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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/hpp/fcl/internal/BV_splitter.h	Lines:	74	79	93.7 %
Date:	2024-02-09 12:57:42	Branches:	75	108	69.4 %


/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  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 Open Source Robotics Foundation 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 Jia Pan */

#ifndef HPP_FCL_BV_SPLITTER_H
#define HPP_FCL_BV_SPLITTER_H

#include <hpp/fcl/BVH/BVH_internal.h>
#include <hpp/fcl/BV/kIOS.h>
#include <hpp/fcl/BV/OBBRSS.h>
#include <vector>
#include <iostream>

namespace hpp {
namespace fcl {

/// @brief Three types of split algorithms are provided in FCL as default
enum SplitMethodType {
  SPLIT_METHOD_MEAN,
  SPLIT_METHOD_MEDIAN,
  SPLIT_METHOD_BV_CENTER
};

/// @brief A class describing the split rule that splits each BV node
template <typename BV>
class BVSplitter {
 public:
  BVSplitter(SplitMethodType method)
      : split_vector(0, 0, 0), split_method(method) {}

  /// @brief Default deconstructor
  virtual ~BVSplitter() {}

  /// @brief Set the geometry data needed by the split rule
  void set(Vec3f* vertices_, Triangle* tri_indices_, BVHModelType type_) {
    vertices = vertices_;
    tri_indices = tri_indices_;
    type = type_;
  }

  /// @brief Compute the split rule according to a subset of geometry and the
  /// corresponding BV node
  void computeRule(const BV& bv, unsigned int* primitive_indices,
                   unsigned int num_primitives) {
    switch (split_method) {
      case SPLIT_METHOD_MEAN:
        computeRule_mean(bv, primitive_indices, num_primitives);
        break;
      case SPLIT_METHOD_MEDIAN:
        computeRule_median(bv, primitive_indices, num_primitives);
        break;
      case SPLIT_METHOD_BV_CENTER:
        computeRule_bvcenter(bv, primitive_indices, num_primitives);
        break;
      default:
        std::cerr << "Split method not supported" << std::endl;
    }
  }

  /// @brief Apply the split rule on a given point
  bool apply(const Vec3f& q) const { return q[split_axis] > split_value; }

  /// @brief Clear the geometry data set before
  void clear() {
    vertices = NULL;
    tri_indices = NULL;
    type = BVH_MODEL_UNKNOWN;
  }

 protected:
  /// @brief The axis based on which the split decision is made. For most BV,
  /// the axis is aligned with one of the world coordinate, so only split_axis
  /// is needed. For oriented node, we can use a vector to make a better split
  /// decision.
  int split_axis;
  Vec3f split_vector;

  /// @brief The split threshold, different primitives are splitted according
  /// whether their projection on the split_axis is larger or smaller than the
  /// threshold
  FCL_REAL split_value;

  /// @brief The mesh vertices or points handled by the splitter
  Vec3f* vertices;

  /// @brief The triangles handled by the splitter
  Triangle* tri_indices;

  /// @brief Whether the geometry is mesh or point cloud
  BVHModelType type;

  /// @brief The split algorithm used
  SplitMethodType split_method;

  /// @brief Split algorithm 1: Split the node from center
  void computeRule_bvcenter(const BV& bv, unsigned int*, unsigned int) {
    Vec3f center = bv.center();
    int axis = 2;

    if (bv.width() >= bv.height() && bv.width() >= bv.depth())
      axis = 0;
    else if (bv.height() >= bv.width() && bv.height() >= bv.depth())
      axis = 1;

    split_axis = axis;
    split_value = center[axis];
  }

  /// @brief Split algorithm 2: Split the node according to the mean of the data
  /// contained
  void computeRule_mean(const BV& bv, unsigned int* primitive_indices,
                        unsigned int num_primitives) {
    int axis = 2;

    if (bv.width() >= bv.height() && bv.width() >= bv.depth())
      axis = 0;
    else if (bv.height() >= bv.width() && bv.height() >= bv.depth())
      axis = 1;

    split_axis = axis;
    FCL_REAL sum = 0;

