pax_global_header00006660000000000000000000000064146251145720014521gustar00rootroot0000000000000052 comment=cd95c8b95e8620e6c4ba722ed0f56974b4740873 norlab-ulaval-libnabo-cd95c8b/000077500000000000000000000000001462511457200163675ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/.dockerignore000066400000000000000000000005051462511457200210430ustar00rootroot00000000000000 # Note: # - libnabo cmake install require that the README.md file exist in the docker image # - libnaboer-CI doc related step require that .svg, .png and .md be copied in the docker image # Graphic/image related *.svg *.svgz *.png *.drawio # Text related *.pdf # Files # Directories drawio/* visual/* # IDE .run/* norlab-ulaval-libnabo-cd95c8b/.env.libnabo000066400000000000000000000032401462511457200205640ustar00rootroot00000000000000# ================================================================================================= # # Set project related environment variables. Those are available for convenience # and are also required by 'norlab-shell-script-tools' library. # # Usage: # # Important! Source this file from 'libnabo' repository root # $ cd # $ set -o allexport && source .env.libnabo && set +o allexport # # ================================================================================================= PROJECT_PROMPT_NAME='NABO' # ....Programaticaly fetch source code information................................................. PROJECT_GIT_REMOTE_URL="https://github.com/norlab-ulaval/libnabo" PROJECT_GIT_NAME=$( basename "${PROJECT_GIT_REMOTE_URL}" .git ) PROJECT_PATH=$( git rev-parse --show-toplevel ) PROJECT_SRC_NAME="$( basename ${PROJECT_PATH} )" # ....Set NABO related environment variable with their own prefix.................................. # Note: Those with "PROJECT_" prefix will get eventualy overiden in the case where N2ST is used # as a library. Using generic testing logic require that environment variables with # "PROJECT_" prefix be available. NABO_PROMPT_NAME="${PROJECT_PROMPT_NAME}" NABO_GIT_REMOTE_URL="${PROJECT_GIT_REMOTE_URL}" NABO_GIT_NAME="${PROJECT_GIT_NAME}" NABO_PATH="${PROJECT_PATH}" NABO_SRC_NAME="${PROJECT_SRC_NAME}" # ....Set dependencies path........................................................................ NABO_BUILD_SYSTEM_PATH="${PROJECT_PATH}/build_system" N2ST_PATH="${PROJECT_PATH}/build_system/utilities/norlab-shell-script-tools" NBS_PATH="${PROJECT_PATH}/build_system/utilities/norlab-build-system" norlab-ulaval-libnabo-cd95c8b/.github/000077500000000000000000000000001462511457200177275ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/.github/CODEOWNERS000066400000000000000000000030021462511457200213150ustar00rootroot00000000000000# ================================================================================================= # Files or directories with designated code owner. # # Note: # - Each line is a file pattern followed by one or more owners. # - Branch with branch protection rule "Require review from Code Owners" # will automaticaly trigger a request to a designated code owner # ================================================================================================= # ....Repository wide code owner................................................................... # These owners will be the default owners for everything in the repo. #* @pomerlef # ....High level files............................................................................. /README.md @pomerlef /LICENSE @pomerlef # ....Core directories and files................................................................... /examples @boxanm @simonpierredeschenes /nabo @boxanm @simonpierredeschenes /python @boxanm @simonpierredeschenes /tests @boxanm @simonpierredeschenes /contributing @RedLeader962 # ....User install tools........................................................................... /.env.libnabo @RedLeader962 /libnabo_dependencies_installer.bash @RedLeader962 /libnabo_installer.bash @RedLeader962 # ....DevOps related............................................................................... /.github/ @RedLeader962 /build_system/ @RedLeader962 /.gitmodules @RedLeader962 /.gitignore @RedLeader962 /.dockerignore @RedLeader962 norlab-ulaval-libnabo-cd95c8b/.github/pull_request_template.md000066400000000000000000000022771462511457200247000ustar00rootroot00000000000000# Description ### Summary: ### Changes and type of changes (quick overview): - - - --- # Checklist: ### Code related - [ ] I have made corresponding changes to the documentation (i.e.: function, class, script header, README.md) - [ ] I have commented hard-to-understand code - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] All tests pass locally with my changes (Check [contributing/contributing_instructions.md](/contributing/contributing_instructions.md) for local testing procedure using _libnabo-build-system_) ### PR creation related - [ ] My pull request `base ref` branch is set to the `develop` branch (the _build-system_ won't be triggered otherwise) - [ ] My pull request branch is up-to-date with the `develop` branch (the _build-system_ will reject it otherwise) ### PR description related - [ ] I have included a quick summary of the changes - [ ] I have indicated the related issue's id with `# ` if changes are of type `fix` - [ ] I have included a high-level list of changes and their corresponding types (See [contributing/commit_msg_reference.md](/contributing/commit_msg_reference.md) for details) --- norlab-ulaval-libnabo-cd95c8b/.github/workflows/000077500000000000000000000000001462511457200217645ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/.github/workflows/update_documentation.yaml000066400000000000000000000024631462511457200270700ustar00rootroot00000000000000name: Generate and Deploy Doxygen Documentation on: push: branches: - master workflow_dispatch: # Allow manual triggering jobs: build: runs-on: ubuntu-latest steps: - name: Checkout Repository uses: actions/checkout@v2 - name: Install Dependencies run: | sudo apt-get update sudo apt-get install -y build-essential cmake doxygen graphviz libboost-all-dev libeigen3-dev - name: Configure and Build Project run: | mkdir build cd build cmake .. make doc - name: Setup Pages id: pages uses: actions/configure-pages@v3 - name: Build with Jekyll uses: actions/jekyll-build-pages@v1 with: source: ./build/doc/html destination: ./_site - name: Upload artifact uses: actions/upload-pages-artifact@v2 # Deployment job deploy: environment: name: github-pages url: ${{steps.deployment.outputs.page_url}} permissions: pages: write # to deploy to Pages id-token: write # to verify the deployment originates from an appropriate source runs-on: ubuntu-latest needs: build steps: - name: Deploy to GitHub Pages id: deployment uses: actions/deploy-pages@v2norlab-ulaval-libnabo-cd95c8b/.gitignore000066400000000000000000000152311462511457200203610ustar00rootroot00000000000000*.cproject *.project *~ *.swp *.cur_trans build # ============================================================================ # Created by https://www.toptal.com/developers/gitignore/api/visualstudiocode,clion,c++,python # Edit at https://www.toptal.com/developers/gitignore?templates=visualstudiocode,clion,c++,python ### C++ ### # Prerequisites *.d # Compiled Object files *.slo *.lo *.o *.obj # Precompiled Headers *.gch *.pch # Compiled Dynamic libraries *.so *.dylib *.dll # Fortran module files *.mod *.smod # Compiled Static libraries *.lai *.la *.a *.lib # Executables *.exe *.out *.app ### CLion ### # Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider # Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839 # User-specific stuff .idea/**/workspace.xml .idea/**/tasks.xml .idea/**/usage.statistics.xml .idea/**/dictionaries .idea/**/shelf # AWS User-specific .idea/**/aws.xml # Generated files .idea/**/contentModel.xml # Sensitive or high-churn files .idea/**/dataSources/ .idea/**/dataSources.ids .idea/**/dataSources.local.xml .idea/**/sqlDataSources.xml .idea/**/dynamic.xml .idea/**/uiDesigner.xml .idea/**/dbnavigator.xml # Gradle .idea/**/gradle.xml .idea/**/libraries # Gradle and Maven with auto-import # When using Gradle or Maven with auto-import, you should exclude module files, # since they will be recreated, and may cause churn. Uncomment if using # auto-import. # .idea/artifacts # .idea/compiler.xml # .idea/jarRepositories.xml # .idea/modules.xml # .idea/*.iml # .idea/modules # *.iml # *.ipr # CMake cmake-build-*/ # Mongo Explorer plugin .idea/**/mongoSettings.xml # File-based project format *.iws # IntelliJ out/ # mpeltonen/sbt-idea plugin .idea_modules/ # JIRA plugin atlassian-ide-plugin.xml # Cursive Clojure plugin .idea/replstate.xml # SonarLint plugin .idea/sonarlint/ # Crashlytics plugin (for Android Studio and IntelliJ) com_crashlytics_export_strings.xml crashlytics.properties crashlytics-build.properties fabric.properties # Editor-based Rest Client .idea/httpRequests # Android studio 3.1+ serialized cache file .idea/caches/build_file_checksums.ser ### CLion Patch ### # Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721 # *.iml # modules.xml # .idea/misc.xml # *.ipr # Sonarlint plugin # https://plugins.jetbrains.com/plugin/7973-sonarlint .idea/**/sonarlint/ # SonarQube Plugin # https://plugins.jetbrains.com/plugin/7238-sonarqube-community-plugin .idea/**/sonarIssues.xml # Markdown Navigator plugin # https://plugins.jetbrains.com/plugin/7896-markdown-navigator-enhanced .idea/**/markdown-navigator.xml .idea/**/markdown-navigator-enh.xml .idea/**/markdown-navigator/ # Cache file creation bug # See https://youtrack.jetbrains.com/issue/JBR-2257 .idea/$CACHE_FILE$ # CodeStream plugin # https://plugins.jetbrains.com/plugin/12206-codestream .idea/codestream.xml # Azure Toolkit for IntelliJ plugin # https://plugins.jetbrains.com/plugin/8053-azure-toolkit-for-intellij .idea/**/azureSettings.xml ### Python ### # Byte-compiled / optimized / DLL files __pycache__/ *.py[cod] *$py.class # C extensions # Distribution / packaging .Python build/ develop-eggs/ dist/ downloads/ eggs/ .eggs/ lib/ lib64/ parts/ sdist/ var/ wheels/ share/python-wheels/ *.egg-info/ .installed.cfg *.egg MANIFEST # PyInstaller # Usually these files are written by a python script from a template # before PyInstaller builds the exe, so as to inject date/other infos into it. *.manifest *.spec # Installer logs pip-log.txt pip-delete-this-directory.txt # Unit test / coverage reports htmlcov/ .tox/ .nox/ .coverage .coverage.* .cache nosetests.xml coverage.xml *.cover *.py,cover .hypothesis/ .pytest_cache/ cover/ # Translations *.mo *.pot # Django stuff: *.log local_settings.py db.sqlite3 db.sqlite3-journal # Flask stuff: instance/ .webassets-cache # Scrapy stuff: .scrapy # Sphinx documentation docs/_build/ # PyBuilder .pybuilder/ target/ # Jupyter Notebook .ipynb_checkpoints # IPython profile_default/ ipython_config.py # pyenv # For a library or package, you might want to ignore these files since the code is # intended to run in multiple environments; otherwise, check them in: # .python-version # pipenv # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. # However, in case of collaboration, if having platform-specific dependencies or dependencies # having no cross-platform support, pipenv may install dependencies that don't work, or not # install all needed dependencies. #Pipfile.lock # poetry # Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. # This is especially recommended for binary packages to ensure reproducibility, and is more # commonly ignored for libraries. # https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control #poetry.lock # pdm # Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. #pdm.lock # pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it # in version control. # https://pdm.fming.dev/#use-with-ide .pdm.toml # PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm __pypackages__/ # Celery stuff celerybeat-schedule celerybeat.pid # SageMath parsed files *.sage.py # Environments .venv venv/ ENV/ env.bak/ venv.bak/ # Spyder project settings .spyderproject .spyproject # Rope project settings .ropeproject # mkdocs documentation /site # mypy .mypy_cache/ .dmypy.json dmypy.json # Pyre type checker .pyre/ # pytype static type analyzer .pytype/ # Cython debug symbols cython_debug/ # PyCharm # JetBrains specific template is maintained in a separate JetBrains.gitignore that can # be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore # and can be added to the global gitignore or merged into this file. For a more nuclear # option (not recommended) you can uncomment the following to ignore the entire idea folder. #.idea/ ### Python Patch ### # Poetry local configuration file - https://python-poetry.org/docs/configuration/#local-configuration poetry.toml # ruff .ruff_cache/ # LSP config files pyrightconfig.json ### VisualStudioCode ### .vscode/* !.vscode/settings.json !.vscode/tasks.json !.vscode/launch.json !.vscode/extensions.json !.vscode/*.code-snippets # Local History for Visual Studio Code .history/ # Built Visual Studio Code Extensions *.vsix ### VisualStudioCode Patch ### # Ignore all local history of files .history .ionide # End of https://www.toptal.com/developers/gitignore/api/visualstudiocode,clion,c++,python norlab-ulaval-libnabo-cd95c8b/.gitmodules000066400000000000000000000005351462511457200205470ustar00rootroot00000000000000[submodule "build_system/utilities/norlab-build-system"] path = build_system/utilities/norlab-build-system url = https://github.com/norlab-ulaval/norlab-build-system.git [submodule "utilities/norlab-shell-script-tools"] path = build_system/utilities/norlab-shell-script-tools url = https://github.com/norlab-ulaval/norlab-shell-script-tools.git norlab-ulaval-libnabo-cd95c8b/CHANGELOG.rst000066400000000000000000000273071462511457200204210ustar00rootroot00000000000000^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package libnabo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 1.1.2 (2024-05-23) ------------------ * Merge pull request `#137 `_ from norlab-ulaval/github-action-api-docs Add a GitHub action to upload API documentation to a webpage * CMake read libnabo version from package.xml, instead of the header of nabo.h * Merge pull request `#136 `_ from norlab-ulaval/release Mod docker compose services for running with docker-container driver * ci: update submodule to latest and mod service for docker-container driver * ci: force norlab-teamcity-server release build configuration [skip release] * Contributors: Luc Coupal, RedLeaderOne, boxanm 1.1.1 (2024-03-19) ------------------ * Update README.md * Set minimum required CMake version to 3.10.2 * (origin/dev-feat-integrate-norlab-build-system-library-and-implement-linabo-build-system-NMO-405) style: renamed `.*test_compilation.*` services and target to `.*integration_test.*` for clarity. * doc(readme): mute ubuntu jammy from supported OS version until libpointmatcher build pass on jammy * ci: drop ubuntu jammy from build matrix * doc: add missing norlab light logo * doc: add missing norlab light logo * doc: update header with dynamic logo, fix hyperlink, add dockerhub badge and fix relative link * doc(pull_request_template.md): fix typo * doc(readme): add norlab logo to header and improve intro * test: add release crawler script bats test * build: add release crawler script and .env file * doc(readme): update header * build: update repo version format * doc: clean pr comment * feat: integrate norlab-build-system library and implement linabo-build-system [NMO-405] * build: Added norlab-shell-script-tools submodule to repository [NMO-405] * build: Added norlab-build-system submodule to repository [NMO-405] * chore: added a code owner designation file, a pull request template and a conventional commit reference file * Update README.md * Update README.md with cmake guide * Use CMakePackageConfigHelpers to generate config files. Fill libnabo_INCLUDE_DIRS and libnabo_LIBRARIES variables. * Fix Cmake Syntax invoked by Nabo's version regex. Updated min cmake version to 3.8 * more robust extraction of version * Remove dependency on grep + Improve findstr command * Use findstr instead of grep on Windows * Date range and catch-all for authors * Upgrade all syntax to package format 3 * format "3" specifier for condition flag * Keep catkin for ROS1 * Create LICENSE file based on BSD license as per package.xml * catkin not required for pure cmake packages * Added link to Rust version. * Replace TABS with SPACES * Automaticaly find eigen3 * Fix install-space include directories * fix missing eigen headers in python module * add complete cmake exported-targets usage example * option to disable doxygen; cmake clean up * better handling of STATIC build option * modernize cmake to have exported targets * Make library git submodule-friendly 1.0.7 (2019-02-07) ------------------ * Disabled cmake compile tests by default and on compilers that do not support them (#95) * Fix Python 2 bindings support in CMake scripts (#90) * Port libnabo to c++11 (#89) * Remove register keyword in index_heap.h (#88) * Fix compilation warning for MSVC (#85) * Assert template type for invalid setters (#80) * Return numerically maximal index (unsigned) or -1 (signed) for no match case (#79) * Add generate step for ${PROJECT_BINARY_DIR}/libnaboConfig.cmake (#76) * Removed compiler-specific flags for compilers that do not support them (#74) * Added cmake_policy(SET CMP0054 NEW) (#73) * Output compiler message with compile test fatal error in cmake (#72) * Removed erroneous commas from test/CMakeLists.txt (#71) * Removed fatal "," suffix from FATAL_ERROR in CMakeLists.txt (#70) * Fixed regression concerning installed libnaboConfig.cmake (#65) * Fix/relax compiler requirements (#63) * Removed hard dependency on the doc target (#62) * Install any.hpp (#61) * Remove boost::any and boost:format dependencies (#59) * Port the python bindings to python3 (#57) * Added cmake switch to disable usage of OpenMP (#53) * Zero copy for Eigen::Matrix3XT and Eigen::Map (#43) * Fix warnings and switch on Wextra (#42) * Disallow instantiation with non dynamic matrices (#41) * Update README.md * Removed all code dealing with libnaboTargets.cmake (#32) * Got rid of unused locally defined typedefs (#27) * Contributors: David Landry, Hannes Sommer, Simon Lynen, Simon-Pierre Deschênes, Stéphane Magnenat, cezheng, ffurrer, magehrig, renning22, sandsmark, taketwo, tcies 1.0.6 (2015-03-05) ------------------ * Reset point indices of results with distances exceeding threshold (#23, #24) * Fine tune the find_package() capability and add uninstall target (#22) * Fixed compiler warning (#18) * Added OpenMP support (#20, #21) * Build type tuning (#19) * Fix: