQuery = helper.indexesQuery[i];
int counter = helper.counters[i];
int xi = (int) ((referencePC.pnts_x[realIdxQuery] - helper.xmin) / (helper.xmax - helper.xmin) * helper.bucketCount);
int yi = (int) ((referencePC.pnts_y[realIdxQuery] - helper.xmin) / (helper.xmax - helper.xmin) * helper.bucketCount);
int zi = (int) ((referencePC.pnts_z[realIdxQuery] - helper.xmin) / (helper.xmax - helper.xmin) * helper.bucketCount);
int xni = xi + ii;
int yni = yi + jj;
int zni = zi + kk;
if (inbounds(xni, 0, helper.bucketCount) && inbounds(yni, 0, helper.bucketCount) && inbounds(zni, 0, helper.bucketCount)) {
T bucketIndex = xni + yni * helper.bucketCount + zni * helper.bucketCount * helper.bucketCount;
int bucketPosition = binarySearchInt<T>(helper.bucketIndexes, bucketIndex, 0, helper.pointBucketCount - 1);
if (bucketPosition >= 0 && !helper.invalidIndexes[realIdxQuery]) {
int startPointIndex = helper.pointBucketIndexes[bucketPosition];
int endPointIndex = bucketPosition < helper.pointBucketCount - 1 ? helper.pointBucketIndexes[bucketPosition + 1]
: helper.pointsReference;
int numbPnts = endPointIndex - startPointIndex;
if (numbPnts < MAX_PNTS_IN_CUBE) {
for (int idx = startPointIndex; idx < endPointIndex; idx++) {
int realIdxNeighbor = helper.indexes[idx];
if (realIdxNeighbor == realIdxQuery) continue;
float dist = EucledianDistance(realIdxQuery, realIdxNeighbor, referencePC.pnts_x, referencePC.pnts_y, referencePC.pnts_z);
if (dist <= thres)
appendDistanceGrid(helper.knnDistances, helper.knn, dist, realIdxNeighbor,
helper.reverseQueryIndexes[realIdxQuery],
helper.k, counter,
advance);
}
} else helper.invalidIndexes[realIdxQuery] = 1;
}
helper.counters[i] = counter;
}
else{
if (offset == 0 && invalidateOutOfCube){
helper.invalidIndexes[realIdxQuery] = 1;
}
}
bool lastCube = (ii == offset) && (jj == offset) && (kk == offset) && (!helper.invalidIndexes[realIdxQuery]);
if (lastCube) {
if (counter < helper.k) {
float x = referencePC.pnts_x[realIdxQuery];
float y = referencePC.pnts_y[realIdxQuery];
float z = referencePC.pnts_z[realIdxQuery];
bool searchMore = false;
if (xi - offset >= 0 && sqrt(thres) > x - helper.xmin - (xi - offset) * helper.h)
searchMore = true;
else if (xi + offset + 1 <= helper.bucketCount &&
sqrt(thres) > helper.xmin - x + (xi + offset + 1) * helper.h)
searchMore = true;
else if (yi - offset >= 0 && sqrt(thres) > y - helper.xmin - (yi - offset) * helper.h)
searchMore = true;
else if (yi + offset + 1 <= helper.bucketCount &&
sqrt(thres) > helper.xmin - y + (yi + offset + 1) * helper.h)
searchMore = true;
else if (zi - offset >= 0 && sqrt(thres) > z - helper.xmin - (zi - offset) * helper.h)
searchMore = true;
else if (zi + offset + 1 <= helper.bucketCount &&
sqrt(thres) > helper.xmin - z + (zi + offset + 1) * helper.h)
searchMore = true;
helper.continues[i] = searchMore ? 1 : 0;
} else {
float x = referencePC.pnts_x[realIdxQuery];
float y = referencePC.pnts_y[realIdxQuery];
float z = referencePC.pnts_z[realIdxQuery];
realIdxQuery -= advance;
float maximumRadius = helper.knnDistances[realIdxQuery * helper.k + helper.k - 1];
bool searchMore = false;
if (xi - offset >= 0 && sqrt(maximumRadius) >= x - helper.xmin - (xi - offset) * helper.h)
searchMore = true;
if (xi + offset + 1 <= helper.bucketCount &&
sqrt(maximumRadius) >= helper.xmin - x + (xi + offset + 1) * helper.h)