    if (type == BVH_MODEL_TRIANGLES) {
      for (unsigned int i = 0; i < num_primitives; ++i) {
        const Triangle& t = tri_indices[primitive_indices[i]];
        sum += (vertices[t[0]][split_axis] + vertices[t[1]][split_axis] +
                vertices[t[2]][split_axis]);
      }

      sum /= 3;
    } else if (type == BVH_MODEL_POINTCLOUD) {
      for (unsigned int i = 0; i < num_primitives; ++i) {
        sum += vertices[primitive_indices[i]][split_axis];
      }
    }

    split_value = sum / num_primitives;
  }

  /// @brief Split algorithm 3: Split the node according to the median of the
  /// data contained
  void computeRule_median(const BV& bv, unsigned int* primitive_indices,
                          unsigned int num_primitives) {
    int axis = 2;

    if (bv.width() >= bv.height() && bv.width() >= bv.depth())
      axis = 0;
    else if (bv.height() >= bv.width() && bv.height() >= bv.depth())
      axis = 1;

    split_axis = axis;
    std::vector<FCL_REAL> proj((size_t)num_primitives);

    if (type == BVH_MODEL_TRIANGLES) {
      for (unsigned int i = 0; i < num_primitives; ++i) {
        const Triangle& t = tri_indices[primitive_indices[i]];
        proj[i] = (vertices[t[0]][split_axis] + vertices[t[1]][split_axis] +
                   vertices[t[2]][split_axis]) /
                  3;
      }
    } else if (type == BVH_MODEL_POINTCLOUD) {
      for (unsigned int i = 0; i < num_primitives; ++i)
        proj[i] = vertices[primitive_indices[i]][split_axis];
    }

    std::sort(proj.begin(), proj.end());

    if (num_primitives % 2 == 1) {
      split_value = proj[(num_primitives - 1) / 2];
    } else {
      split_value =
          (proj[num_primitives / 2] + proj[num_primitives / 2 - 1]) / 2;
    }
  }
};

template <>
bool HPP_FCL_DLLAPI BVSplitter<OBB>::apply(const Vec3f& q) const;

template <>
bool HPP_FCL_DLLAPI BVSplitter<RSS>::apply(const Vec3f& q) const;

template <>
bool HPP_FCL_DLLAPI BVSplitter<kIOS>::apply(const Vec3f& q) const;

template <>
bool HPP_FCL_DLLAPI BVSplitter<OBBRSS>::apply(const Vec3f& q) const;

template <>
void HPP_FCL_DLLAPI BVSplitter<OBB>::computeRule_bvcenter(
    const OBB& bv, unsigned int* primitive_indices,
    unsigned int num_primitives);

template <>
void HPP_FCL_DLLAPI BVSplitter<OBB>::computeRule_mean(
    const OBB& bv, unsigned int* primitive_indices,
    unsigned int num_primitives);

template <>
void HPP_FCL_DLLAPI BVSplitter<OBB>::computeRule_median(
    const OBB& bv, unsigned int* primitive_indices,
    unsigned int num_primitives);

template <>
void HPP_FCL_DLLAPI BVSplitter<RSS>::computeRule_bvcenter(
    const RSS& bv, unsigned int* primitive_indices,
    unsigned int num_primitives);

template <>
void HPP_FCL_DLLAPI BVSplitter<RSS>::computeRule_mean(
    const RSS& bv, unsigned int* primitive_indices,
    unsigned int num_primitives);

template <>
void HPP_FCL_DLLAPI BVSplitter<RSS>::computeRule_median(
    const RSS& bv, unsigned int* primitive_indices,
    unsigned int num_primitives);

template <>
void HPP_FCL_DLLAPI BVSplitter<kIOS>::computeRule_bvcenter(
    const kIOS& bv, unsigned int* primitive_indices,
    unsigned int num_primitives);

template <>
void HPP_FCL_DLLAPI BVSplitter<kIOS>::computeRule_mean(
    const kIOS& bv, unsigned int* primitive_indices,
    unsigned int num_primitives);

template <>
void HPP_FCL_DLLAPI BVSplitter<kIOS>::computeRule_median(
    const kIOS& bv, unsigned int* primitive_indices,
    unsigned int num_primitives);

template <>
void HPP_FCL_DLLAPI BVSplitter<OBBRSS>::computeRule_bvcenter(
    const OBBRSS& bv, unsigned int* primitive_indices,
    unsigned int num_primitives);

template <>
void HPP_FCL_DLLAPI BVSplitter<OBBRSS>::computeRule_mean(
    const OBBRSS& bv, unsigned int* primitive_indices,
    unsigned int num_primitives);

template <>
void HPP_FCL_DLLAPI BVSplitter<OBBRSS>::computeRule_median(
    const OBBRSS& bv, unsigned int* primitive_indices,
    unsigned int num_primitives);