terminal comma in enum requires C++11 * Fix UBSAN error calculating maxNodeCount (#16, #17) * Fixed tiny (yet significant) error in the Python doc strings (#15) * Compile static lib with PIC (#14) * Contributors: Francois Pomerleau, François Pomerleau, Gregory Hitz, Gregory Jefferis, Simon Lynen, Stéphane Magnenat 1.0.5 (2014-06-12) ------------------ * Added configure scripts for full catkinization * Catkinization of libnabo (following REP136) * Update README.md Added Simon as the maintainer. * [test] use CLOCK_PROF for NetBSD build * Fixed CppCheck warning. Fix broken install when doxygen is not found * Fix cmake stylistic issue * Make python install respect custom CMAKE_INSTALL_PREFIX * Fix broken install when doxygen is not found * Contributors: Chris Foster, Francis Colas, Paul Furgale, Pierrick Koch, Stéphane Magnenat, fcolas 1.0.4 (2013-09-03) ------------------ * Updated Debian version number. * Added check for invalid optionFlags values. * Fixed compilation on OS X, reduced code duplication in tests by moving timers into helpers.h * Contributors: Stéphane Magnenat 1.0.3 (2013-08-19) ------------------ * Prevent requesting more points than available in the cloud, prevent the use of empty clouds, bumped version number. * Added test for grep. * Worked around issue `#3 `_ on Windows. * Updated documentation. * Contributors: Stéphane Magnenat 1.0.2 (2013-02-20) ------------------ * Updated version number. * Added const * Removed useless optimisation, cleaned-up. * faster tree heap when less neighbors than requested * Hopefully fixed detection of missmatched python versions. * Fixed cloud size check for clouds with billions of points. * Contributors: Francis Colas, Stéphane Magnenat 1.0.1 (2012-11-06) ------------------ * Bumped version in doc. * Updated documentation to reflect the disabling of OpenCL. * Fixed bug in version define. * Typo. * Added note about nabo citation. * Fixed the semantic of epsilon to match the documentation's and ANN's ones. * Added ability to pass one radius per point. * Added custom command for python target. * Reverted buggy change * Fixed old python_add_module * fixed python 2.6 detection on debian. * Fixed debian installation. * Added debian-specific install target. * Fixed doc and python link command * Added docstring to python bindings. * Added test and improved CMakeLists.txt * Added debian install for python * Renammed to pynabo, added python install script. * Experimental python bindings working. * When number of point is smaller than bucket size, create a single-bucket tree. * Cleaned-up makefile. * Fixed description. * Merge branch 'master' of github.com:ethz-asl/libnabo * Added dbg package. * Contributors: Stéphane Magnenat 1.0.0 (2011-10-19) ------------------ * Fixed naming convention. * Removed dbg msg. * Fixed doc. * Updated doc, fixed debian build. * Updated README. * Fixed debian compilation. * Added note about download. * Fixed bug in control file. * Separated doc package from dev package. * Cleaned-up debian build chain. * Added debian package. * Added link to online doc. * Added major version in library name. * Fixed documentation. * Improved Makefile and documentation. * Added bench to select bucket size. * Updated README. * Fixed doxygen warning. * Minor changes. * Been kind to Francis and in example compile in a build subdirectory. * Minor fix * Improved documentation. * Search for Eigen in ROS diamondback by default. * Updated (c) date. * Added using directive for boost. * Added win32 compatibility (thanks Alessio Placitelli) * Fixed bug when dimension was not passed. * Added const to knn search, bumped version number. * Removed duplicated comment. * Improved documentation. * Added additional search parameters to specify bucketSize for CPU kd-trees. * Optimized memory structure for CPU-basde kd-tree. * Added buckets. * Added radius search. * Fixed test case when CL is disabled. Improved verbose output of configuration. * Cleaned-up OpenGL API, marked it as unstable. * Fixed compilation of OpenCL part. Added high-res timer for benches when available. * Search for eigen (3) not explicitely eigen 2. * Added Eigen3 compatibility. * Result-file header now has the right number of columns. * Added statistics infrastructure. * Added caching to OpenCL * Removed arbitrary constant before method. * Added missing files. * Added epsilon test. * Added link to FLANN * Fixed typo * Fixed link * Added virtual destructor to NNS interface to prevent memory leak in children. * Fixed clang compilation. * Fixed extraction of version * Added new method for GPU-based kd tree. * removed dependency on C++0x * Updated to latest draft of C++0x * Fixed compilation when OpenCL is not present * Updated doc * Merge branch 'master' of github.com:stephanemagnenat/libnabo * Fixed implementation to fit new API. * Changed API. Implementation broken. * Fix compilation with undefined HAVE_OPENCL * changes names of variables to avoid overlaying. * Added multiple query per run. * Fixed uninitialised memory. * Fixed buffer handling for OpenCL, there seems to be still a bug with memory. * Improved OpenCL infrastructure. * Added back GPU * OpenCL KDtree now working. * Fixed adresse of node array. * OpenCL kernel for NNS compiles. * OpenCL glue now works to the point of reporting compilation errors in the source code. * Written OpenCL kernel for knn search, glue is still needed. * Added infrastructure for OpenCL support. * Added flann comparison * improved diff to ANN * improved doc. * Added documentation to source code * Improved README. * Added more complex example. * Added license * Improved README. * Added example * Restructured library. * Improved readme. * added initial readme. * Use index instead of values for temporary vector to create nodes, results in a faster creation. * libnabo now always faster than ANN. * Cleaned-up bench infrastructure, now it is possible to do more than one time each bench. * Added reentrant statistics, depends on C++0x. * Added ref to points in dist function, equals perfs of ANN. * Fixed KDTree. * Added explicit bound version of KDTree, ANN style. * Added unbalanced tree. * ANN bench now has both search and pri-search * Improved bench API. * Added option for cell balancing. * Prevent overflow in stats. * Improved benchmarking. * Added pt in leave option. * Added stack-based KNN on our structure, same perf as priority_queue... still 2x worst than ANN, memory-bounded? * Added API to match several points at once. * Added bench, comparison with ANN * Added large test. * Improved tests * Added unit tests. * Fixe includes for Lucid's version of Eigen lib. * use better dist * fixed bug * Restructured project. * added missing files * Refactored API. * Improved performance of search in kdtree. * Renamed lib, should help compilation with old cmakes. * Fixed arbitrary dimensions. * Added search in kdtree * Contributors: Francois Pomerleau, Martin Voelkle, Stéphane Magnenat norlab-ulaval-libnabo-cd95c8b/CMakeLists.txt000066400000000000000000000233561462511457200211400ustar00rootroot00000000000000cmake_minimum_required(VERSION 3.10.2) include(CMakePackageConfigHelpers) if (NOT CMAKE_VERSION VERSION_LESS "3.1") cmake_policy(SET CMP0054 NEW) endif () set(LIB_NAME nabo) project("lib${LIB_NAME}") set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}) ## Extract version from package.xml file(READ "package.xml" PACKAGE_XML_CONTENT) string(REGEX MATCH "([^<]+)" VERSION_MATCH ${PACKAGE_XML_CONTENT}) # Extract the matched version from the captured group if(VERSION_MATCH) # CMake variable ${CMAKE_MATCH_1} contains the matched version set(PROJECT_VERSION ${CMAKE_MATCH_1}) message(STATUS "Found package version: ${PROJECT_VERSION}") else() message(SEND_ERROR "Package version not found in package.xml") endif() if (NOT CMAKE_BUILD_TYPE) message("-- No build type specified; defaulting to CMAKE_BUILD_TYPE=Release.") set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel." FORCE) else () if (CMAKE_BUILD_TYPE STREQUAL "Debug") message("\n=================================================================================") message("\n-- Build type: Debug. Performance will be terrible!") message("-- Add -DCMAKE_BUILD_TYPE=Release to the CMake command line to get an optimized build.") message("\n=================================================================================") endif () endif () if (NOT CMAKE_BUILD_TYPE STREQUAL "Debug") add_definitions(-O3) endif() # Documentation option(LIBNABO_BUILD_DOXYGEN "Build libnabo doxygen documentation" ON) if (LIBNABO_BUILD_DOXYGEN) set(DOXYFILE_LATEX false) include(UseDoxygen) endif() # Switch on warnings. if (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Wall") else () set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra") endif () # Check the compiler version as we need C++11 support. if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") # using Clang if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.3") message(FATAL_ERROR "Your clang compiler has version ${CMAKE_CXX_COMPILER_VERSION}, while version 3.3 or later is required") endif () elseif () # using AppleClang if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "5.1") message(FATAL_ERROR "Your XCode environment has version ${CMAKE_CXX_COMPILER_VERSION}, while version 5.1 or later is required") endif () elseif () # using GCC if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "4.8.2") message(FATAL_ERROR "Your g++ compiler has version ${CMAKE_CXX_COMPILER_VERSION}, while version 4.8.2 or later is required") endif () elseif () # using MSVC if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "19.0.23506") message(FATAL_ERROR "Your Microsoft Visual C++ compiler has version ${CMAKE_CXX_COMPILER_VERSION}, while version MSVC 2015 Update 1+ is required") endif () endif () # enable C++11 support. if (CMAKE_VERSION VERSION_LESS "3.1") if (MSVC) message(FATAL_ERROR "CMake version 3.1 or later is required to compile ${PROJECT_NAME} with Microsoft Visual C++") endif () if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU") set (CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}") else () set (CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") endif () else () set (CMAKE_CXX_STANDARD 11) endif () #======================== External Dependencies =============================== include(GNUInstallDirs) # eigen 2 or 3 find_path(EIGEN_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library HINTS ENV EIGEN3_INC_DIR ENV EIGEN3_DIR PATHS Eigen/Core /usr/local/include /usr/include /opt/local/include PATH_SUFFIXES include eigen3 eigen2 eigen DOC "Directory containing the Eigen3 header files" ) # optionally, opencl # OpenCL disabled as its code is not up-to-date with API set(USE_OPEN_CL FALSE CACHE BOOL "Set to TRUE to look for OpenCL") if (USE_OPEN_CL) find_path(OPENCL_INCLUDE_DIR CL/cl.h /usr/local/include /usr/include ) if (WIN32) find_library(OPENCL_LIBRARIES opencl64) if (!OPENCL_LIBRARIES) find_library(OPENCL_LIBRARIES opencl32) endif () else () find_library(OPENCL_LIBRARIES OpenCL ENV LD_LIBRARY_PATH) endif () if (OPENCL_INCLUDE_DIR AND OPENCL_LIBRARIES) add_definitions(-DHAVE_OPENCL) set(EXTRA_LIBS ${OPENCL_LIBRARIES} ${EXTRA_LIBS}) include_directories(${OPENCL_INCLUDE_DIR}) add_definitions(-DOPENCL_SOURCE_DIR=\"${CMAKE_SOURCE_DIR}/nabo/opencl/\") message("OpenCL enabled and found, enabling CL support") else (OPENCL_INCLUDE_DIR AND OPENCL_LIBRARIES) message("OpenCL enabled but not found, disabling CL support") endif () else () message("OpenCL disabled, not looking for it") endif () # main nabo lib set(NABO_SRC nabo/nabo.cpp nabo/brute_force_cpu.cpp nabo/kdtree_cpu.cpp nabo/kdtree_opencl.cpp ) set(SHARED_LIBS FALSE CACHE BOOL "Set to TRUE to build shared library") if (SHARED_LIBS) add_library(${LIB_NAME} SHARED ${NABO_SRC}) install(TARGETS ${LIB_NAME} LIBRARY DESTINATION lib) else () add_library(${LIB_NAME} STATIC ${NABO_SRC}) if (NOT MSVC) target_compile_options(${LIB_NAME} PRIVATE -fPIC) endif() install(TARGETS ${LIB_NAME} ARCHIVE DESTINATION lib) endif () set_target_properties(${LIB_NAME} PROPERTIES VERSION "${PROJECT_VERSION}" SOVERSION 1) target_include_directories(${LIB_NAME} PUBLIC ${EIGEN_INCLUDE_DIR} $ $ ) # openmp set(USE_OPEN_MP TRUE CACHE BOOL "Set to FALSE to not use OpenMP") if (USE_OPEN_MP) find_package(OpenMP) if (OPENMP_FOUND) target_compile_options(${LIB_NAME} PRIVATE -fopenmp ${OpenMP_CXX_FLAGS}) target_compile_definitions(${LIB_NAME} PRIVATE HAVE_OPENMP) if (CMAKE_COMPILER_IS_GNUCC) target_link_libraries(${LIB_NAME} PUBLIC gomp) endif() endif() endif () # create doc before installing set(DOC_INSTALL_TARGET "share/doc/${PROJECT_NAME}/api" CACHE STRING "Target where to install doxygen documentation") install(FILES nabo/nabo.h DESTINATION include/nabo) install(FILES nabo/third_party/any.hpp DESTINATION include/nabo/third_party) install(FILES README.md DESTINATION share/doc/${PROJECT_NAME}) if (DOXYGEN_FOUND) install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doc/html DESTINATION ${DOC_INSTALL_TARGET}) endif (DOXYGEN_FOUND) enable_testing() option(LIBNABO_BUILD_EXAMPLES "Build libnabo examples" ON) if (LIBNABO_BUILD_EXAMPLES) add_subdirectory(examples) endif() option(LIBNABO_BUILD_TESTS "Build libnabo tests" ON) if(LIBNABO_BUILD_TESTS) add_subdirectory(tests) endif() option(LIBNABO_BUILD_PYTHON "Build libnabo python" ON) if(LIBNABO_BUILD_PYTHON) add_subdirectory(python) endif() # Install catkin package.xml install(FILES package.xml DESTINATION share/libnabo) #============================================= # to allow find_package() on libnabo #============================================= # # the following case be used in an external project requiring libnabo: # ... # find_package(libnabo) # include_directories(${libnabo_INCLUDE_DIRS}) # target_link_libraries(executableName ${libnabo_LIBRARIES}) # ... # NOTE: the following will support find_package for 1) local build (make) and 2) for installed files (make install) # 1- local build # # Register the local build in case one doesn't use "make install" export(PACKAGE libnabo) # 'make install' to the correct locations (provided by GNUInstallDirs). install(TARGETS ${LIB_NAME} EXPORT ${PROJECT_NAME}-targets ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}) # This is for Windows #install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}) add_library(${PROJECT_NAME}::${LIB_NAME} ALIAS ${LIB_NAME}) # This makes the project importable from the install directory # Put config file in per-project dir (name MUST match), can also # just go into 'cmake'. install( EXPORT ${PROJECT_NAME}-targets DESTINATION share/${PROJECT_NAME}/cmake NAMESPACE ${PROJECT_NAME}:: ) # This makes the project importable from the build directory export( TARGETS ${LIB_NAME} FILE ${PROJECT_NAME}-targets.cmake NAMESPACE ${PROJECT_NAME}:: ) # Create variable with the library location set(libnabo_library $) # Create variable for the local build tree get_property(libnabo_include_dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES) # Configure & generate config file for local build tree configure_package_config_file(libnaboConfig.cmake.in "${PROJECT_BINARY_DIR}/libnaboConfig.cmake" INSTALL_DESTINATION share/libnabo/cmake PATH_VARS PROJECT_NAME ) # 2- installation build # # Change the library location for an install location set(libnabo_library $) # Change the include location for the case of an install location set(libnabo_include_dirs ${CMAKE_INSTALL_PREFIX}/include) # We put the generated file for installation in a different repository (i.e., ./CMakeFiles/) configure_package_config_file(libnaboConfig.cmake.in "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/libnaboConfig.cmake" INSTALL_DESTINATION share/libnabo/cmake PATH_VARS PROJECT_NAME ) # The same versioning file can be used for both cases write_basic_package_version_file(libnaboConfigVersion.cmake COMPATIBILITY AnyNewerVersion) install(FILES "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/libnaboConfig.cmake" "${PROJECT_BINARY_DIR}/libnaboConfigVersion.cmake" DESTINATION share/libnabo/cmake COMPONENT dev) #============================================= # Add uninstall target #============================================= if (NOT TARGET uninstall) configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" IMMEDIATE @ONLY) add_custom_target(uninstall COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake) endif() norlab-ulaval-libnabo-cd95c8b/Doxyfile.in000066400000000000000000001743451462511457200205200ustar00rootroot00000000000000# Doxyfile 1.5.8 # This file describes the settings to be used by the documentation system # doxygen (www.doxygen.org) for a project # # All text after a hash (#) is considered a comment and will be ignored # The format is: # TAG = value [value, ...] # For lists items can also be appended using: # TAG += value [value, ...] # Values that contain spaces should be placed between quotes (" ") #--------------------------------------------------------------------------- # Project related configuration options #--------------------------------------------------------------------------- # This tag specifies the encoding used for all characters in the config file # that follow. The default is UTF-8 which is also the encoding used for all # text before the first occurrence of this tag. Doxygen uses libiconv (or the # iconv built into libc) for the transcoding. See # http://www.gnu.org/software/libiconv for the list of possible encodings. DOXYFILE_ENCODING = UTF-8 # The PROJECT_NAME tag is a single word (or a sequence of words surrounded # by quotes) that should identify the project. PROJECT_NAME = "@PROJECT_NAME@" # The PROJECT_NUMBER tag can be used to enter a project or revision number. # This could be handy for archiving the generated documentation or # if some version control system is used. PROJECT_NUMBER = "@PROJECT_VERSION@" # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) # base path where the generated documentation will be put. # If a relative path is entered, it will be relative to the location # where doxygen was started. If left blank the current directory will be used. OUTPUT_DIRECTORY = "@DOXYFILE_OUTPUT_DIR@" # If the CREATE_SUBDIRS tag is set to YES, then doxygen will create # 4096 sub-directories (in 2 levels) under the output directory of each output # format and will distribute the generated files over these directories. # Enabling this option can be useful when feeding doxygen a huge amount of # source files, where putting all generated files in the same directory would # otherwise cause performance problems for the file system. CREATE_SUBDIRS = NO # The OUTPUT_LANGUAGE tag is used to specify the language in which all # documentation generated by doxygen is written. Doxygen will