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Keep Placed Receivers Only #54

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Jan 9, 2025
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Discard points that could not be elevated
davschneller committed Jan 8, 2025
commit 9271d6a4446948b91eb3b7bfa49cece540ee422a
15 changes: 8 additions & 7 deletions place_receivers/src/Geometry.cpp
Original file line number Diff line number Diff line change
@@ -104,21 +104,22 @@ struct Action {
faceDist = faceNormal[0] * vertices[0].coords[0] + faceNormal[1] * vertices[0].coords[1] + faceNormal[2] * vertices[0].coords[2];
}

double operator()(Point& receiver) {
void operator()(Receiver& receiver) {
bool inside = true;
for (unsigned side = 0; side < 3; ++side) {
inside = inside && (normals[side][0] * receiver.x + normals[side][1] * receiver.y <= dist[side]);
inside = inside && (normals[side][0] * receiver.point.x + normals[side][1] * receiver.point.y <= dist[side]);
}
if (inside) {
receiver.found = true;
double local_depth = 0.0;
if (!std::isnan(receiver.z)) {
local_depth = std::max(depth, std::fabs(receiver.z));
if (!std::isnan(receiver.point.z)) {
local_depth = std::max(depth, std::fabs(receiver.point.z));
}
receiver.z = (faceDist - faceNormal[0] * receiver.x - faceNormal[1] * receiver.y) / faceNormal[2];
receiver.point.z = (faceDist - faceNormal[0] * receiver.point.x - faceNormal[1] * receiver.point.y) / faceNormal[2];
if (faceNormal[2] >= 0) {
receiver.z -= local_depth;
receiver.point.z -= local_depth;
} else {
receiver.z += local_depth;
receiver.point.z += local_depth;
}
}
}
28 changes: 13 additions & 15 deletions place_receivers/src/KDTree.cpp
Original file line number Diff line number Diff line change
@@ -7,33 +7,31 @@
KDTree::KDTree(std::vector<Point> const& points, int maxLeafSize)
: p(2), maxLeafN(maxLeafSize)
{
int n = points.size();
const auto n = points.size();

// Copy data and change row-major to column-major storage.
data = new Point[n];
memcpy(data, points.data(), n * sizeof(Point));
data.resize(n);
for (std::size_t i = 0; i < n; ++i) {
data[i].point.x = points[i].x;
data[i].point.y = points[i].y;
data[i].point.z = points[i].z;
data[i].found = false;
}

idx = new int[n];
idx.resize(n);
for (int i = 0; i < n; ++i) {
idx[i] = i;
}

int maxHeight = 1 + ceil(log2(n / static_cast<double>(maxLeafN)));
int maxNodes = (1 << maxHeight) - 1;
nodes = new Node[maxNodes];
nodes.resize(maxNodes);
nodes[0].start = 0;
nodes[0].n = n;

buildTree(0, 0);
}

KDTree::~KDTree()
{
delete[] data;
delete[] idx;
delete[] nodes;
}

void KDTree::swap(int i, int j)
{
if (i != j) {
@@ -44,10 +42,10 @@ void KDTree::swap(int i, int j)

int KDTree::partition(int left, int right, int pivotIdx, int splitdim)
{
double pivot = data[pivotIdx].coords[splitdim];
double pivot = data[pivotIdx].point.coords[splitdim];
int st = left;
for (int i = left; i < right; ++i) {
if (data[i].coords[splitdim] < pivot) {
if (data[i].point.coords[splitdim] < pivot) {
swap(st, i);
++st;
}
@@ -79,7 +77,7 @@ void KDTree::buildTree(int k, int splitdim)
}
}
}
node.pivot = data[median_idx].coords[splitdim];
node.pivot = data[median_idx].point.coords[splitdim];

Node& left = nodes[leftChild(k)];
left.start = node.start;
24 changes: 14 additions & 10 deletions place_receivers/src/KDTree.h
Original file line number Diff line number Diff line change
@@ -51,18 +51,22 @@ union Point {
};
};

struct Receiver {
Point point;
bool found{false};
};

class KDTree {
public:
KDTree(std::vector<Point> const& points, int maxLeafSize);
~KDTree();

template<typename Support, typename Action>
void search(Support const& support, Action& action) const
void search(Support const& support, Action& action)
{
searchTree<Support, Action>(0, support, action);
}

inline Point const* points() const { return data; }
inline std::vector<Receiver> points() const { return data; }
inline int index(int r) const { return idx[r]; }
inline int numPoints() const { return nodes[0].n;}

@@ -78,28 +82,28 @@ class KDTree {
int splitdim;
bool isLeaf;
};
Node* nodes;
std::vector<Node> nodes;

void swap(int i, int j);
int partition(int left, int right, int pivotIdx, int splitdim);
void buildTree(int k, int splitdim);

template<typename Support, typename Action>
void searchTree(int k, Support const& support, Action& action) const;
void searchTree(int k, Support const& support, Action& action);

Point* data;
int* idx;
std::vector<Receiver> data;
std::vector<int> idx;
int p;
int maxLeafN;
};

template<typename Support, typename Action>
void KDTree::searchTree(int k, Support const& support, Action& action) const
void KDTree::searchTree(int k, Support const& support, Action& action)
{
Node& node = nodes[k];
const auto& node = nodes[k];
if (node.isLeaf) {
for (int i = node.start; i < node.start + node.n; ++i) {
action(data[i]);
action(data[i]);
}
} else {
if (support(node.splitdim, 0) <= node.pivot) {
14 changes: 7 additions & 7 deletions place_receivers/src/Reader.cpp
Original file line number Diff line number Diff line change
@@ -78,16 +78,16 @@ void writeReceiverFile(KDTree const& tree, std::string const& fileName) {
out << std::scientific << std::setprecision(16);

int failureCounter = 0;
Point const* points = tree.points();
std::vector<Point> sortedPoints(tree.numPoints());
const auto& receivers = tree.points();
std::vector<Receiver> sortedPoints(receivers.size());
for (unsigned p = 0; p < tree.numPoints(); ++p) {
sortedPoints[tree.index(p)] = points[p];
sortedPoints[tree.index(p)] = receivers[p];
}
for (auto const& point : sortedPoints) {
if (!std::isnan(point.z)) {
out << point.x << " " << point.y << " " << point.z << std::endl;
for (auto const& receiver : sortedPoints) {
if (!std::isnan(receiver.point.z) && receiver.found) {
out << receiver.point.x << " " << receiver.point.y << " " << receiver.point.z << std::endl;
} else {
std::cerr << "Warning: Did not find elevation for receiver at (" << point.x << ", " << point.y << ")." << std::endl;
std::cerr << "Warning: Did not find elevation for receiver at (" << receiver.point.x << ", " << receiver.point.y << ")." << std::endl;
++failureCounter;
}
}