}  // namespace fcl

}  // namespace hpp

#endif


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2011-2014, Willow Garage, Inc.
5			* Copyright (c) 2014-2015, Open Source Robotics Foundation
6			* All rights reserved.
7			*
8			* Redistribution and use in source and binary forms, with or without
9			* modification, are permitted provided that the following conditions
10			* are met:
11			*
12			* * Redistributions of source code must retain the above copyright
13			* notice, this list of conditions and the following disclaimer.
14			* * Redistributions in binary form must reproduce the above
15			* copyright notice, this list of conditions and the following
16			* disclaimer in the documentation and/or other materials provided
17			* with the distribution.
18			* * Neither the name of Open Source Robotics Foundation nor the names of its
19			* contributors may be used to endorse or promote products derived
20			* from this software without specific prior written permission.
21			*
22			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25			* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26			* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27			* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28			* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29			* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30			* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32			* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33			* POSSIBILITY OF SUCH DAMAGE.
34			*/
35
36			/** \author Jia Pan */
37
38			#ifndef HPP_FCL_BV_SPLITTER_H
39			#define HPP_FCL_BV_SPLITTER_H
40
41			#include <hpp/fcl/BVH/BVH_internal.h>
42			#include <hpp/fcl/BV/kIOS.h>
43			#include <hpp/fcl/BV/OBBRSS.h>
44			#include <vector>
45			#include <iostream>
46
47			namespace hpp {
48			namespace fcl {
49
50			/// @brief Three types of split algorithms are provided in FCL as default
51			enum SplitMethodType {
52			SPLIT_METHOD_MEAN,
53			SPLIT_METHOD_MEDIAN,
54			SPLIT_METHOD_BV_CENTER
55			};
56
57			/// @brief A class describing the split rule that splits each BV node
58			template <typename BV>
59			class BVSplitter {
60			public:
61		7028	BVSplitter(SplitMethodType method)
62	✓✗	7028	: split_vector(0, 0, 0), split_method(method) {}
63
64			/// @brief Default deconstructor
65		13788	virtual ~BVSplitter() {}
66
67			/// @brief Set the geometry data needed by the split rule
68		6338	void set(Vec3f* vertices_, Triangle* tri_indices_, BVHModelType type_) {
69		6338	vertices = vertices_;
70		6338	tri_indices = tri_indices_;
71		6338	type = type_;
72		6338	}
73
74			/// @brief Compute the split rule according to a subset of geometry and the
75			/// corresponding BV node
76		4487706	void computeRule(const BV& bv, unsigned int* primitive_indices,
77			unsigned int num_primitives) {
78	✓✓✓✗	4487706	switch (split_method) {
79		2802958	case SPLIT_METHOD_MEAN:
80		2802958	computeRule_mean(bv, primitive_indices, num_primitives);
81		2802958	break;
82		814496	case SPLIT_METHOD_MEDIAN:
83		814496	computeRule_median(bv, primitive_indices, num_primitives);
84		814496	break;
85		870252	case SPLIT_METHOD_BV_CENTER:
86		870252	computeRule_bvcenter(bv, primitive_indices, num_primitives);
87		870252	break;
88			default:
89			std::cerr << "Split method not supported" << std::endl;
90			}
91		4487706	}
92
93			/// @brief Apply the split rule on a given point