searchMore = true;
if (yi - offset >= 0 && sqrt(maximumRadius) >= y - helper.xmin - (yi - offset) * helper.h)
searchMore = true;
if (yi + offset + 1 <= helper.bucketCount &&
sqrt(maximumRadius) >= helper.xmin - y + (yi + offset + 1) * helper.h)
searchMore = true;
if (zi - offset >= 0 && sqrt(maximumRadius) >= z - helper.xmin - (zi - offset) * helper.h)
searchMore = true;
if (zi + offset + 1 <= helper.bucketCount &&
sqrt(maximumRadius) >= helper.xmin - z + (zi + offset + 1) * helper.h)
searchMore = true;
helper.continues[i] = searchMore ? 1 : 0;
}
}
}
}
}
namespace {
__global__
void getBucketSizes(int *bucketsCount, int *pointBucketIndexes, int pointBucketCount, int pointsCount) {
unsigned int bucketPosition = threadIdx.x + blockDim.x * blockIdx.x;
if (bucketPosition < pointBucketCount) {
int startPointIndex = pointBucketIndexes[bucketPosition];
int endPointIndex =
bucketPosition < pointBucketCount - 1 ? pointBucketIndexes[bucketPosition + 1] : pointsCount;
bucketsCount[bucketPosition] = endPointIndex - startPointIndex;
}
}
__global__
void nomralize_distances_grid(float *knnDistances, float max, float min, int counter) {
unsigned int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < counter) {
knnDistances[i] = (knnDistances[i] - min) / (max - min);
}
}
__global__
void addMaximum_grid(float *knnDistances, float max, int pointsCount, int k) {
unsigned int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointsCount) {
float addon = i * max;
for (int kk = 0; kk < k; kk++) {
knnDistances[i * k + kk] += addon;
}
}
}
/*template<typename T>
int getBuckets(float*& dpoints_x, float*& dpoints_y, float*& dpoints_z, int pointsCount,
T *dbucketIndexes, int bucketsCount,
int *dindexes, int *&dpointBucketIndexes, float min, float max, int &maxBucketSize, bool sort_points = false) {
int threads = 1024;
int blocks = (int) ceil((1.0 * pointsCount) / threads);
get_buckets_no_binary<T><<<blocks, threads>>>(dpoints_x, dpoints_y, dpoints_z, dbucketIndexes,
pointsCount, bucketsCount, min, max);
cudaDeviceSynchronize();
int *indexes = new int[pointsCount];
for (int i = 0; i < pointsCount; i++) indexes[i] = i;
cudaMemcpy(dindexes, indexes, pointsCount * sizeof(int), cudaMemcpyHostToDevice);
delete[] indexes;
cudaMalloc((void **) &dpointBucketIndexes, pointsCount * sizeof(int));
cudaMemcpy(dpointBucketIndexes, dindexes, pointsCount * sizeof(int), cudaMemcpyDeviceToDevice);
thrust::sort_by_key(thrust::device, dbucketIndexes, dbucketIndexes + pointsCount, dindexes,
thrust::less<T>());
thrust::pair<T *, int *> end;
end = thrust::unique_by_key(thrust::device, dbucketIndexes, dbucketIndexes + pointsCount,
dpointBucketIndexes, thrust::equal_to<T>());
T vertexPartitionSize = end.first - dbucketIndexes;
//std::cout << "vertex partition size:" << vertexPartitionSize << std::endl;
int *dpointBucketsCount;
cudaMalloc((void **) &dpointBucketsCount, vertexPartitionSize * sizeof(int));
threads = 1024;
blocks = (int) ceil((1.0 * vertexPartitionSize) / threads);
getBucketSizes<<<blocks, threads>>>(dpointBucketsCount, dpointBucketIndexes, vertexPartitionSize, pointsCount);
cudaDeviceSynchronize();
maxBucketSize = thrust::reduce(thrust::device, dpointBucketsCount,
dpointBucketsCount + vertexPartitionSize, -1e8f,
thrust::maximum<int>());
cudaFree(dpointBucketsCount);