use this # information to generate all constant output in the proper language. # The default language is English, other supported languages are: # Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, # Croatian, Czech, Danish, Dutch, Farsi, Finnish, French, German, Greek, # Hungarian, Italian, Japanese, Japanese-en (Japanese with English messages), # Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, Polish, # Portuguese, Romanian, Russian, Serbian, Serbian-Cyrilic, Slovak, Slovene, # Spanish, Swedish, and Ukrainian. OUTPUT_LANGUAGE = English # If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will # include brief member descriptions after the members that are listed in # the file and class documentation (similar to JavaDoc). # Set to NO to disable this. BRIEF_MEMBER_DESC = YES # If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend # the brief description of a member or function before the detailed description. # Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the # brief descriptions will be completely suppressed. REPEAT_BRIEF = YES # This tag implements a quasi-intelligent brief description abbreviator # that is used to form the text in various listings. Each string # in this list, if found as the leading text of the brief description, will be # stripped from the text and the result after processing the whole list, is # used as the annotated text. Otherwise, the brief description is used as-is. # If left blank, the following values are used ("$name" is automatically # replaced with the name of the entity): "The $name class" "The $name widget" # "The $name file" "is" "provides" "specifies" "contains" # "represents" "a" "an" "the" ABBREVIATE_BRIEF = # If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then # Doxygen will generate a detailed section even if there is only a brief # description. ALWAYS_DETAILED_SEC = NO # If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all # inherited members of a class in the documentation of that class as if those # members were ordinary class members. Constructors, destructors and assignment # operators of the base classes will not be shown. INLINE_INHERITED_MEMB = NO # If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full # path before files name in the file list and in the header files. If set # to NO the shortest path that makes the file name unique will be used. FULL_PATH_NAMES = NO # If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag # can be used to strip a user-defined part of the path. Stripping is # only done if one of the specified strings matches the left-hand part of # the path. The tag can be used to show relative paths in the file list. # If left blank the directory from which doxygen is run is used as the # path to strip. STRIP_FROM_PATH = # The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of # the path mentioned in the documentation of a class, which tells # the reader which header file to include in order to use a class. # If left blank only the name of the header file containing the class # definition is used. Otherwise one should specify the include paths that # are normally passed to the compiler using the -I flag. STRIP_FROM_INC_PATH = # If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter # (but less readable) file names. This can be useful is your file systems # doesn't support long names like on DOS, Mac, or CD-ROM. SHORT_NAMES = NO # If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen # will interpret the first line (until the first dot) of a JavaDoc-style # comment as the brief description. If set to NO, the JavaDoc # comments will behave just like regular Qt-style comments # (thus requiring an explicit @brief command for a brief description.) JAVADOC_AUTOBRIEF = YES # If the QT_AUTOBRIEF tag is set to YES then Doxygen will # interpret the first line (until the first dot) of a Qt-style # comment as the brief description. If set to NO, the comments # will behave just like regular Qt-style comments (thus requiring # an explicit \brief command for a brief description.) QT_AUTOBRIEF = NO # The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen # treat a multi-line C++ special comment block (i.e. a block of //! or /// # comments) as a brief description. This used to be the default behaviour. # The new default is to treat a multi-line C++ comment block as a detailed # description. Set this tag to YES if you prefer the old behaviour instead. MULTILINE_CPP_IS_BRIEF = NO # If the INHERIT_DOCS tag is set to YES (the default) then an undocumented # member inherits the documentation from any documented member that it # re-implements. INHERIT_DOCS = YES # If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce # a new page for each member. If set to NO, the documentation of a member will # be part of the file/class/namespace that contains it. SEPARATE_MEMBER_PAGES = NO # The TAB_SIZE tag can be used to set the number of spaces in a tab. # Doxygen uses this value to replace tabs by spaces in code fragments. TAB_SIZE = 8 # This tag can be used to specify a number of aliases that acts # as commands in the documentation. An alias has the form "name=value". # For example adding "sideeffect=\par Side Effects:\n" will allow you to # put the command \sideeffect (or @sideeffect) in the documentation, which # will result in a user-defined paragraph with heading "Side Effects:". # You can put \n's in the value part of an alias to insert newlines. ALIASES = # Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C # sources only. Doxygen will then generate output that is more tailored for C. # For instance, some of the names that are used will be different. The list # of all members will be omitted, etc. OPTIMIZE_OUTPUT_FOR_C = NO # Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java # sources only. Doxygen will then generate output that is more tailored for # Java. For instance, namespaces will be presented as packages, qualified # scopes will look different, etc. OPTIMIZE_OUTPUT_JAVA = NO # Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran # sources only. Doxygen will then generate output that is more tailored for # Fortran. OPTIMIZE_FOR_FORTRAN = NO # Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL # sources. Doxygen will then generate output that is tailored for # VHDL. OPTIMIZE_OUTPUT_VHDL = NO # Doxygen selects the parser to use depending on the extension of the files it parses. # With this tag you can assign which parser to use for a given extension. # Doxygen has a built-in mapping, but you can override or extend it using this tag. # The format is ext=language, where ext is a file extension, and language is one of # the parsers supported by doxygen: IDL, Java, Javascript, C#, C, C++, D, PHP, # Objective-C, Python, Fortran, VHDL, C, C++. For instance to make doxygen treat # .inc files as Fortran files (default is PHP), and .f files as C (default is Fortran), # use: inc=Fortran f=C EXTENSION_MAPPING = # If you use STL classes (i.e. std::string, std::vector, etc.) but do not want # to include (a tag file for) the STL sources as input, then you should # set this tag to YES in order to let doxygen match functions declarations and # definitions whose arguments contain STL classes (e.g. func(std::string); v.s. # func(std::string) {}). This also make the inheritance and collaboration # diagrams that involve STL classes more complete and accurate. BUILTIN_STL_SUPPORT = NO # If you use Microsoft's C++/CLI language, you should set this option to YES to # enable parsing support. CPP_CLI_SUPPORT = NO # Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. # Doxygen will parse them like normal C++ but will assume all classes use public # instead of private inheritance when no explicit protection keyword is present. SIP_SUPPORT = NO # For Microsoft's IDL there are propget and propput attributes to indicate getter # and setter methods for a property. Setting this option to YES (the default) # will make doxygen to replace the get and set methods by a property in the # documentation. This will only work if the methods are indeed getting or # setting a simple type. If this is not the case, or you want to show the # methods anyway, you should set this option to NO. IDL_PROPERTY_SUPPORT = YES # If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC # tag is set to YES, then doxygen will reuse the documentation of the first # member in the group (if any) for the other members of the group. By default # all members of a group must be documented explicitly. DISTRIBUTE_GROUP_DOC = NO # Set the SUBGROUPING tag to YES (the default) to allow class member groups of # the same type (for instance a group of public functions) to be put as a # subgroup of that type (e.g. under the Public Functions section). Set it to # NO to prevent subgrouping. Alternatively, this can be done per class using # the \nosubgrouping command. SUBGROUPING = YES # When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum # is documented as struct, union, or enum with the name of the typedef. So # typedef struct TypeS {} TypeT, will appear in the documentation as a struct # with name TypeT. When disabled the typedef will appear as a member of a file, # namespace, or class. And the struct will be named TypeS. This can typically # be useful for C code in case the coding convention dictates that all compound # types are typedef'ed and only the typedef is referenced, never the tag name. TYPEDEF_HIDES_STRUCT = NO # The SYMBOL_CACHE_SIZE determines the size of the internal cache use to # determine which symbols to keep in memory and which to flush to disk. # When the cache is full, less often used symbols will be written to disk. # For small to medium size projects (<1000 input files) the default value is # probably good enough. For larger projects a too small cache size can cause # doxygen to be busy swapping symbols to and from disk most of the time # causing a significant performance penality. # If the system has enough physical memory increasing the cache will improve the # performance by keeping more symbols in memory. Note that the value works on # a logarithmic scale so increasing the size by one will rougly double the # memory usage. The cache size is given by this formula: # 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, # corresponding to a cache size of 2^16 = 65536 symbols SYMBOL_CACHE_SIZE = 0 #--------------------------------------------------------------------------- # Build related configuration options #--------------------------------------------------------------------------- # If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in # documentation are documented, even if no documentation was available. # Private class members and static file members will be hidden unless # the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES EXTRACT_ALL = NO # If the EXTRACT_PRIVATE tag is set to YES all private members of a class # will be included in the documentation. EXTRACT_PRIVATE = NO # If the EXTRACT_STATIC tag is set to YES all static members of a file # will be included in the documentation. EXTRACT_STATIC = NO # If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) # defined locally in source files will be included in the documentation. # If set to NO only classes defined in header files are included. EXTRACT_LOCAL_CLASSES = YES # This flag is only useful for Objective-C code. When set to YES local # methods, which are defined in the implementation section but not in # the interface are included in the documentation. # If set to NO (the default) only methods in the interface are included. EXTRACT_LOCAL_METHODS = NO # If this flag is set to YES, the members of anonymous namespaces will be # extracted and appear in the documentation as a namespace called # 'anonymous_namespace{file}', where file will be replaced with the base # name of the file that contains the anonymous namespace. By default # anonymous namespace are hidden. EXTRACT_ANON_NSPACES = NO # If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all # undocumented members of documented classes, files or namespaces. # If set to NO (the default) these members will be included in the # various overviews, but no documentation section is generated. # This option has no effect if EXTRACT_ALL is enabled. HIDE_UNDOC_MEMBERS = NO # If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all # undocumented classes that are normally visible in the class hierarchy. # If set to NO (the default) these classes will be included in the various # overviews. This option has no effect if EXTRACT_ALL is enabled. HIDE_UNDOC_CLASSES = NO # If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all # friend (class|struct|union) declarations. # If set to NO (the default) these declarations will be included in the # documentation. HIDE_FRIEND_COMPOUNDS = NO # If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any # documentation blocks found inside the body of a function. # If set to NO (the default) these blocks will be appended to the # function's detailed documentation block. HIDE_IN_BODY_DOCS = NO # The INTERNAL_DOCS tag determines if documentation # that is typed after a \internal command is included. If the tag is set # to NO (the default) then the documentation will be excluded. # Set it to YES to include the internal documentation. INTERNAL_DOCS = NO # If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate # file names in lower-case letters. If set to YES upper-case letters are also # allowed. This is useful if you have classes or files whose names only differ # in case and if your file system supports case sensitive file names. Windows # and Mac users are advised to set this option to NO. CASE_SENSE_NAMES = YES # If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen # will show members with their full class and namespace scopes in the # documentation. If set to YES the scope will be hidden. HIDE_SCOPE_NAMES = NO # If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen # will put a list of the files that are included by a file in the documentation # of that file. SHOW_INCLUDE_FILES = YES # If the INLINE_INFO tag is set to YES (the default) then a tag [inline] # is inserted in the documentation for inline members. INLINE_INFO = YES # If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen # will sort the (detailed) documentation of file and class members # alphabetically by member name. If set to NO the members will appear in # declaration order. SORT_MEMBER_DOCS = YES # If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the # brief documentation of file, namespace and class members alphabetically # by member name. If set to NO (the default) the members will appear in # declaration order. SORT_BRIEF_DOCS = NO # If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the # hierarchy of group names into alphabetical order. If set to NO (the default) # the group names will appear in their defined order. SORT_GROUP_NAMES = NO # If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be # sorted by fully-qualified names, including namespaces. If set to # NO (the default), the class list will be sorted only by class name, # not including the namespace part. # Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. # Note: This option applies only to the class list, not to the # alphabetical list. SORT_BY_SCOPE_NAME = NO # The GENERATE_TODOLIST tag can be used to enable (YES) or # disable (NO) the todo list. This list is created by putting \todo # commands in the documentation. GENERATE_TODOLIST = YES # The GENERATE_TESTLIST tag can be used to enable (YES) or # disable (NO) the test list. This list is created by putting \test # commands in the documentation. GENERATE_TESTLIST = YES # The GENERATE_BUGLIST tag can be used to enable (YES) or # disable (NO) the bug list. This list is created by putting \bug # commands in the documentation. GENERATE_BUGLIST = YES # The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or # disable (NO) the deprecated list. This list is created by putting # \deprecated commands in the documentation. GENERATE_DEPRECATEDLIST= YES # The ENABLED_SECTIONS tag can be used to enable conditional # documentation sections, marked by \if sectionname ... \endif. ENABLED_SECTIONS = # The MAX_INITIALIZER_LINES tag determines the maximum number of lines # the initial value of a variable or define consists of for it to appear in # the documentation. If the initializer consists of more lines than specified # here it will be hidden. Use a value of 0 to hide initializers completely. # The appearance of the initializer of individual variables and defines in the # documentation can be controlled using \showinitializer or \hideinitializer # command in the documentation regardless of this setting. MAX_INITIALIZER_LINES = 30 # Set the SHOW_USED_FILES tag to NO to disable the list of files generated # at the bottom of the documentation of classes and structs. If set to YES the # list will mention the files that were used to generate the documentation. SHOW_USED_FILES = YES # If the sources in your project are distributed over multiple directories # then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy # in the documentation. The default is NO. SHOW_DIRECTORIES = NO # Set the SHOW_FILES tag to NO to disable the generation of the Files page. # This will remove the Files entry from the Quick Index and from the # Folder Tree View (if specified). The default is YES. SHOW_FILES = YES # Set the SHOW_NAMESPACES tag to NO to disable the generation of the # Namespaces page. # This will remove the Namespaces entry from the Quick Index # and from the Folder Tree View (if specified). The default is YES. SHOW_NAMESPACES = YES # The FILE_VERSION_FILTER tag can be used to specify a program or script that # doxygen should invoke to get the current version for each file (typically from # the version control system). Doxygen will invoke the program by executing (via # popen()) the command , where is the value of # the FILE_VERSION_FILTER tag, and is the name of an input file # provided by doxygen. Whatever the program writes to standard output # is used as the file version. See the manual for examples. FILE_VERSION_FILTER = # The LAYOUT_FILE tag can be used to specify a layout file which will be parsed by # doxygen. The layout file controls the global structure of the generated output files # in an output format independent way. The create the layout file that represents # doxygen's defaults, run doxygen with the -l option. You can optionally specify a # file name after the option, if omitted DoxygenLayout.xml will be used as the name # of the layout file. LAYOUT_FILE = #--------------------------------------------------------------------------- # configuration