94		6132606	bool apply(const Vec3f& q) const { return q[split_axis] > split_value; }
95
96			/// @brief Clear the geometry data set before
97		6338	void clear() {
98		6338	vertices = NULL;
99		6338	tri_indices = NULL;
100		6338	type = BVH_MODEL_UNKNOWN;
101		6338	}
102
103			protected:
104			/// @brief The axis based on which the split decision is made. For most BV,
105			/// the axis is aligned with one of the world coordinate, so only split_axis
106			/// is needed. For oriented node, we can use a vector to make a better split
107			/// decision.
108			int split_axis;
109			Vec3f split_vector;
110
111			/// @brief The split threshold, different primitives are splitted according
112			/// whether their projection on the split_axis is larger or smaller than the
113			/// threshold
114			FCL_REAL split_value;
115
116			/// @brief The mesh vertices or points handled by the splitter
117			Vec3f* vertices;
118
119			/// @brief The triangles handled by the splitter
120			Triangle* tri_indices;
121
122			/// @brief Whether the geometry is mesh or point cloud
123			BVHModelType type;
124
125			/// @brief The split algorithm used
126			SplitMethodType split_method;
127
128			/// @brief Split algorithm 1: Split the node from center
129		328404	void computeRule_bvcenter(const BV& bv, unsigned int*, unsigned int) {
130	✓✗	328404	Vec3f center = bv.center();
131		328404	int axis = 2;
132
133	✓✗✓✗ ✓✓✓✗ ✓✗✓✓ ✓✓	328404	if (bv.width() >= bv.height() && bv.width() >= bv.depth())
134		91286	axis = 0;
135	✓✗✓✗ ✓✓✓✗ ✓✗✓✓ ✓✓	237118	else if (bv.height() >= bv.width() && bv.height() >= bv.depth())
136		73150	axis = 1;
137
138		328404	split_axis = axis;
139	✓✗	328404	split_value = center[axis];
140		328404	}
141
142			/// @brief Split algorithm 2: Split the node according to the mean of the data
143			/// contained
144		399236	void computeRule_mean(const BV& bv, unsigned int* primitive_indices,
145			unsigned int num_primitives) {
146		399236	int axis = 2;
147
148	✓✓✓✓ ✓✓	399236	if (bv.width() >= bv.height() && bv.width() >= bv.depth())
149		95332	axis = 0;
150	✓✓✓✓ ✓✓	303904	else if (bv.height() >= bv.width() && bv.height() >= bv.depth())
151		78370	axis = 1;
152
153		399236	split_axis = axis;
154		399236	FCL_REAL sum = 0;
155
156	✓✓	399236	if (type == BVH_MODEL_TRIANGLES) {
157	✓✓	2894658	for (unsigned int i = 0; i < num_primitives; ++i) {
158		2495662	const Triangle& t = tri_indices[primitive_indices[i]];
159		4991324	sum += (vertices[t[0]][split_axis] + vertices[t[1]][split_axis] +
160		2495662	vertices[t[2]][split_axis]);
161			}
162
163		398996	sum /= 3;
164	✓✗	240	} else if (type == BVH_MODEL_POINTCLOUD) {
165	✓✓	752	for (unsigned int i = 0; i < num_primitives; ++i) {
166		512	sum += vertices[primitive_indices[i]][split_axis];
167			}
168			}
169
170		399236	split_value = sum / num_primitives;
171		399236	}
172
173			/// @brief Split algorithm 3: Split the node according to the median of the
174			/// data contained
175		328404	void computeRule_median(const BV& bv, unsigned int* primitive_indices,
176			unsigned int num_primitives) {
177		328404	int axis = 2;
178
179	✓✗✓✗ ✓✓✓✗ ✓✗✓✓ ✓✓	328404	if (bv.width() >= bv.height() && bv.width() >= bv.depth())
180		87446	axis = 0;
181	✓✗✓✗ ✓✓✓✗ ✓✗✓✓ ✓✓	240958	else if (bv.height() >= bv.width() && bv.height() >= bv.depth())
182		76932	axis = 1;
183
184		328404	split_axis = axis;
185	✓✗	656808	std::vector<FCL_REAL> proj((size_t)num_primitives);