//std::cout << "bucket size:" << maxBucketSize << std::endl;
return vertexPartitionSize;
}*/
__global__
void findQueryIndexes(int *indexes, int *queryIndexes, int totalPointCount, int referencePointCount) {
int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < totalPointCount) {
int idx = indexes[i];
queryIndexes[i] = idx < referencePointCount ? 0 : 1;
}
}
__global__
void packQueryIndexes(int *queryIndexesPacked, int *queryIndexesCounter, int *queryIndexes, int *indexes,
int totalPointCount) {
int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < totalPointCount) {
if (queryIndexes[i]) {
int idx = queryIndexesCounter[i];
queryIndexesPacked[idx] = indexes[i];
}
}
}
__global__
void normalize_points(float *x, float *y, float *z, float min, float max, int pointCount) {
int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointCount) {
float d = max - min;
x[i] = (x[i] - min) / d;
y[i] = (y[i] - min) / d;
z[i] = (z[i] - min) / d;
}
}
__global__
void denormalize_points(float *x, float *y, float *z, float min, float max, int pointCount) {
int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointCount) {
float d = max - min;
x[i] = x[i] * d + min;
y[i] = y[i] * d + min;
z[i] = z[i] * d + min;
}
}
__global__
void rearrangeReferenceNeighbors(int* knnDest, int *knnSource, int* indexesReference, int pointsCount, int k){
int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointsCount) {
for (int j = 0; j < k; j++){
int knnIdx = knnSource[i * k + j];
int trueIndex = knnIdx >= 0 ? indexesReference[knnIdx] : -1;
knnDest[i * k + j] = trueIndex;
}
}
}
__global__
void rearrangeNeighbors(int *knnDest, int *knnSource,
/*float* knnDistDest, float* knnDistSource,*/
int* indexesReference, int* indexesQuery, int k, int pointsCount) {
int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointsCount) {
int idxQuery = indexesQuery[i];
for (int j = 0; j < k; j++){
int knnIdx = indexesReference[knnSource[i * k + j]];
knnDest[idxQuery * k + j] = knnIdx;
//knnDistDest[idxQuery * k + j] = knnDistSource[i * k + j];
}
}
}
__global__
void validNeighbors(int *invalidIndexes, int *knn, int pointsCount) {
int i = threadIdx.x + blockDim.x * blockIdx.x;
if (i < pointsCount) {
if (invalidIndexes[i]) knn[i] = -1;
}
}
}
template<typename T>
void GridStructure::getBuckets(int dev_id, int level, int bucketsCount, float min, float max, int &maxBucketSize) {
int threads = 1024;
int blocks = (int) ceil((1.0 * pointsCount) / threads);
get_buckets_no_binary<T><<<blocks, threads>>>(dpoints_x[dev_id], dpoints_y[dev_id], dpoints_z[dev_id],
hierachyTree[level]->dbucketIndexes[dev_id],
pointsCount, bucketsCount, min, max);
cudaDeviceSynchronize();
int *indexes = new int[pointsCount];
for (int i = 0; i < pointsCount; i++) indexes[i] = i;
cudaMemcpy(hierachyTree[level]->dindexes[dev_id], indexes, pointsCount * sizeof(int), cudaMemcpyHostToDevice);
delete[] indexes;
cudaMalloc((void **) &hierachyTree[level]->dpointBucketIndexes[dev_id], pointsCount * sizeof(int));
cudaMemcpy(hierachyTree[level]->dpointBucketIndexes[dev_id], hierachyTree[level]->dindexes[dev_id], pointsCount * sizeof(int), cudaMemcpyDeviceToDevice);
thrust::sort_by_key(thrust::device, hierachyTree[level]->dbucketIndexes[dev_id], hierachyTree[level]->dbucketIndexes[dev_id] + pointsCount,