options related to warning and progress messages #--------------------------------------------------------------------------- # The QUIET tag can be used to turn on/off the messages that are generated # by doxygen. Possible values are YES and NO. If left blank NO is used. QUIET = YES # The WARNINGS tag can be used to turn on/off the warning messages that are # generated by doxygen. Possible values are YES and NO. If left blank # NO is used. WARNINGS = YES # If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings # for undocumented members. If EXTRACT_ALL is set to YES then this flag will # automatically be disabled. WARN_IF_UNDOCUMENTED = YES # If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for # potential errors in the documentation, such as not documenting some # parameters in a documented function, or documenting parameters that # don't exist or using markup commands wrongly. WARN_IF_DOC_ERROR = YES # This WARN_NO_PARAMDOC option can be abled to get warnings for # functions that are documented, but have no documentation for their parameters # or return value. If set to NO (the default) doxygen will only warn about # wrong or incomplete parameter documentation, but not about the absence of # documentation. WARN_NO_PARAMDOC = NO # The WARN_FORMAT tag determines the format of the warning messages that # doxygen can produce. The string should contain the $file, $line, and $text # tags, which will be replaced by the file and line number from which the # warning originated and the warning text. Optionally the format may contain # $version, which will be replaced by the version of the file (if it could # be obtained via FILE_VERSION_FILTER) WARN_FORMAT = "$file:$line: $text" # The WARN_LOGFILE tag can be used to specify a file to which warning # and error messages should be written. If left blank the output is written # to stderr. WARN_LOGFILE = #--------------------------------------------------------------------------- # configuration options related to the input files #--------------------------------------------------------------------------- # The INPUT tag can be used to specify the files and/or directories that contain # documented source files. You may enter file names like "myfile.cpp" or # directories like "/usr/src/myproject". Separate the files or directories # with spaces. INPUT = "@DOXYFILE_SOURCE_DIR@/nabo" # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is # also the default input encoding. Doxygen uses libiconv (or the iconv built # into libc) for the transcoding. See http://www.gnu.org/software/libiconv for # the list of possible encodings. INPUT_ENCODING = UTF-8 # If the value of the INPUT tag contains directories, you can use the # FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp # and *.h) to filter out the source-files in the directories. If left # blank the following patterns are tested: # *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx # *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90 FILE_PATTERNS = # The RECURSIVE tag can be used to turn specify whether or not subdirectories # should be searched for input files as well. Possible values are YES and NO. # If left blank NO is used. RECURSIVE = YES # The EXCLUDE tag can be used to specify files and/or directories that should # excluded from the INPUT source files. This way you can easily exclude a # subdirectory from a directory tree whose root is specified with the INPUT tag. EXCLUDE = "_darcs" # The EXCLUDE_SYMLINKS tag can be used select whether or not files or # directories that are symbolic links (a Unix filesystem feature) are excluded # from the input. EXCLUDE_SYMLINKS = NO # If the value of the INPUT tag contains directories, you can use the # EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude # certain files from those directories. Note that the wildcards are matched # against the file with absolute path, so to exclude all test directories # for example use the pattern */test/* EXCLUDE_PATTERNS = "*/.*" "*/.*/*" # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names # (namespaces, classes, functions, etc.) that should be excluded from the # output. The symbol name can be a fully qualified name, a word, or if the # wildcard * is used, a substring. Examples: ANamespace, AClass, # AClass::ANamespace, ANamespace::*Test EXCLUDE_SYMBOLS = # The EXAMPLE_PATH tag can be used to specify one or more files or # directories that contain example code fragments that are included (see # the \include command). EXAMPLE_PATH = "@CMAKE_CURRENT_SOURCE_DIR@/examples" # If the value of the EXAMPLE_PATH tag contains directories, you can use the # EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp # and *.h) to filter out the source-files in the directories. If left # blank all files are included. EXAMPLE_PATTERNS = # If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be # searched for input files to be used with the \include or \dontinclude # commands irrespective of the value of the RECURSIVE tag. # Possible values are YES and NO. If left blank NO is used. EXAMPLE_RECURSIVE = NO # The IMAGE_PATH tag can be used to specify one or more files or # directories that contain image that are included in the documentation (see # the \image command). IMAGE_PATH = "@CMAKE_CURRENT_SOURCE_DIR@" # The INPUT_FILTER tag can be used to specify a program that doxygen should # invoke to filter for each input file. Doxygen will invoke the filter program # by executing (via popen()) the command , where # is the value of the INPUT_FILTER tag, and is the name of an # input file. Doxygen will then use the output that the filter program writes # to standard output. # If FILTER_PATTERNS is specified, this tag will be # ignored. INPUT_FILTER = # The FILTER_PATTERNS tag can be used to specify filters on a per file pattern # basis. # Doxygen will compare the file name with each pattern and apply the # filter if there is a match. # The filters are a list of the form: # pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further # info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER # is applied to all files. FILTER_PATTERNS = # If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using # INPUT_FILTER) will be used to filter the input files when producing source # files to browse (i.e. when SOURCE_BROWSER is set to YES). FILTER_SOURCE_FILES = NO #--------------------------------------------------------------------------- # configuration options related to source browsing #--------------------------------------------------------------------------- # If the SOURCE_BROWSER tag is set to YES then a list of source files will # be generated. Documented entities will be cross-referenced with these sources. # Note: To get rid of all source code in the generated output, make sure also # VERBATIM_HEADERS is set to NO. SOURCE_BROWSER = NO # Setting the INLINE_SOURCES tag to YES will include the body # of functions and classes directly in the documentation. INLINE_SOURCES = NO # Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct # doxygen to hide any special comment blocks from generated source code # fragments. Normal C and C++ comments will always remain visible. STRIP_CODE_COMMENTS = YES # If the REFERENCED_BY_RELATION tag is set to YES # then for each documented function all documented # functions referencing it will be listed. REFERENCED_BY_RELATION = NO # If the REFERENCES_RELATION tag is set to YES # then for each documented function all documented entities # called/used by that function will be listed. REFERENCES_RELATION = NO # If the REFERENCES_LINK_SOURCE tag is set to YES (the default) # and SOURCE_BROWSER tag is set to YES, then the hyperlinks from # functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will # link to the source code. # Otherwise they will link to the documentation. REFERENCES_LINK_SOURCE = YES # If the USE_HTAGS tag is set to YES then the references to source code # will point to the HTML generated by the htags(1) tool instead of doxygen # built-in source browser. The htags tool is part of GNU's global source # tagging system (see http://www.gnu.org/software/global/global.html). You # will need version 4.8.6 or higher. USE_HTAGS = NO # If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen # will generate a verbatim copy of the header file for each class for # which an include is specified. Set to NO to disable this. VERBATIM_HEADERS = YES #--------------------------------------------------------------------------- # configuration options related to the alphabetical class index #--------------------------------------------------------------------------- # If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index # of all compounds will be generated. Enable this if the project # contains a lot of classes, structs, unions or interfaces. ALPHABETICAL_INDEX = NO # If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then # the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns # in which this list will be split (can be a number in the range [1..20]) COLS_IN_ALPHA_INDEX = 5 # In case all classes in a project start with a common prefix, all # classes will be put under the same header in the alphabetical index. # The IGNORE_PREFIX tag can be used to specify one or more prefixes that # should be ignored while generating the index headers. IGNORE_PREFIX = #--------------------------------------------------------------------------- # configuration options related to the HTML output #--------------------------------------------------------------------------- # If the GENERATE_HTML tag is set to YES (the default) Doxygen will # generate HTML output. GENERATE_HTML = YES # The HTML_OUTPUT tag is used to specify where the HTML docs will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `html' will be used as the default path. HTML_OUTPUT = "@DOXYFILE_HTML_DIR@" # The HTML_FILE_EXTENSION tag can be used to specify the file extension for # each generated HTML page (for example: .htm,.php,.asp). If it is left blank # doxygen will generate files with .html extension. HTML_FILE_EXTENSION = .html # The HTML_HEADER tag can be used to specify a personal HTML header for # each generated HTML page. If it is left blank doxygen will generate a # standard header. HTML_HEADER = # The HTML_FOOTER tag can be used to specify a personal HTML footer for # each generated HTML page. If it is left blank doxygen will generate a # standard footer. HTML_FOOTER = # The HTML_STYLESHEET tag can be used to specify a user-defined cascading # style sheet that is used by each HTML page. It can be used to # fine-tune the look of the HTML output. If the tag is left blank doxygen # will generate a default style sheet. Note that doxygen will try to copy # the style sheet file to the HTML output directory, so don't put your own # stylesheet in the HTML output directory as well, or it will be erased! HTML_STYLESHEET = # If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, # files or namespaces will be aligned in HTML using tables. If set to # NO a bullet list will be used. HTML_ALIGN_MEMBERS = YES # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML # documentation will contain sections that can be hidden and shown after the # page has loaded. For this to work a browser that supports # JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox # Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). HTML_DYNAMIC_SECTIONS = NO # If the GENERATE_DOCSET tag is set to YES, additional index files # will be generated that can be used as input for Apple's Xcode 3 # integrated development environment, introduced with OSX 10.5 (Leopard). # To create a documentation set, doxygen will generate a Makefile in the # HTML output directory. Running make will produce the docset in that # directory and running "make install" will install the docset in # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find # it at startup. # See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html for more information. GENERATE_DOCSET = NO # When GENERATE_DOCSET tag is set to YES, this tag determines the name of the # feed. A documentation feed provides an umbrella under which multiple # documentation sets from a single provider (such as a company or product suite) # can be grouped. DOCSET_FEEDNAME = "Doxygen generated docs" # When GENERATE_DOCSET tag is set to YES, this tag specifies a string that # should uniquely identify the documentation set bundle. This should be a # reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen # will append .docset to the name. DOCSET_BUNDLE_ID = org.doxygen.Project # If the GENERATE_HTMLHELP tag is set to YES, additional index files # will be generated that can be used as input for tools like the # Microsoft HTML help workshop to generate a compiled HTML help file (.chm) # of the generated HTML documentation. GENERATE_HTMLHELP = NO # If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can # be used to specify the file name of the resulting .chm file. You # can add a path in front of the file if the result should not be # written to the html output directory. CHM_FILE = # If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can # be used to specify the location (absolute path including file name) of # the HTML help compiler (hhc.exe). If non-empty doxygen will try to run # the HTML help compiler on the generated index.hhp. HHC_LOCATION = # If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag # controls if a separate .chi index file is generated (YES) or that # it should be included in the master .chm file (NO). GENERATE_CHI = NO # If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING # is used to encode HtmlHelp index (hhk), content (hhc) and project file # content. CHM_INDEX_ENCODING = # If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag # controls whether a binary table of contents is generated (YES) or a # normal table of contents (NO) in the .chm file. BINARY_TOC = NO # The TOC_EXPAND flag can be set to YES to add extra items for group members # to the contents of the HTML help documentation and to the tree view. TOC_EXPAND = NO # If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and QHP_VIRTUAL_FOLDER # are set, an additional index file will be generated that can be used as input for # Qt's qhelpgenerator to generate a Qt Compressed Help (.qch) of the generated # HTML documentation. GENERATE_QHP = NO # If the QHG_LOCATION tag is specified, the QCH_FILE tag can # be used to specify the file name of the resulting .qch file. # The path specified is relative to the HTML output folder. QCH_FILE = # The QHP_NAMESPACE tag specifies the namespace to use when generating # Qt Help Project output. For more information please see # http://doc.trolltech.com/qthelpproject.html#namespace QHP_NAMESPACE = # The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating # Qt Help Project output. For more information please see # http://doc.trolltech.com/qthelpproject.html#virtual-folders QHP_VIRTUAL_FOLDER = doc # If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to add. # For more information please see # http://doc.trolltech.com/qthelpproject.html#custom-filters QHP_CUST_FILTER_NAME = # The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the custom filter to add.For more information please see # Qt Help Project / Custom Filters. QHP_CUST_FILTER_ATTRS = # The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this project's # filter section matches. # Qt Help Project / Filter Attributes. QHP_SECT_FILTER_ATTRS = # If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can # be used to specify the location of Qt's qhelpgenerator. # If non-empty doxygen will try to run qhelpgenerator on the generated # .qhp file. QHG_LOCATION = # The DISABLE_INDEX tag can be used to turn on/off the condensed index at # top of each HTML page. The value NO (the default) enables the index and # the value YES disables it. DISABLE_INDEX = NO # This tag can be used to set the number of enum values (range [1..20]) # that doxygen will group on one line in the generated HTML documentation. ENUM_VALUES_PER_LINE = 4 # The GENERATE_TREEVIEW tag is used to specify whether a tree-like index # structure should be generated to display hierarchical information. # If the tag value is set to FRAME, a side panel will be generated # containing a tree-like index structure (just like the one that # is generated for HTML Help). For this to work a browser that supports # JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+, # Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are # probably better off using the HTML help feature. Other possible values # for this tag are: HIERARCHIES, which will generate the Groups, Directories, # and Class Hierarchy pages using a tree view instead of an ordered list; # ALL, which combines the behavior of FRAME and HIERARCHIES; and NONE, which # disables this behavior completely. For backwards compatibility with previous # releases of Doxygen, the values YES and NO are equivalent to FRAME and NONE # respectively. GENERATE_TREEVIEW = NONE # If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be # used to set the initial width (in pixels) of the frame in which the tree # is shown. TREEVIEW_WIDTH = 250 # Use this tag to change the font size of Latex formulas included # as images in the HTML documentation. The default is 10. Note that # when you change the font size after a successful doxygen run you need # to manually remove any form_*.png images from the HTML output directory # to force them to be regenerated. FORMULA_FONTSIZE = 10 #--------------------------------------------------------------------------- # configuration options related to the LaTeX output #--------------------------------------------------------------------------- # If the GENERATE_LATEX tag is set to YES (the default) Doxygen will # generate Latex output. GENERATE_LATEX = @DOXYFILE_LATEX@ # The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `latex' will be used as the default path. LATEX_OUTPUT = "@DOXYFILE_LATEX_DIR@" # The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be # invoked. If left blank `latex' will be used as the default command name. LATEX_CMD_NAME = "@LATEX_COMPILER@" # The MAKEINDEX_CMD_NAME tag can be used to specify the command name to # generate index for LaTeX. If left blank `makeindex' will be used as the # default command name. MAKEINDEX_CMD_NAME = "@MAKEINDEX_COMPILER@" # If the COMPACT_LATEX tag is set to YES Doxygen generates more compact # LaTeX documents. This may be useful for small projects and may help to # save some trees in general. COMPACT_LATEX = NO # The PAPER_TYPE tag can be used to set the paper type that is used # by the printer. Possible