186
187	✓✗	328404	if (type == BVH_MODEL_TRIANGLES) {
188	✓✓	2301304	for (unsigned int i = 0; i < num_primitives; ++i) {
189		1972900	const Triangle& t = tri_indices[primitive_indices[i]];
190	✓✗✓✗ ✓✗	3945800	proj[i] = (vertices[t[0]][split_axis] + vertices[t[1]][split_axis] +
191		3945800	vertices[t[2]][split_axis]) /
192			3;
193			}
194			} else if (type == BVH_MODEL_POINTCLOUD) {
195			for (unsigned int i = 0; i < num_primitives; ++i)
196			proj[i] = vertices[primitive_indices[i]][split_axis];
197			}
198
199	✓✗	328404	std::sort(proj.begin(), proj.end());
200
201	✓✓	328404	if (num_primitives % 2 == 1) {
202		207716	split_value = proj[(num_primitives - 1) / 2];
203			} else {
204		120688	split_value =
205		120688	(proj[num_primitives / 2] + proj[num_primitives / 2 - 1]) / 2;
206			}
207		328404	}
208			};
209
210			template <>
211			bool HPP_FCL_DLLAPI BVSplitter<OBB>::apply(const Vec3f& q) const;
212
213			template <>
214			bool HPP_FCL_DLLAPI BVSplitter<RSS>::apply(const Vec3f& q) const;
215
216			template <>
217			bool HPP_FCL_DLLAPI BVSplitter<kIOS>::apply(const Vec3f& q) const;
218
219			template <>
220			bool HPP_FCL_DLLAPI BVSplitter<OBBRSS>::apply(const Vec3f& q) const;
221
222			template <>
223			void HPP_FCL_DLLAPI BVSplitter<OBB>::computeRule_bvcenter(
224			const OBB& bv, unsigned int* primitive_indices,
225			unsigned int num_primitives);
226
227			template <>
228			void HPP_FCL_DLLAPI BVSplitter<OBB>::computeRule_mean(
229			const OBB& bv, unsigned int* primitive_indices,
230			unsigned int num_primitives);
231
232			template <>
233			void HPP_FCL_DLLAPI BVSplitter<OBB>::computeRule_median(
234			const OBB& bv, unsigned int* primitive_indices,
235			unsigned int num_primitives);
236
237			template <>
238			void HPP_FCL_DLLAPI BVSplitter<RSS>::computeRule_bvcenter(
239			const RSS& bv, unsigned int* primitive_indices,
240			unsigned int num_primitives);
241
242			template <>
243			void HPP_FCL_DLLAPI BVSplitter<RSS>::computeRule_mean(
244			const RSS& bv, unsigned int* primitive_indices,
245			unsigned int num_primitives);
246
247			template <>
248			void HPP_FCL_DLLAPI BVSplitter<RSS>::computeRule_median(
249			const RSS& bv, unsigned int* primitive_indices,
250			unsigned int num_primitives);
251
252			template <>
253			void HPP_FCL_DLLAPI BVSplitter<kIOS>::computeRule_bvcenter(
254			const kIOS& bv, unsigned int* primitive_indices,
255			unsigned int num_primitives);
256
257			template <>
258			void HPP_FCL_DLLAPI BVSplitter<kIOS>::computeRule_mean(
259			const kIOS& bv, unsigned int* primitive_indices,
260			unsigned int num_primitives);
261
262			template <>
263			void HPP_FCL_DLLAPI BVSplitter<kIOS>::computeRule_median(
264			const kIOS& bv, unsigned int* primitive_indices,
265			unsigned int num_primitives);
266
267			template <>
268			void HPP_FCL_DLLAPI BVSplitter<OBBRSS>::computeRule_bvcenter(
269			const OBBRSS& bv, unsigned int* primitive_indices,
270			unsigned int num_primitives);
271
272			template <>
273			void HPP_FCL_DLLAPI BVSplitter<OBBRSS>::computeRule_mean(
274			const OBBRSS& bv, unsigned int* primitive_indices,
275			unsigned int num_primitives);
276
277			template <>
278			void HPP_FCL_DLLAPI BVSplitter<OBBRSS>::computeRule_median(
279			const OBBRSS& bv, unsigned int* primitive_indices,
280			unsigned int num_primitives);
281
282			} // namespace fcl
283
284			} // namespace hpp
285
286			#endif