hierachyTree[level]->dindexes[dev_id], thrust::less<T>());
thrust::pair<T *, int *> end;
end = thrust::unique_by_key(thrust::device, hierachyTree[level]->dbucketIndexes[dev_id], hierachyTree[level]->dbucketIndexes[dev_id] + pointsCount,
hierachyTree[level]->dpointBucketIndexes[dev_id], thrust::equal_to<T>());
T vertexPartitionSize = end.first - hierachyTree[level]->dbucketIndexes[dev_id];
//std::cout << "vertex partition size:" << vertexPartitionSize << std::endl;
int *dpointBucketsCount;
cudaMalloc((void **) &dpointBucketsCount, vertexPartitionSize * sizeof(int));
threads = 1024;
blocks = (int) ceil((1.0 * vertexPartitionSize) / threads);
getBucketSizes<<<blocks, threads>>>(dpointBucketsCount, hierachyTree[level]->dpointBucketIndexes[dev_id], vertexPartitionSize, pointsCount);
cudaDeviceSynchronize();
maxBucketSize = thrust::reduce(thrust::device, dpointBucketsCount,
dpointBucketsCount + vertexPartitionSize, -1e8f,
thrust::maximum<int>());
cudaFree(dpointBucketsCount);
//std::cout << "bucket size:" << maxBucketSize << std::endl;
hierachyTree[level]->vertexPartitionSize[dev_id] = vertexPartitionSize;
}
bool GridStructure::InitializeLevel(int dev_id, int level, int bucketsCount, float min, float max){
if (hierachyTree[level]->initialized[dev_id]) return false;
cudaMalloc((void **)& hierachyTree[level]->dbucketIndexes[dev_id], pointsCount * sizeof(long64));
cudaMalloc((void **)& hierachyTree[level]->dindexes[dev_id], pointsCount * sizeof(int));
int dummy;
getBuckets<long64>(dev_id, level, bucketsCount, min, max, dummy);
hierachyTree[level]->initialized[dev_id] = true;
return true;
}
template <typename T>
void GridStructure::UpdateHelperFromInitialize(NeighborHelper<T>& neighborHelper, int level, int dev_id, int bucketCount){
neighborHelper.pointBucketCount = hierachyTree[level]->vertexPartitionSize[dev_id];
neighborHelper.bucketIndexes = hierachyTree[level]->dbucketIndexes[dev_id];
neighborHelper.bucketCount = bucketCount;
neighborHelper.indexes = hierachyTree[level]->dindexes[dev_id];
neighborHelper.pointBucketIndexes = hierachyTree[level]->dpointBucketIndexes[dev_id];
}
void GridStructure::Hierarchy::RefreshHierarchy(){
for (int dev_id = 0; dev_id < num_cards; dev_id++) {
cudaSetDevice(dev_id);
cudaFree(dbucketIndexes[dev_id]);
dbucketIndexes[dev_id] = nullptr;
cudaFree(dindexes[dev_id]);
dindexes[dev_id] = nullptr;
cudaFree(dpointBucketIndexes[dev_id]);
dpointBucketIndexes[dev_id] = nullptr;
vertexPartitionSize[dev_id] = 0;
initialized[dev_id] = false;
}
}
GridStructure::Hierarchy::~Hierarchy(){
for (int dev_id = 0; dev_id < num_cards; dev_id++){
cudaSetDevice(dev_id);
cudaFree(dbucketIndexes[dev_id]);
dbucketIndexes[dev_id] = nullptr;
cudaFree(dindexes[dev_id]);
dindexes[dev_id] = nullptr;
cudaFree(dpointBucketIndexes[dev_id]);
dpointBucketIndexes[dev_id] = nullptr;
}
}
void GridStructure::RefreshGridKNNStructure(){
for (int dev_id = 0; dev_id < num_cards; dev_id++){
cudaSetDevice(dev_id);
cudaFree(dQuery_x[dev_id]);
dQuery_x[dev_id] = nullptr;
cudaFree(dQuery_y[dev_id]);
dQuery_y[dev_id] = nullptr;
cudaFree(dQuery_z[dev_id]);
dQuery_z[dev_id] = nullptr;
cudaFree(dQueryIndexesInitial[dev_id]);
dQueryIndexesInitial[dev_id] = nullptr;
cudaFree(dknn[dev_id]);
dknn[dev_id] = nullptr;
}
}
void GridStructure::RefreshHierarchies(){
for (int i = 0; i < levels; i++) {