values are: a4, a4wide, letter, legal and # executive. If left blank a4wide will be used. PAPER_TYPE = a4wide # The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX # packages that should be included in the LaTeX output. EXTRA_PACKAGES = # The LATEX_HEADER tag can be used to specify a personal LaTeX header for # the generated latex document. The header should contain everything until # the first chapter. If it is left blank doxygen will generate a # standard header. Notice: only use this tag if you know what you are doing! LATEX_HEADER = # If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated # is prepared for conversion to pdf (using ps2pdf). The pdf file will # contain links (just like the HTML output) instead of page references # This makes the output suitable for online browsing using a pdf viewer. PDF_HYPERLINKS = YES # If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of # plain latex in the generated Makefile. Set this option to YES to get a # higher quality PDF documentation. USE_PDFLATEX = @DOXYFILE_PDFLATEX@ # If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. # command to the generated LaTeX files. This will instruct LaTeX to keep # running if errors occur, instead of asking the user for help. # This option is also used when generating formulas in HTML. LATEX_BATCHMODE = YES # If LATEX_HIDE_INDICES is set to YES then doxygen will not # include the index chapters (such as File Index, Compound Index, etc.) # in the output. LATEX_HIDE_INDICES = NO #--------------------------------------------------------------------------- # configuration options related to the RTF output #--------------------------------------------------------------------------- # If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output # The RTF output is optimized for Word 97 and may not look very pretty with # other RTF readers or editors. GENERATE_RTF = NO # The RTF_OUTPUT tag is used to specify where the RTF docs will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `rtf' will be used as the default path. RTF_OUTPUT = rtf # If the COMPACT_RTF tag is set to YES Doxygen generates more compact # RTF documents. This may be useful for small projects and may help to # save some trees in general. COMPACT_RTF = NO # If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated # will contain hyperlink fields. The RTF file will # contain links (just like the HTML output) instead of page references. # This makes the output suitable for online browsing using WORD or other # programs which support those fields. # Note: wordpad (write) and others do not support links. RTF_HYPERLINKS = NO # Load stylesheet definitions from file. Syntax is similar to doxygen's # config file, i.e. a series of assignments. You only have to provide # replacements, missing definitions are set to their default value. RTF_STYLESHEET_FILE = # Set optional variables used in the generation of an rtf document. # Syntax is similar to doxygen's config file. RTF_EXTENSIONS_FILE = #--------------------------------------------------------------------------- # configuration options related to the man page output #--------------------------------------------------------------------------- # If the GENERATE_MAN tag is set to YES (the default) Doxygen will # generate man pages GENERATE_MAN = NO # The MAN_OUTPUT tag is used to specify where the man pages will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `man' will be used as the default path. MAN_OUTPUT = man # The MAN_EXTENSION tag determines the extension that is added to # the generated man pages (default is the subroutine's section .3) MAN_EXTENSION = .3 # If the MAN_LINKS tag is set to YES and Doxygen generates man output, # then it will generate one additional man file for each entity # documented in the real man page(s). These additional files # only source the real man page, but without them the man command # would be unable to find the correct page. The default is NO. MAN_LINKS = NO #--------------------------------------------------------------------------- # configuration options related to the XML output #--------------------------------------------------------------------------- # If the GENERATE_XML tag is set to YES Doxygen will # generate an XML file that captures the structure of # the code including all documentation. GENERATE_XML = NO # The XML_OUTPUT tag is used to specify where the XML pages will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `xml' will be used as the default path. XML_OUTPUT = xml # The XML_SCHEMA tag can be used to specify an XML schema, # which can be used by a validating XML parser to check the # syntax of the XML files. XML_SCHEMA = # The XML_DTD tag can be used to specify an XML DTD, # which can be used by a validating XML parser to check the # syntax of the XML files. XML_DTD = # If the XML_PROGRAMLISTING tag is set to YES Doxygen will # dump the program listings (including syntax highlighting # and cross-referencing information) to the XML output. Note that # enabling this will significantly increase the size of the XML output. XML_PROGRAMLISTING = YES #--------------------------------------------------------------------------- # configuration options for the AutoGen Definitions output #--------------------------------------------------------------------------- # If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will # generate an AutoGen Definitions (see autogen.sf.net) file # that captures the structure of the code including all # documentation. Note that this feature is still experimental # and incomplete at the moment. GENERATE_AUTOGEN_DEF = NO #--------------------------------------------------------------------------- # configuration options related to the Perl module output #--------------------------------------------------------------------------- # If the GENERATE_PERLMOD tag is set to YES Doxygen will # generate a Perl module file that captures the structure of # the code including all documentation. Note that this # feature is still experimental and incomplete at the # moment. GENERATE_PERLMOD = NO # If the PERLMOD_LATEX tag is set to YES Doxygen will generate # the necessary Makefile rules, Perl scripts and LaTeX code to be able # to generate PDF and DVI output from the Perl module output. PERLMOD_LATEX = NO # If the PERLMOD_PRETTY tag is set to YES the Perl module output will be # nicely formatted so it can be parsed by a human reader. # This is useful # if you want to understand what is going on. # On the other hand, if this # tag is set to NO the size of the Perl module output will be much smaller # and Perl will parse it just the same. PERLMOD_PRETTY = YES # The names of the make variables in the generated doxyrules.make file # are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. # This is useful so different doxyrules.make files included by the same # Makefile don't overwrite each other's variables. PERLMOD_MAKEVAR_PREFIX = #--------------------------------------------------------------------------- # Configuration options related to the preprocessor #--------------------------------------------------------------------------- # If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will # evaluate all C-preprocessor directives found in the sources and include # files. ENABLE_PREPROCESSING = YES # If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro # names in the source code. If set to NO (the default) only conditional # compilation will be performed. Macro expansion can be done in a controlled # way by setting EXPAND_ONLY_PREDEF to YES. MACRO_EXPANSION = NO # If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES # then the macro expansion is limited to the macros specified with the # PREDEFINED and EXPAND_AS_DEFINED tags. EXPAND_ONLY_PREDEF = NO # If the SEARCH_INCLUDES tag is set to YES (the default) the includes files # in the INCLUDE_PATH (see below) will be search if a #include is found. SEARCH_INCLUDES = YES # The INCLUDE_PATH tag can be used to specify one or more directories that # contain include files that are not input files but should be processed by # the preprocessor. INCLUDE_PATH = # You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard # patterns (like *.h and *.hpp) to filter out the header-files in the # directories. If left blank, the patterns specified with FILE_PATTERNS will # be used. INCLUDE_FILE_PATTERNS = # The PREDEFINED tag can be used to specify one or more macro names that # are defined before the preprocessor is started (similar to the -D option of # gcc). The argument of the tag is a list of macros of the form: name # or name=definition (no spaces). If the definition and the = are # omitted =1 is assumed. To prevent a macro definition from being # undefined via #undef or recursively expanded use the := operator # instead of the = operator. PREDEFINED = HAVE_OPENCL # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then # this tag can be used to specify a list of macro names that should be expanded. # The macro definition that is found in the sources will be used. # Use the PREDEFINED tag if you want to use a different macro definition. EXPAND_AS_DEFINED = # If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then # doxygen's preprocessor will remove all function-like macros that are alone # on a line, have an all uppercase name, and do not end with a semicolon. Such # function macros are typically used for boiler-plate code, and will confuse # the parser if not removed. SKIP_FUNCTION_MACROS = YES #--------------------------------------------------------------------------- # Configuration::additions related to external references #--------------------------------------------------------------------------- # The TAGFILES option can be used to specify one or more tagfiles. # Optionally an initial location of the external documentation # can be added for each tagfile. The format of a tag file without # this location is as follows: # # TAGFILES = file1 file2 ... # Adding location for the tag files is done as follows: # # TAGFILES = file1=loc1 "file2 = loc2" ... # where "loc1" and "loc2" can be relative or absolute paths or # URLs. If a location is present for each tag, the installdox tool # does not have to be run to correct the links. # Note that each tag file must have a unique name # (where the name does NOT include the path) # If a tag file is not located in the directory in which doxygen # is run, you must also specify the path to the tagfile here. TAGFILES = # When a file name is specified after GENERATE_TAGFILE, doxygen will create # a tag file that is based on the input files it reads. GENERATE_TAGFILE = # If the ALLEXTERNALS tag is set to YES all external classes will be listed # in the class index. If set to NO only the inherited external classes # will be listed. ALLEXTERNALS = NO # If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed # in the modules index. If set to NO, only the current project's groups will # be listed. EXTERNAL_GROUPS = YES # The PERL_PATH should be the absolute path and name of the perl script # interpreter (i.e. the result of `which perl'). PERL_PATH = /usr/bin/perl #--------------------------------------------------------------------------- # Configuration options related to the dot tool #--------------------------------------------------------------------------- # If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will # generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base # or super classes. Setting the tag to NO turns the diagrams off. Note that # this option is superseded by the HAVE_DOT option below. This is only a # fallback. It is recommended to install and use dot, since it yields more # powerful graphs. CLASS_DIAGRAMS = YES # You can define message sequence charts within doxygen comments using the \msc # command. Doxygen will then run the mscgen tool (see # http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the # documentation. The MSCGEN_PATH tag allows you to specify the directory where # the mscgen tool resides. If left empty the tool is assumed to be found in the # default search path. MSCGEN_PATH = # If set to YES, the inheritance and collaboration graphs will hide # inheritance and usage relations if the target is undocumented # or is not a class. HIDE_UNDOC_RELATIONS = YES # If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is # available from the path. This tool is part of Graphviz, a graph visualization # toolkit from AT&T and Lucent Bell Labs. The other options in this section # have no effect if this option is set to NO (the default) HAVE_DOT = @DOXYFILE_DOT@ # By default doxygen will write a font called FreeSans.ttf to the output # directory and reference it in all dot files that doxygen generates. This # font does not include all possible unicode characters however, so when you need # these (or just want a differently looking font) you can specify the font name # using DOT_FONTNAME. You need need to make sure dot is able to find the font, # which can be done by putting it in a standard location or by setting the # DOTFONTPATH environment variable or by setting DOT_FONTPATH to the directory # containing the font. DOT_FONTNAME = FreeSans # The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. # The default size is 10pt. DOT_FONTSIZE = 10 # By default doxygen will tell dot to use the output directory to look for the # FreeSans.ttf font (which doxygen will put there itself). If you specify a # different font using DOT_FONTNAME you can set the path where dot # can find it using this tag. DOT_FONTPATH = # If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen # will generate a graph for each documented class showing the direct and # indirect inheritance relations. Setting this tag to YES will force the # the CLASS_DIAGRAMS tag to NO. CLASS_GRAPH = YES # If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen # will generate a graph for each documented class showing the direct and # indirect implementation dependencies (inheritance, containment, and # class references variables) of the class with other documented classes. COLLABORATION_GRAPH = YES # If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen # will generate a graph for groups, showing the direct groups dependencies GROUP_GRAPHS = YES # If the UML_LOOK tag is set to YES doxygen will generate inheritance and # collaboration diagrams in a style similar to the OMG's Unified Modeling # Language. UML_LOOK = NO # If set to YES, the inheritance and collaboration graphs will show the # relations between templates and their instances. TEMPLATE_RELATIONS = NO # If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT # tags are set to YES then doxygen will generate a graph for each documented # file showing the direct and indirect include dependencies of the file with # other documented files. INCLUDE_GRAPH = YES # If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and # HAVE_DOT tags are set to YES then doxygen will generate a graph for each # documented header file showing the documented files that directly or # indirectly include this file. INCLUDED_BY_GRAPH = YES # If the CALL_GRAPH and HAVE_DOT options are set to YES then # doxygen will generate a call dependency graph for every global function # or class method. Note that enabling this option will significantly increase # the time of a run. So in most cases it will be better to enable call graphs # for selected functions only using the \callgraph command. CALL_GRAPH = NO # If the CALLER_GRAPH and HAVE_DOT tags are set to YES then # doxygen will generate a caller dependency graph for every global function # or class method. Note that enabling this option will significantly increase # the time of a run. So in most cases it will be better to enable caller # graphs for selected functions only using the \callergraph command. CALLER_GRAPH = NO # If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen # will graphical hierarchy of all classes instead of a textual one. GRAPHICAL_HIERARCHY = YES # If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES # then doxygen will show the dependencies a directory has on other directories # in a graphical way. The dependency relations are determined by the #include # relations between the files in the directories. DIRECTORY_GRAPH = YES # The DOT_IMAGE_FORMAT tag can be used to set the image format of the images # generated by dot. Possible values are png, jpg, or gif # If left blank png will be used. DOT_IMAGE_FORMAT = png # The tag DOT_PATH can be used to specify the path where the dot tool can be # found. If left blank, it is assumed the dot tool can be found in the path. DOT_PATH = "@DOXYGEN_DOT_PATH@" # The DOTFILE_DIRS tag can be used to specify one or more directories that # contain dot files that are included in the documentation (see the # \dotfile command). DOTFILE_DIRS = # The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of # nodes that will be shown in the graph. If the number of nodes in a graph # becomes larger than this value, doxygen will truncate the graph, which is # visualized by representing a node as a red box. Note that doxygen if the # number of direct children of the root node in a graph is already larger than # DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note # that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. DOT_GRAPH_MAX_NODES = 50 # The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the # graphs generated by dot. A depth value of 3 means that only nodes reachable # from the root by following a path via at most 3 edges will be shown. Nodes # that lay further from the root node will be omitted. Note that setting this # option to 1 or 2 may greatly reduce the computation time needed for large # code bases. Also note that the size of a graph can be further restricted by # DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. MAX_DOT_GRAPH_DEPTH = 0 # Set the DOT_TRANSPARENT tag to YES to generate images with a transparent # background. This is disabled by default, because dot on Windows does not # seem to support this out of the box. Warning: Depending on the platform used, # enabling this option may lead to badly anti-aliased labels on the edges of # a graph (i.e. they become hard to read). DOT_TRANSPARENT = YES # Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output # files in one run (i.e. multiple -o and -T options on the command line). This # makes dot run faster, but since only newer versions of dot (>1.8.10) # support this, this feature is disabled by default. DOT_MULTI_TARGETS = NO # If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will # generate a legend page explaining the meaning of the various boxes and # arrows in the dot generated graphs. GENERATE_LEGEND = YES # If the DOT_CLEANUP tag is set to YES (the default) Doxygen will # remove the intermediate dot files that are used to generate # the various graphs. DOT_CLEANUP = YES #--------------------------------------------------------------------------- # Options related to the search engine #--------------------------------------------------------------------------- # The SEARCHENGINE tag specifies whether or not a search engine should be # used. If set to NO the values of all tags below this one will be ignored. SEARCHENGINE = NO norlab-ulaval-libnabo-cd95c8b/LICENSE000066400000000000000000000027711462511457200174030ustar00rootroot00000000000000BSD 3-Clause License Copyright (c) 2010-2021, the Nabo authors All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. 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. 3. Neither the name of the copyright holder 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 HOLDER 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. norlab-ulaval-libnabo-cd95c8b/README.md000066400000000000000000000230211462511457200176440ustar00rootroot00000000000000
[//]: # ( ==== Logo ================================================== )

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[//]: # ( ==== Title ================================================= ) # _libnabo_ [//]: # ( ==== Hyperlink ============================================= ) NorLab TeamCity GUI (VPN/intranet access)   •   norlabulaval (Docker Hub)  

[//]: # ( ==== Description =========================================== ) **libnabo is a fast K Nearest Neighbour library for low-dimensional spaces.**

[//]: # (====GitHub badges========================================================================) GitHub Repo stars GitHub forks GitHub License GitHub release (with filter) Docker Image Version (latest semver)

libnabo provides a clean, legacy-free, scalar-type–agnostic API thanks to C++ templates. Its current CPU implementation is strongly inspired by [ANN], but with more compact data types. On the average, libnabo is 5% to 20% faster than [ANN]. **Dependencies:** - libnabo depends on [Eigen], a modern C++ matrix and linear-algebra library. - libnabo works with either version 2 or 3 of Eigen. - libnabo also optionally depends on [Boost], a C++ general library, for Python bindings. **Credit:** - libnabo was developed by [Stéphane Magnenat](http://stephane.magnenat.net) as part of his work at [ASL-ETH](http://www.asl.ethz.ch) - libnabo is now maintained by [NorLab](https://github.com/norlab-ulaval) If you are interested in a pure-[Rust](https://www.rust-lang.org/) version, check [that repository](https://github.com/enlightware/nabo-rs) out. --- [//]: # (====Supported OS and aarch===============================================================) ### Supported OS And Architecture libnabo is tested on our build system under the following architecture and OS: - x86 and arm64/v8 - Ubuntu bionic (18.04) and focal (20.04) [//]: # (- jammy (22.04)) Note: - libnabo reportedly works on MacOs OsX (latest) and Windows (latest) --- [//]: # (====Release note=========================================================================) ### ★ Version `1.1.0` Release Note This release of _libnabo_ introduces the integration of [norlab-build-system (NBS)](https://github.com/norlab-ulaval/norlab-build-system) as a _git submodule_ for codebase development and testing. Execute the following to clone the repository with its submodule: ```shell git clone --recurse-submodules https://github.com/norlab-ulaval/libnabo.git ``` If _libnabo_ was previously cloned, execute the following to fetch its new submodule ```shell git submodule update --remote --recursive --init ``` ### ★ Contributing Instructions See [contributing_instructions.md](contributing/contributing_instructions.md) for instructions related to bug reporting, code contribution and for setting up the `libnabo-build-system` on your workstation to speed up your local development workflow. --- Docker images ======== Run the following commands to pull and run libnabo in a docker container ```shell docker pull norlabulaval/libnabo:latest-ubuntu-focal docker run -it --rm norlabulaval/libnabo:latest-ubuntu-focal ``` See available [libnabo image tags](https://hub.docker.com/repository/docker/norlabulaval/libnabo/) on dockerhub. To install docker related dependencies on ubuntu, execute the following ```shell cd ./build_system/nabo_utility_script # Execute docker tools install script i.e. docker daemon, docker compose, docker buildx bash nabo_install_docker_tools.bash ``` Compilation =========== For conveniences, you can use the provided build script for Unix ```shell bash libnabo_dependencies_installer.bash # Use the --help flag to see the list of optional flag bash libnabo_installer.bash [] ``` If you want more control, you can follow these commands: ```shell SRC_DIR=`pwd` BUILD_DIR=${SRC_DIR}/build mkdir -p ${BUILD_DIR} && cd ${BUILD_DIR} cmake ${SRC_DIR} cmake --build ${BUILD_DIR} sudo cmake --build ${BUILD_DIR} --target install ``` These lines will compile libnabo in a `build` sub-directory and install it system-wide. To uninstall libnabo, simply run `sudo make uninstall` from your build directory. ### Compilation options libnabo provides the following compilation options, available through [CMake]: * `SHARED_LIBS` (boolean, default: `false`): if `true`, build a shared library, otherwise build a static library ### Documentation You can access on https://norlab-ulaval.github.io/libnabo/. Alternatively, you can generate it locally by typing: ```bash make doc ``` Prerequisites ------------- If your operating system does not provide it, you must get [Eigen], and [Boost] if you want to build the Python bindings. [Eigen] only needs to be downloaded and extracted. Add libnabo to your CMake project --------------------------------------------- ```cmake find_package(libnabo REQUIRED) target_link_libraries(example PUBLIC ${libnabo_LIBRARIES}) target_include_directories(example PUBLIC ${libnabo_INCLUDE_DIRS}) ``` Usage ===== libnabo is easy to use. For example, assuming that you are working with floats and that you have a point set `M` and a query point `q`, you can find the `K` nearest neighbours of `q` in `M`: #include "nabo/nabo.h" using namespace Nabo; using namespace Eigen; ... NNSearchF* nns = NNSearchF::createKDTreeLinearHeap(M); const int K = 5; VectorXi indices(K); VectorXf dists2(K); nns->knn(q, indices, dists2, K); In this example, `M` is an [Eigen] (refering to the software, not to the math) matrix (column major, float) and `q` is an [Eigen] vector (float). Note that `M` **must stay alive** throughout the use of libnabo, otherwise the results of `knn` are undefined. The results `indices` and `dists2` are [Eigen] vectors of indices and squared distances refering to the columns of `M`. See `examples/trivial.cpp` for a compilable version of this example, and `examples/usage.cpp` for a slightly more complex example involving multi-point queries. Running `make doc` in your build directory will generate a browsable documentation in `doc/html`. The main page `doc/html/index.html` contains a detailed overview of the usage of libnabo. You can find a complete CMake integration example in [examples/libnabo-cmake-example](examples/libnabo-cmake-example) to see how to look for, and link against this library. Python bindings =============== libnabo includes python bindings that are compiled if Python is available. The resulting module is called pynabo, you can see an example in `python/test.py`. You can find more information in the docstring-based documentation: python -c "import pynabo; help(pynabo.NearestNeighbourSearch)" Building -------- The Python bindings can be generated for Python 2 or Python 3. To specify the version of the interpreter to use when building the bindings, set the `PYTHON_VERSION_MAJOR` and `PYTHON_VERSION_MINOR` variables. For example if you have both Python 2.7 and 3.5 installed, you could ask CMake to generate Python 3 bindings by using the following command. cmake -DPYTHON_VERSION_MAJOR=3 -DPYTHON_VERSION_MINOR=5 .. On Debian-based distributions you may also need the `-DPYTHON_DEB_INSTALL_TARGET` option enabled. Unit testing ============ The distribution of libnabo integrates a unit test module, based on CTest. Just type: make test ...in the build directory to run the tests. Their outputs are available in the `Testing` directory. These consist of validation and benchmarking tests. If [ANN] or [FLANN] are detected when compiling libnabo, `make test` will also perform comparative benchmarks. Citing libnabo ============== If you use libnabo in the academic context, please cite this paper that evaluates its performances in the contex of ICP: @article{elsebergcomparison, title={Comparison of nearest-neighbor-search strategies and implementations for efficient shape registration}, author={Elseberg, J. and Magnenat, S. and Siegwart, R. and N{\"u}chter, A.}, journal={Journal of Software Engineering for Robotics (JOSER)}, pages={2--12}, volume={3}, number={1}, year={2012}, issn={2035-3928} } License ======= libnabo is released under a permissive BSD license. [ANN]: http://www.cs.umd.edu/~mount/ANN [FLANN]: http://www.cs.ubc.ca/~mariusm/index.php/FLANN/FLANN [CMake]: http://www.cmake.org [CMake documentation]: http://www.cmake.org/cmake/help/cmake2.6docs.html [Eigen]: http://eigen.tuxfamily.org [Boost]: http://www.boost.org norlab-ulaval-libnabo-cd95c8b/UseDoxygen.cmake000066400000000000000000000067641462511457200215000ustar00rootroot00000000000000# - Run Doxygen # # Adds a doxygen target that runs doxygen to generate the html # and optionally the LaTeX API documentation. # The doxygen target is added to the doc target as a dependency. # i.e.: the API documentation is built with: # make doc # # USAGE: GLOBAL INSTALL # # Install it with: # cmake ./ && sudo make install # Add the following to the CMakeLists.txt of your project: # include(UseDoxygen OPTIONAL) # Optionally copy Doxyfile.in in the directory of CMakeLists.txt and edit it. # # USAGE: INCLUDE IN PROJECT # # set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}) # include(UseDoxygen) # Add the Doxyfile.in and UseDoxygen.cmake files to the projects source directory. # # # Variables you may define are: # DOXYFILE_SOURCE_DIR - Path where the Doxygen input files are. # Defaults to the current source and binary directory. # DOXYFILE_OUTPUT_DIR - Path where the Doxygen output is stored. Defaults to "doc". # # DOXYFILE_LATEX - Set to "NO" if you do not want the LaTeX documentation # to be built. # DOXYFILE_LATEX_DIR - Directory relative to DOXYFILE_OUTPUT_DIR where # the Doxygen LaTeX output is stored. Defaults to "latex". # # DOXYFILE_HTML_DIR - Directory relative to DOXYFILE_OUTPUT_DIR where # the Doxygen html output is stored. Defaults to "html". # # # Copyright (c) 2009, 2010 Tobias Rautenkranz # # Redistribution and use is allowed according to the terms of the New # BSD license. # For details see the accompanying COPYING-CMAKE-SCRIPTS file. # macro(usedoxygen_set_default name value) if(NOT DEFINED "${name}") set("${name}" "${value}") endif() endmacro() find_package(Doxygen) if(DOXYGEN_FOUND) find_file(DOXYFILE_IN "Doxyfile.in" PATHS "${CMAKE_CURRENT_SOURCE_DIR}" "${CMAKE_ROOT}/Modules/" NO_DEFAULT_PATH) set(DOXYFILE "${CMAKE_CURRENT_BINARY_DIR}/Doxyfile") include(FindPackageHandleStandardArgs) find_package_handle_standard_args(DOXYFILE_IN DEFAULT_MSG "DOXYFILE_IN") endif() if(DOXYGEN_FOUND AND DOXYFILE_IN_FOUND) usedoxygen_set_default(DOXYFILE_OUTPUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/doc") usedoxygen_set_default(DOXYFILE_HTML_DIR "html") usedoxygen_set_default(DOXYFILE_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}") set_property(DIRECTORY APPEND PROPERTY ADDITIONAL_MAKE_CLEAN_FILES "${DOXYFILE_OUTPUT_DIR}/${DOXYFILE_HTML_DIR}") add_custom_target(doxygen ALL COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYFILE} COMMENT "Writing documentation to ${DOXYFILE_OUTPUT_DIR}..." WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}) ## LaTeX set(DOXYFILE_PDFLATEX "NO") set(DOXYFILE_DOT "NO") find_package(LATEX) find_program(MAKE_PROGRAM make) if(LATEX_COMPILER AND MAKEINDEX_COMPILER AND MAKE_PROGRAM AND (NOT DEFINED DOXYFILE_LATEX OR DOXYFILE_LATEX STREQUAL "YES")) set(DOXYFILE_LATEX "YES") usedoxygen_set_default(DOXYFILE_LATEX_DIR "latex") set_property(DIRECTORY APPEND PROPERTY ADDITIONAL_MAKE_CLEAN_FILES "${DOXYFILE_OUTPUT_DIR}/${DOXYFILE_LATEX_DIR}") if(PDFLATEX_COMPILER) set(DOXYFILE_PDFLATEX "YES") endif() if(DOXYGEN_DOT_EXECUTABLE) set(DOXYFILE_DOT "YES") endif() add_custom_command(TARGET doxygen POST_BUILD COMMAND ${MAKE_PROGRAM} COMMENT "Running LaTeX for Doxygen documentation in ${DOXYFILE_OUTPUT_DIR}/${DOXYFILE_LATEX_DIR}..." WORKING_DIRECTORY "${DOXYFILE_OUTPUT_DIR}/${DOXYFILE_LATEX_DIR}") else() set(DOXYGEN_LATEX "NO") endif() configure_file(${DOXYFILE_IN} Doxyfile IMMEDIATE @ONLY) if(NOT TARGET doc) add_custom_target(doc) endif() add_dependencies(doc doxygen) endif() norlab-ulaval-libnabo-cd95c8b/build_system/000077500000000000000000000000001462511457200210725ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/.env000066400000000000000000000016771462511457200216760ustar00rootroot00000000000000 # # Dockerhub or self hosted hub domain name # NBS_DOCKERHUB_NAMESPACE=norlabulaval # # Repository url # # Note: # - Main repo: https://github.com/norlab-ulaval/libnabo # - Legacy repo: https://github.com/ethz-asl/libnabo NBS_REPOSITORY_DOMAIN=norlab-ulaval NBS_REPOSITORY_NAME=libnabo # # Install script variables # NBS_LIB_INSTALL_PATH=/opt/percep3d_libraries # # Path to the NBS build system directory (.env.build_matrix should be there) # NBS_SUPERPROJECT_BUILD_SYSTEM_DIR=./build_system # # NorLab-build-system & NorLab-sheel-script-tools # PROJECT_PROMPT_NAME=NABO NBS_SPLASH_NAME="Libnabo" NBS_SPLASH_NAME_BUILD_SYSTEM="Libnabo Build System" # # Docker built-in environment variable (do not change the variable name # COMPOSE_PROJECT_NAME=libnabo ## Unmute BUILDKIT_PROGRESS to set globaly for debugging dockerfile ## For debuging docker build localy, use `docker build --progress=plain --no-cache` flags instead #BUILDKIT_PROGRESS=plain norlab-ulaval-libnabo-cd95c8b/build_system/.env.build_matrix.dependencies000066400000000000000000000022161462511457200267730ustar00rootroot00000000000000# # Build matrix variables # # # The compose file on which the build matrix will be crawled # NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.dependencies.yaml # # Libnabo version # # 'latest' is the latest push to the libnabo master branch #NBS_MATRIX_REPOSITORY_VERSIONS=( '1.1.0' 'latest' ) NBS_MATRIX_REPOSITORY_VERSIONS=( 'latest' ) # # Libnabo dependencies CMAKE_BUILD_TYPE # # Part of the build matrix used for PR NBS_MATRIX_CMAKE_BUILD_TYPE=( 'None' ) # # Libnabo dependencies supported OS # # ToDo: implement OsX support for arm64-Darwin (ref task NMO-213) #NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' 'osx' ) NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' ) # # ubuntu supported versions # # Ubuntu release: https://ubuntu.com/about/release-cycle # bionic=18.04 focal=20.04 jammy=22.04 # Part of the build matrix used for PR #NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' ) NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' 'jammy' ) # # iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components) #NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' ) NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( ) norlab-ulaval-libnabo-cd95c8b/build_system/.env.build_matrix.libnabo000066400000000000000000000020651462511457200257550ustar00rootroot00000000000000# # Build matrix variables # # # The compose file on which the build matrix will be crawled # NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.libnabo.yaml # # Libnabo version # # 'latest' is the latest push to the libnabo master branch #NBS_MATRIX_REPOSITORY_VERSIONS=( '1.1.0' 'latest' ) NBS_MATRIX_REPOSITORY_VERSIONS=( 'latest' ) # # Libnabo CMAKE_BUILD_TYPE # NBS_MATRIX_CMAKE_BUILD_TYPE=( 'Release' 'RelWithDebInfo' 'MinSizeRel' ) # Note: 'None' for building dependencies images # # Libnabo supported OS # # ToDo: implement OsX support for arm64-Darwin (ref task NMO-213) #NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' 'l4t' 'osx' ) NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' ) # # ubuntu supported versions # # Ubuntu release: https://ubuntu.com/about/release-cycle # bionic=18.04 focal=20.04 jammy=22.04 NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' ) # # iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components) #NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' ) NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( ) norlab-ulaval-libnabo-cd95c8b/build_system/.env.build_matrix.libnabo.bleeding000066400000000000000000000023641462511457200275270ustar00rootroot00000000000000# # Build matrix variables # # # The compose file on which the build matrix will be crawled # NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.libnabo.yaml # # Libnabo version # # 'latest' is the latest push to the libnabo master branch NBS_MATRIX_REPOSITORY_VERSIONS=( 'latest' ) # # Libnabo CMAKE_BUILD_TYPE # NBS_MATRIX_CMAKE_BUILD_TYPE=( 'Debug' 'Release' 'RelWithDebInfo' 'MinSizeRel' ) # ToDo: fixme!! (ref task NMO-306 ﹅→ Test fail › install script flag `--cmake-build-type Debug --compile-test` and for all distro) # Note: 'None' for building dependencies images # # Libnabo supported OS # # ToDo: implement OsX support for arm64-Darwin (ref task NMO-213) #NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' 'l4t' 'osx' ) NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' ) # # ubuntu supported versions # # Ubuntu release: https://ubuntu.com/about/release-cycle # bionic=18.04 focal=20.04 jammy=22.04 NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' 'jammy' ) # ToDo: fixme!! (ref task NMO-305 ﹅→ Build fail: ubuntu jammy with utest compilation). # # iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components) #NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' ) NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( ) norlab-ulaval-libnabo-cd95c8b/build_system/.env.build_matrix.libnabo.release000066400000000000000000000017471462511457200274020ustar00rootroot00000000000000# # Build matrix variables # # # The compose file on which the build matrix will be crawled # NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.libnabo.yaml # # Libnabo version # # 'latest' is the latest push to the libnabo master branch #NBS_MATRIX_REPOSITORY_VERSIONS=( '1.1.0' 'latest' ) NBS_MATRIX_REPOSITORY_VERSIONS=( 'latest' ) # # Libnabo CMAKE_BUILD_TYPE # NBS_MATRIX_CMAKE_BUILD_TYPE=( 'Release' ) # # Libnabo supported OS # # ToDo: implement OsX support for arm64-Darwin (ref task NMO-213) #NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' 'l4t' 'osx' ) NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' ) # # ubuntu supported versions # # Ubuntu release: https://ubuntu.com/about/release-cycle # bionic=18.04 focal=20.04 jammy=22.04 NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' ) # # iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components) #NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' ) NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( ) norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config/000077500000000000000000000000001462511457200253425ustar00rootroot00000000000000(HELP) bash libnabo_installer.bash › --help menu.run.xml000066400000000000000000000017531462511457200400310ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config (HELP) bash nabo_crawl_libnabo_build_matrix.bash › --help menu.run.xml000066400000000000000000000017741462511457200427110ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config (HELP) bash nabo_install_libnabo_ubuntu.bash › --help menu.run.xml000066400000000000000000000020231462511457200420720ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config/[NABO] run all bats tests.run.xml000066400000000000000000000020111462511457200332430ustar00rootroot00000000000000 c9ccf414e03016f69ad577bf0c0470995adb0420.paxheader00006660000000000000000000000303146251145720020424xustar00rootroot00000000000000195 path=norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config/bash nabo_crawl_dependencies_build_matrix.bash › build dependencies-general dependencies (BUILD MATRIX SUBSET).run.xml c9ccf414e03016f69ad577bf0c0470995adb0420.data000066400000000000000000000024141462511457200172670ustar00rootroot00000000000000 804f77e02f998d43ae8a6c27b3ecc39cd39b2a1d.paxheader00006660000000000000000000000275146251145720020701xustar00rootroot00000000000000189 path=norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config/bash nabo_crawl_dependencies_build_matrix.bash › build&push dependencies-general dependencies (AS IN TC).run.xml 804f77e02f998d43ae8a6c27b3ecc39cd39b2a1d.data000066400000000000000000000022301462511457200175300ustar00rootroot00000000000000 bash nabo_crawl_libnabo_build_matrix.bash › build _service_ _popup_.run.xml000066400000000000000000000023111462511457200445340ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config e2ab35907e25bf7e7677fa0b566bd3b30d11ea23.paxheader00006660000000000000000000000262146251145720020567xustar00rootroot00000000000000178 path=norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config/bash nabo_crawl_libnabo_build_matrix.bash › build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml e2ab35907e25bf7e7677fa0b566bd3b30d11ea23.data000066400000000000000000000024541462511457200174320ustar00rootroot00000000000000 bash nabo_crawl_libnabo_build_matrix.bash › build test_compilation__ (Release).run.xml000066400000000000000000000023601462511457200464550ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config ff75047ea460f7132a45dc1d0084c6a421c92923.paxheader00006660000000000000000000000273146251145720020270xustar00rootroot00000000000000187 path=norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config/bash nabo_crawl_libnabo_build_matrix.bash › build test_compilation_prefixed_path (BUILD MATRIX SUBSET).run.xml ff75047ea460f7132a45dc1d0084c6a421c92923.data000066400000000000000000000024331462511457200171260ustar00rootroot00000000000000 cwd tree + docker system disk usage.run.xml000066400000000000000000000017171462511457200351630ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config/interactive.run.xml000066400000000000000000000017111462511457200312040ustar00rootroot00000000000000 list docker images + container.run.xml000066400000000000000000000020641462511457200343210ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config lpm_execute_compose_over_build_matrix.bash › test flag (popup).run.xml000066400000000000000000000022511462511457200435540ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config run and open a terminal in a Ubuntu 20.04 container.run.xml000066400000000000000000000016621462511457200375050ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config run_all_docker_dryrun_and_config_tests.bash.run.xml000066400000000000000000000020321462511457200375000ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config test_execute_compose_over_build_matrix.bash.run.xml000066400000000000000000000017241462511457200375540ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config test_execute_compose_over_build_matrix_with_flag.bash.run.xml000066400000000000000000000017511462511457200416000ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/.jetbrains_run_config norlab-ulaval-libnabo-cd95c8b/build_system/README.md000066400000000000000000000004121462511457200223460ustar00rootroot00000000000000See [contributing/contributing_instructions.md](/contributing/contributing_instructions.md) for instructions related to bug reporting, code contribution and for setting up the `libnabo-build-system` on your workstation to speed up your local development workflow. norlab-ulaval-libnabo-cd95c8b/build_system/docker-compose.dependencies.yaml000066400000000000000000000026351462511457200273230ustar00rootroot00000000000000services: # ====Dependency related services================================================================ dependencies: image: ${NBS_DOCKERHUB_NAMESPACE:?err}/libnabo-dependencies:${NBS_IMAGE_TAG:?err} build: context: .. dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR:?err}/ubuntu/Dockerfile.dependencies platforms: - "linux/amd64" - "linux/arm64/v8" args: BASE_IMAGE: ${DEPENDENCIES_BASE_IMAGE:?err} BASE_IMAGE_TAG: ${DEPENDENCIES_BASE_IMAGE_TAG:?err} NBS_SUPERPROJECT_BUILD_SYSTEM_DIR: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR:?err} IS_TEAMCITY_RUN: ${IS_TEAMCITY_RUN} NBS_LIB_INSTALL_PATH: ${NBS_LIB_INSTALL_PATH:?err} NBS_REPOSITORY_NAME: ${NBS_REPOSITORY_NAME:?err} tty: true stdin_open: true init: true # Propagate exit code (See remark in task NMO-266) dependencies-doc: image: ${NBS_DOCKERHUB_NAMESPACE:?err}/libnabo-dependencies-doc:${NBS_IMAGE_TAG:?err} build: context: .. dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR:?err}/ubuntu/Dockerfile.dependencies.doxygen platforms: - "linux/amd64" - "linux/arm64/v8" args: PROJECT_HUB: ${NBS_DOCKERHUB_NAMESPACE} BASE_IMAGE: libnabo-dependencies BASE_IMAGE_TAG: ${NBS_IMAGE_TAG} IS_TEAMCITY_RUN: ${IS_TEAMCITY_RUN} depends_on: - dependencies tty: true stdin_open: true norlab-ulaval-libnabo-cd95c8b/build_system/docker-compose.libnabo.yaml000066400000000000000000000072741462511457200263070ustar00rootroot00000000000000include: - docker-compose.dependencies.yaml services: # ====Pull-request related services============================================================== # ....Test logic related to libnabo install casses............................................... _integration_test: image: ${NBS_DOCKERHUB_NAMESPACE:?err}/libnabo-integration-test:${NBS_IMAGE_TAG:?err} pull_policy: build build: context: .. dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR:?err}/ubuntu/Dockerfile.libnabo.integration_test no_cache: false target: integration-test-compile-auto-path-resolution # Mute 'platforms' while using arch virtualization with C++ build to prevent segmentation fault during nabo cmake install platforms: - "linux/amd64" - "linux/arm64/v8" args: PROJECT_HUB: ${NBS_DOCKERHUB_NAMESPACE} BASE_IMAGE: libnabo-dependencies BASE_IMAGE_TAG: ${NBS_IMAGE_TAG} IS_TEAMCITY_RUN: ${IS_TEAMCITY_RUN} REPOSITORY_VERSION: 'latest' CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE:?err} INSTALL_SCRIPT_FLAG: '--build-system-CI-install' tty: true stdin_open: true init: true # Propagate exit code (See remark in task NMO-266) depends_on: - dependencies integration_test_prefixed_path: extends: _integration_test build: target: integration-test-compile-prefixed-path depends_on: - _integration_test integration_test_auto_path_resolution: extends: _integration_test build: target: integration-test-compile-auto-path-resolution depends_on: - _integration_test # ....Test logic related to libnabo codebase unit-test........................................... ci_PR: image: ${NBS_DOCKERHUB_NAMESPACE:?err}/libnabo-ci-pr:${NBS_IMAGE_TAG:?err} pull_policy: build build: context: .. dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR}/ubuntu/Dockerfile.libnabo.ci_PR no_cache: false args: PROJECT_HUB: ${NBS_DOCKERHUB_NAMESPACE} BASE_IMAGE: libnabo-dependencies BASE_IMAGE_TAG: ${NBS_IMAGE_TAG} IS_TEAMCITY_RUN: ${IS_TEAMCITY_RUN} REPOSITORY_VERSION: 'latest' CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE:?err} INSTALL_SCRIPT_FLAG: '--build-system-CI-install --compile-test' tty: true stdin_open: true init: true # Propagate exit code (See remark in task NMO-266) depends_on: - dependencies ci_PR_amd64: extends: ci_PR build: platforms: - "linux/amd64" depends_on: - ci_PR ci_PR_arm64: extends: ci_PR build: platforms: - "linux/arm64" depends_on: - ci_PR ci_PR_multiarch: extends: ci_PR build: platforms: - "linux/amd64" - "linux/arm64" depends_on: - ci_PR # ====Dockerhub release image==================================================================== release: image: ${NBS_DOCKERHUB_NAMESPACE:?err}/libnabo:${NBS_IMAGE_TAG:?err} container_name: libnabo build: context: .. dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR}/ubuntu/Dockerfile.libnabo.hub_release platforms: - "linux/amd64" - "linux/arm64/v8" no_cache: false args: PROJECT_HUB: ${NBS_DOCKERHUB_NAMESPACE} BASE_IMAGE: libnabo-dependencies-doc BASE_IMAGE_TAG: ${NBS_IMAGE_TAG} IS_TEAMCITY_RUN: ${IS_TEAMCITY_RUN} REPOSITORY_VERSION: ${REPOSITORY_VERSION:?err} CMAKE_BUILD_TYPE: 'Release' INSTALL_SCRIPT_FLAG: '--compile-test --generate-doc' tty: true stdin_open: true init: true # Propagate exit code (See remark in task NMO-266) depends_on: - dependencies - dependencies-doc norlab-ulaval-libnabo-cd95c8b/build_system/nabo_crawl_dependencies_build_matrix.bash000066400000000000000000000033751462511457200313210ustar00rootroot00000000000000#!/bin/bash # ================================================================================================= # # Execute build matrix specified in '.env.build_matrix.dependencies' # # Redirect the execution to 'nbs_execute_compose_over_build_matrix.bash' from the norlab-build-system library # # Usage: # $ bash nabo_crawl_dependencies_build_matrix.bash [] [-- ] # # $ bash nabo_crawl_dependencies_build_matrix.bash -- build --dry-run # # Run script with the '--help' flag for details # # ================================================================================================= PARAMS="$@" # ....path resolution logic........................................................................ NABO_ROOT="$(dirname "$(realpath "$0")")/.." NABO_BUILD_SYSTEM_PATH="${NABO_ROOT}/build_system" NBS_PATH="${NABO_BUILD_SYSTEM_PATH}/utilities/norlab-build-system" N2ST_PATH="${NABO_BUILD_SYSTEM_PATH}/utilities/norlab-shell-script-tools" # ....Load environment variables from file......................................................... cd "${NABO_BUILD_SYSTEM_PATH}" || exit 1 set -o allexport && source .env && set +o allexport # ....Source NBS dependencies...................................................................... cd "${NBS_PATH}" || exit 1 source import_norlab_build_system_lib.bash # ====begin======================================================================================== cd "${NBS_PATH}/src/utility_scripts" || exit 1 DOTENV_BUILD_MATRIX_REALPATH=${NABO_BUILD_SYSTEM_PATH}/.env.build_matrix.dependencies # Note: do not double quote PARAMS or threat it as a array otherwise it will cause error # shellcheck disable=SC2086 source nbs_execute_compose_over_build_matrix.bash "${DOTENV_BUILD_MATRIX_REALPATH}" $PARAMS norlab-ulaval-libnabo-cd95c8b/build_system/nabo_crawl_libnabo_build_matrix.bash000066400000000000000000000033501462511457200302720ustar00rootroot00000000000000#!/bin/bash # ================================================================================================= # # Execute build matrix specified in .env.build_matrix.libnabo # # Redirect the execution to 'nbs_execute_compose_over_build_matrix.bash' from the norlab-build-system library # # Usage: # $ bash nabo_crawl_libnabo_build_matrix.bash [] [-- ] # # $ bash nabo_crawl_libnabo_build_matrix.bash -- build --dry-run # # Run script with the '--help' flag for details # # ================================================================================================= PARAMS="$@" # ....path resolution logic........................................................................ NABO_ROOT="$(dirname "$(realpath "$0")")/.." NABO_BUILD_SYSTEM_PATH="${NABO_ROOT}/build_system" NBS_PATH="${NABO_BUILD_SYSTEM_PATH}/utilities/norlab-build-system" N2ST_PATH="${NABO_BUILD_SYSTEM_PATH}/utilities/norlab-shell-script-tools" # ....Load environment variables from file......................................................... cd "${NABO_BUILD_SYSTEM_PATH}" || exit 1 set -o allexport && source .env && set +o allexport # ....Source NBS dependencies...................................................................... cd "${NBS_PATH}" || exit 1 source import_norlab_build_system_lib.bash # ====begin======================================================================================== cd "${NBS_PATH}/src/utility_scripts" || exit 1 DOTENV_BUILD_MATRIX_REALPATH=${NABO_BUILD_SYSTEM_PATH}/.env.build_matrix.libnabo # Note: do not double quote PARAMS or threat it as a array otherwise it will cause error # shellcheck disable=SC2086 source nbs_execute_compose_over_build_matrix.bash "${DOTENV_BUILD_MATRIX_REALPATH}" $PARAMS norlab-ulaval-libnabo-cd95c8b/build_system/nabo_crawl_libnabo_build_matrix.bleeding.bash000066400000000000000000000034131462511457200320420ustar00rootroot00000000000000#!/bin/bash # ================================================================================================= # # Execute build matrix specified in .env.build_matrix.libnabo.bleeding # # Redirect the execution to 'nbs_execute_compose_over_build_matrix.bash' from the norlab-build-system library # # Usage: # $ bash nabo_crawl_libnabo_build_matrix.bleeding.bash [] [-- ] # # $ bash nabo_crawl_libnabo_build_matrix.bleeding.bash -- build --dry-run # # Run script with the '--help' flag for details # # ================================================================================================= PARAMS="$@" # ....path resolution logic........................................................................ NABO_ROOT="$(dirname "$(realpath "$0")")/.." NABO_BUILD_SYSTEM_PATH="${NABO_ROOT}/build_system" NBS_PATH="${NABO_BUILD_SYSTEM_PATH}/utilities/norlab-build-system" N2ST_PATH="${NABO_BUILD_SYSTEM_PATH}/utilities/norlab-shell-script-tools" # ....Load environment variables from file......................................................... cd "${NABO_BUILD_SYSTEM_PATH}" || exit 1 set -o allexport && source .env && set +o allexport # ....Source NBS dependencies...................................................................... cd "${NBS_PATH}" || exit 1 source import_norlab_build_system_lib.bash # ====begin======================================================================================== cd "${NBS_PATH}/src/utility_scripts" || exit 1 DOTENV_BUILD_MATRIX_REALPATH=${NABO_BUILD_SYSTEM_PATH}/.env.build_matrix.libnabo.bleeding # Note: do not double quote PARAMS or threat it as a array otherwise it will cause error # shellcheck disable=SC2086 source nbs_execute_compose_over_build_matrix.bash "${DOTENV_BUILD_MATRIX_REALPATH}" $PARAMS norlab-ulaval-libnabo-cd95c8b/build_system/nabo_crawl_libnabo_build_matrix.release.bash000066400000000000000000000034311462511457200317110ustar00rootroot00000000000000#!/bin/bash # ================================================================================================= # # Execute build matrix specified in .env.build_matrix.libnabo # # Redirect the execution to 'nbs_execute_compose_over_build_matrix.bash' from the norlab-build-system library # # Usage: # $ bash nabo_crawl_libnabo_build_matrix.bash [] [-- ] # # $ bash nabo_crawl_libnabo_build_matrix.bash -- build --dry-run # # Run script with the '--help' flag for details # # ================================================================================================= PARAMS="${@:-"--fail-fast -- build --push release"}" # ....path resolution logic........................................................................ NABO_ROOT="$(dirname "$(realpath "$0")")/.." NABO_BUILD_SYSTEM_PATH="${NABO_ROOT}/build_system" NBS_PATH="${NABO_BUILD_SYSTEM_PATH}/utilities/norlab-build-system" N2ST_PATH="${NABO_BUILD_SYSTEM_PATH}/utilities/norlab-shell-script-tools" # ....Load environment variables from file......................................................... cd "${NABO_BUILD_SYSTEM_PATH}" || exit 1 set -o allexport && source .env && set +o allexport # ....Source NBS dependencies...................................................................... cd "${NBS_PATH}" || exit 1 source import_norlab_build_system_lib.bash # ====begin======================================================================================== cd "${NBS_PATH}/src/utility_scripts" || exit 1 DOTENV_BUILD_MATRIX_REALPATH=${NABO_BUILD_SYSTEM_PATH}/.env.build_matrix.libnabo.release # Note: do not double quote PARAMS or threat it as a array otherwise it will cause error # shellcheck disable=SC2086 source nbs_execute_compose_over_build_matrix.bash "${DOTENV_BUILD_MATRIX_REALPATH}" $PARAMS norlab-ulaval-libnabo-cd95c8b/build_system/nabo_utility_script/000077500000000000000000000000001462511457200251605ustar00rootroot00000000000000nabo_create_multiarch_docker_builder.bash000066400000000000000000000015721462511457200353140ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/nabo_utility_script#!/bin/bash # # Utility script to create a multi-architecture docker builder # # usage: # $ bash ./nabo_utility_script/nabo_create_multiarch_docker_builder.bash # function nabo::create_multiarch_docker_builder() { local TMP_CWD TMP_CWD=$(pwd) # ....Project root logic......................................................................... NABO_PATH=$(git rev-parse --show-toplevel) # ====Begin===================================================================================== cd "${NABO_PATH}"/build_system/utilities/norlab-build-system/install_scripts/ \ && bash nbs_create_multiarch_docker_builder.bash # ====Teardown=================================================================================== cd "${TMP_CWD}" } # ::::main::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::: nabo::create_multiarch_docker_builder norlab-ulaval-libnabo-cd95c8b/build_system/nabo_utility_script/nabo_install_docker_tools.bash000066400000000000000000000015411462511457200332340ustar00rootroot00000000000000#!/bin/bash # # Utility script to install docker related tools and execute basic configuration # # usage: # $ bash ./nabo_utility_script/nabo_install_docker_tools.bash # function nabo::install_docker_tools() { local TMP_CWD TMP_CWD=$(pwd) # ....Project root logic......................................................................... NABO_PATH=$(git rev-parse --show-toplevel) # ====Begin===================================================================================== cd "${NABO_PATH}"/build_system/utilities/norlab-build-system/install_scripts/ \ && bash nbs_install_docker_tools.bash # ====Teardown=================================================================================== cd "${TMP_CWD}" } # ::::main::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::: nabo::install_docker_tools norlab-ulaval-libnabo-cd95c8b/build_system/tests/000077500000000000000000000000001462511457200222345ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/run_all_docker_dryrun_and_config_tests.bash000066400000000000000000000006211462511457200330510ustar00rootroot00000000000000#!/bin/bash # # Run all tests in directory # # Usage: # $ bash run_all_docker_dryrun_and_config_tests.bash # # _PATH_TO_SCRIPT="$(realpath "$0")" SCRIPT_DIR_PATH="$(dirname "${_PATH_TO_SCRIPT}")" TEST_DIR="$SCRIPT_DIR_PATH/tests_docker_dryrun_and_config" source "${SCRIPT_DIR_PATH}/../utilities/norlab-build-system/src/utility_scripts/nbs_run_all_test_and_dryrun_in_directory.bash" "${TEST_DIR}" norlab-ulaval-libnabo-cd95c8b/build_system/tests/run_bats_core_test_in_n2st.bash000066400000000000000000000032541462511457200304170ustar00rootroot00000000000000#!/bin/bash # ================================================================================================= # Execute libnabo repo shell script tests via 'norlab-shell-script-tools' library # # Note the script can be executed from anywhere as long as its inside the libnabo repository # # Usage: # $ bash run_bats_core_test_in_n2st.bash ['[/]' ['']] # # Arguments: # - [''] The directory from which to start test, default to 'tests' # - ['/'] A specific bats file to run, default will # run all bats file in the test directory # # Globals: none # # ================================================================================================= PARAMS="$@" if [[ -z $PARAMS ]]; then # Set to default bats tests directory if none specified PARAMS="build_system/tests/tests_bats/" fi N2ST_PATH="build_system/utilities/norlab-shell-script-tools" function n2st::run_n2st_testsing_tools(){ local TMP_CWD TMP_CWD=$(pwd) # ....Project root logic......................................................................... NABO_PATH=$(git rev-parse --show-toplevel) N2ST_PATH=${N2ST_PATH:-"./utilities/norlab-shell-script-tools"} # ....Execute N2ST run_bats_tests_in_docker.bash................................................. cd "$NABO_PATH" # shellcheck disable=SC2086 bash "${N2ST_PATH}/tests/bats_testing_tools/run_bats_tests_in_docker.bash" $PARAMS # ....Teardown................................................................................... cd "$TMP_CWD" } n2st::run_n2st_testsing_tools norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_bats/000077500000000000000000000000001462511457200244075ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_bats/bats_helper_functions.bash000066400000000000000000000010121462511457200316200ustar00rootroot00000000000000#!/bin/bash function test_generic_help_flag_logic() { assert_success assert_output --regexp .*"Starting".*"${TESTED_FILE}".*"\$".*"${TESTED_FILE} \[--help\] <.env.build_matrix.*> \[\] \[-- \]".*"Mandatory argument:".*"<.env.build_matrix.*>".*"Optional arguments:".*"-h, --help".*"--docker-debug-logs".*"--fail-fast" refute_output --regexp .*"Starting".*"${TESTED_FILE}".*"\[NBS\]".*"Build images specified in".*"'${COMPOSE_FILE}'".*"following".*"${DOTENV_BUILD_MATRIX_NAME}" } norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_bats/test_dotenv_libnabo.bats000066400000000000000000000075741462511457200313230ustar00rootroot00000000000000#!/usr/bin/env bats # # Usage in docker container # $ REPO_ROOT=$(pwd) && RUN_TESTS_IN_DIR='tests' # $ docker run -it --rm -v "$REPO_ROOT:/code" bats/bats:latest "$RUN_TESTS_IN_DIR" # # Note: "/code" is the working directory in the bats official image # # bats-core ref: # - https://bats-core.readthedocs.io/en/stable/tutorial.html # - https://bats-core.readthedocs.io/en/stable/writing-tests.html # - https://opensource.com/article/19/2/testing-bash-bats # ↳ https://github.com/dmlond/how_to_bats/blob/master/test/build.bats # # Helper library: # - https://github.com/bats-core/bats-assert # - https://github.com/bats-core/bats-support # - https://github.com/bats-core/bats-file # BATS_HELPER_PATH=/usr/lib/bats if [[ -d ${BATS_HELPER_PATH} ]]; then load "${BATS_HELPER_PATH}/bats-support/load" load "${BATS_HELPER_PATH}/bats-assert/load" load "${BATS_HELPER_PATH}/bats-file/load" load "${SRC_CODE_PATH}/${N2ST_BATS_TESTING_TOOLS_RELATIVE_PATH}/bats_helper_functions" #load "${BATS_HELPER_PATH}/bats-detik/load" # << Kubernetes support else echo -e "\n[\033[1;31mERROR\033[0m] $0 path to bats-core helper library unreachable at \"${BATS_HELPER_PATH}\"!" 1>&2 echo '(press any key to exit)' read -r -n 1 exit 1 fi # ====Setup======================================================================================== DOTENV_FILE=".env.libnabo" TESTED_FILE_PATH="." # executed once before starting the first test (valide for all test in that file) setup_file() { BATS_DOCKER_WORKDIR=$(pwd) && export BATS_DOCKER_WORKDIR ## Uncomment the following for debug, the ">&3" is for printing bats msg to stdin # pwd >&3 && tree -L 1 -a -hug >&3 # printenv >&3 } # executed before each test setup() { cd "$TESTED_FILE_PATH" || exit 1 } # ====Teardown===================================================================================== # executed after each test teardown() { bats_print_run_env_variable_on_error } ## executed once after finishing the last test (valide for all test in that file) #teardown_file() { #} # ====Test casses================================================================================== @test "${DOTENV_FILE} › Env variables set ok" { # ....Pre-condition.............................................................................. assert_empty "${PROJECT_PROMPT_NAME}" assert_empty "${PROJECT_GIT_REMOTE_URL}" assert_empty "${PROJECT_GIT_NAME}" assert_empty "${PROJECT_SRC_NAME}" assert_empty "${PROJECT_PATH}" assert_empty "${NABO_PROMPT_NAME}" assert_empty "${NABO_GIT_REMOTE_URL}" assert_empty "${NABO_GIT_NAME}" assert_empty "${NABO_PATH}" assert_empty "${NABO_SRC_NAME}" assert_empty "${NABO_BUILD_SYSTEM_PATH}" assert_empty "${N2ST_PATH}" assert_empty "${NBS_PATH}" # ....Source .env.project........................................................................ set -o allexport source "${BATS_DOCKER_WORKDIR:?err}/${DOTENV_FILE}" set +o allexport # printenv | grep -e 'CONTAINER_PROJECT_' -e 'PROJECT_' >&3 # ....Tests...................................................................................... assert_equal "${PROJECT_PROMPT_NAME}" "NABO" assert_regex "${PROJECT_GIT_REMOTE_URL}" "https://github.com/norlab-ulaval/libnabo"'(".git")?' assert_equal "${PROJECT_GIT_NAME}" "libnabo" assert_equal "${PROJECT_SRC_NAME}" "libnabo" assert_equal "${PROJECT_PATH}" "/code/libnabo" assert_equal "${NABO_PROMPT_NAME}" "NABO" assert_regex "${NABO_GIT_REMOTE_URL}" "https://github.com/norlab-ulaval/libnabo"'(".git")?' assert_equal "${NABO_GIT_NAME}" "libnabo" assert_equal "${NABO_SRC_NAME}" "libnabo" assert_equal "${NABO_PATH}" "/code/libnabo" assert_equal "${NABO_BUILD_SYSTEM_PATH}" "/code/libnabo/build_system" assert_equal "${N2ST_PATH}" "/code/libnabo/build_system/utilities/norlab-shell-script-tools" assert_equal "${NBS_PATH}" "/code/libnabo/build_system/utilities/norlab-build-system" } norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_bats/tests_crawler/000077500000000000000000000000001462511457200272705ustar00rootroot00000000000000test_nabo_crawl_dependencies_build_matrix.bats000066400000000000000000000066441462511457200405150ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_bats/tests_crawler#!/usr/bin/env bats # # Usage in docker container # $ REPO_ROOT=$(pwd) && RUN_TESTS_IN_DIR='tests' # $ docker run -it --rm -v "$REPO_ROOT:/code" bats/bats:latest "$RUN_TESTS_IN_DIR" # # Note: "/code" is the working directory in the bats official image # # bats-core ref: # - https://bats-core.readthedocs.io/en/stable/tutorial.html # - https://bats-core.readthedocs.io/en/stable/writing-tests.html # - https://opensource.com/article/19/2/testing-bash-bats # ↳ https://github.com/dmlond/how_to_bats/blob/master/test/build.bats # # Helper library: # - https://github.com/bats-core/bats-assert # - https://github.com/bats-core/bats-support # - https://github.com/bats-core/bats-file # BATS_HELPER_PATH=/usr/lib/bats if [[ -d ${BATS_HELPER_PATH} ]]; then load "${BATS_HELPER_PATH}/bats-support/load" load "${BATS_HELPER_PATH}/bats-assert/load" load "${BATS_HELPER_PATH}/bats-file/load" load "${SRC_CODE_PATH}/${N2ST_BATS_TESTING_TOOLS_RELATIVE_PATH}/bats_helper_functions" load "${SRC_CODE_PATH}/build_system/tests/tests_bats/bats_helper_functions" #load "${BATS_HELPER_PATH}/bats-detik/load" # << Kubernetes support else echo -e "\n[\033[1;31mERROR\033[0m] $0 path to bats-core helper library unreachable at \"${BATS_HELPER_PATH}\"!" 1>&2 echo '(press any key to exit)' read -r -n 1 exit 1 fi # ====Setup======================================================================================== TESTED_FILE="nabo_crawl_dependencies_build_matrix.bash" TESTED_FILE_PATH="./build_system/" COMPOSE_FILE="docker-compose.dependencies.yaml" DOTENV_BUILD_MATRIX="${SRC_CODE_PATH}"/build_system/.env.build_matrix.dependencies DOTENV_BUILD_MATRIX_NAME=$( basename "${DOTENV_BUILD_MATRIX}" ) # executed once before starting the first test (valide for all test in that file) setup_file() { BATS_DOCKER_WORKDIR=$(pwd) && export BATS_DOCKER_WORKDIR ## Uncomment the following for debug, the ">&3" is for printing bats msg to stdin # pwd >&3 && tree -L 1 -a -hug >&3 # printenv >&3 } # executed before each test setup() { cd "$TESTED_FILE_PATH" || exit 1 } # ====Teardown===================================================================================== # executed after each test teardown() { bats_print_run_env_variable_on_error } ## executed once after finishing the last test (valide for all test in that file) #teardown_file() { #} # ====Test casses================================================================================== @test "${TESTED_FILE} › docker image › execute ok › expect pass" { run bash "${TESTED_FILE}" "${DOTENV_BUILD_MATRIX}" --fail-fast -- build assert_success assert_output --regexp .*"Starting".*"${TESTED_FILE}".*"\[NBS\]".*"Build images specified in".*"'${COMPOSE_FILE}'".*"following".*"${DOTENV_BUILD_MATRIX_NAME}" assert_output --regexp "Status of tag crawled:".*"Pass".*"› latest".*"Completed".*"${TESTED_FILE}".* } # ....Test --help flag related logic............................................................... @test "${TESTED_FILE} › --help as first argument › execute ok › expect pass" { run bash "${TESTED_FILE}" --help test_generic_help_flag_logic } @test "${TESTED_FILE} › second arg: --help › execute ok › expect pass" { run bash "${TESTED_FILE}" --fail-fast --help test_generic_help_flag_logic } # ToDo: implement >> test for IS_TEAMCITY_RUN==true casses # (NICE TO HAVE) ToDo: implement >> test for python intsall casses with regard to distribution test_nabo_crawl_libnabo_build_matrix.bats000066400000000000000000000066311462511457200374710ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_bats/tests_crawler#!/usr/bin/env bats # # Usage in docker container # $ REPO_ROOT=$(pwd) && RUN_TESTS_IN_DIR='tests' # $ docker run -it --rm -v "$REPO_ROOT:/code" bats/bats:latest "$RUN_TESTS_IN_DIR" # # Note: "/code" is the working directory in the bats official image # # bats-core ref: # - https://bats-core.readthedocs.io/en/stable/tutorial.html # - https://bats-core.readthedocs.io/en/stable/writing-tests.html # - https://opensource.com/article/19/2/testing-bash-bats # ↳ https://github.com/dmlond/how_to_bats/blob/master/test/build.bats # # Helper library: # - https://github.com/bats-core/bats-assert # - https://github.com/bats-core/bats-support # - https://github.com/bats-core/bats-file # BATS_HELPER_PATH=/usr/lib/bats if [[ -d ${BATS_HELPER_PATH} ]]; then load "${BATS_HELPER_PATH}/bats-support/load" load "${BATS_HELPER_PATH}/bats-assert/load" load "${BATS_HELPER_PATH}/bats-file/load" load "${SRC_CODE_PATH}/${N2ST_BATS_TESTING_TOOLS_RELATIVE_PATH}/bats_helper_functions" load "${SRC_CODE_PATH}/build_system/tests/tests_bats/bats_helper_functions" #load "${BATS_HELPER_PATH}/bats-detik/load" # << Kubernetes support else echo -e "\n[\033[1;31mERROR\033[0m] $0 path to bats-core helper library unreachable at \"${BATS_HELPER_PATH}\"!" 1>&2 echo '(press any key to exit)' read -r -n 1 exit 1 fi # ====Setup======================================================================================== TESTED_FILE="nabo_crawl_libnabo_build_matrix.bash" TESTED_FILE_PATH="./build_system/" COMPOSE_FILE="docker-compose.libnabo.yaml" DOTENV_BUILD_MATRIX="${SRC_CODE_PATH}"/build_system/.env.build_matrix.libnabo DOTENV_BUILD_MATRIX_NAME=$( basename "${DOTENV_BUILD_MATRIX}" ) # executed once before starting the first test (valide for all test in that file) setup_file() { BATS_DOCKER_WORKDIR=$(pwd) && export BATS_DOCKER_WORKDIR ## Uncomment the following for debug, the ">&3" is for printing bats msg to stdin # pwd >&3 && tree -L 1 -a -hug >&3 # printenv >&3 } # executed before each test setup() { cd "$TESTED_FILE_PATH" || exit 1 } # ====Teardown===================================================================================== # executed after each test teardown() { bats_print_run_env_variable_on_error } ## executed once after finishing the last test (valide for all test in that file) #teardown_file() { #} # ====Test casses================================================================================== @test "${TESTED_FILE} › docker image › execute ok › expect pass" { run bash "${TESTED_FILE}" "${DOTENV_BUILD_MATRIX}" --fail-fast -- build assert_success assert_output --regexp .*"Starting".*"${TESTED_FILE}".*"\[NBS\]".*"Build images specified in".*"'${COMPOSE_FILE}'".*"following".*"${DOTENV_BUILD_MATRIX_NAME}" assert_output --regexp "Status of tag crawled:".*"Pass".*"› latest".*"Completed".*"${TESTED_FILE}".* } # ....Test --help flag related logic............................................................... @test "${TESTED_FILE} › --help as first argument › execute ok › expect pass" { run bash "${TESTED_FILE}" --help test_generic_help_flag_logic } @test "${TESTED_FILE} › second arg: --help › execute ok › expect pass" { run bash "${TESTED_FILE}" --fail-fast --help test_generic_help_flag_logic } # ToDo: implement >> test for IS_TEAMCITY_RUN==true casses # (NICE TO HAVE) ToDo: implement >> test for python intsall casses with regard to distribution test_nabo_crawl_libnabo_build_matrix.bleeding.bats000066400000000000000000000076461462511457200412500ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_bats/tests_crawler#!/usr/bin/env bats # # Usage in docker container # $ REPO_ROOT=$(pwd) && RUN_TESTS_IN_DIR='tests' # $ docker run -it --rm -v "$REPO_ROOT:/code" bats/bats:latest "$RUN_TESTS_IN_DIR" # # Note: "/code" is the working directory in the bats official image # # bats-core ref: # - https://bats-core.readthedocs.io/en/stable/tutorial.html # - https://bats-core.readthedocs.io/en/stable/writing-tests.html # - https://opensource.com/article/19/2/testing-bash-bats # ↳ https://github.com/dmlond/how_to_bats/blob/master/test/build.bats # # Helper library: # - https://github.com/bats-core/bats-assert # - https://github.com/bats-core/bats-support # - https://github.com/bats-core/bats-file # BATS_HELPER_PATH=/usr/lib/bats if [[ -d ${BATS_HELPER_PATH} ]]; then load "${BATS_HELPER_PATH}/bats-support/load" load "${BATS_HELPER_PATH}/bats-assert/load" load "${BATS_HELPER_PATH}/bats-file/load" load "${SRC_CODE_PATH}/${N2ST_BATS_TESTING_TOOLS_RELATIVE_PATH}/bats_helper_functions" load "${SRC_CODE_PATH}/build_system/tests/tests_bats/bats_helper_functions" #load "${BATS_HELPER_PATH}/bats-detik/load" # << Kubernetes support else echo -e "\n[\033[1;31mERROR\033[0m] $0 path to bats-core helper library unreachable at \"${BATS_HELPER_PATH}\"!" 1>&2 echo '(press any key to exit)' read -r -n 1 exit 1 fi # ====Setup======================================================================================== TESTED_FILE="nabo_crawl_libnabo_build_matrix.bleeding.bash" TESTED_FILE_PATH="./build_system/" COMPOSE_FILE="docker-compose.libnabo.yaml" DOTENV_BUILD_MATRIX="${SRC_CODE_PATH}"/build_system/.env.build_matrix.libnabo.bleeding DOTENV_BUILD_MATRIX_NAME=$( basename "${DOTENV_BUILD_MATRIX}" ) # executed once before starting the first test (valide for all test in that file) setup_file() { BATS_DOCKER_WORKDIR=$(pwd) && export BATS_DOCKER_WORKDIR ## Uncomment the following for debug, the ">&3" is for printing bats msg to stdin # pwd >&3 && tree -L 1 -a -hug >&3 # printenv >&3 } # executed before each test setup() { cd "$TESTED_FILE_PATH" || exit 1 } # ====Teardown===================================================================================== # executed after each test teardown() { bats_print_run_env_variable_on_error } ## executed once after finishing the last test (valide for all test in that file) #teardown_file() { #} # ====Test casses================================================================================== @test "${TESTED_FILE} › docker image › execute ok › expect pass" { # skip "tmp mute" # ToDo: on task end >> delete this line ← run bash "${TESTED_FILE}" "${DOTENV_BUILD_MATRIX}" --fail-fast -- build # OPTIONS=( "${DOTENV_BUILD_MATRIX}" "--ubuntu-version-build-matrix-override jammy" "--fail-fast" "--" "config --quiet" ) # run bash "${TESTED_FILE}" "${OPTIONS[@]}" assert_success assert_output --regexp .*"Starting".*"${TESTED_FILE}".*"\[NBS\]".*"Build images specified in".*"'${COMPOSE_FILE}'".*"following".*"${DOTENV_BUILD_MATRIX_NAME}" assert_output --regexp .*"\[NBS done\]".*"FINAL › Build matrix completed with command".*"\$".*"docker compose -f ${COMPOSE_FILE}" # build --dry-run assert_output --regexp "Status of tag crawled:".*"Pass".*"› latest".*"Completed".*"${TESTED_FILE}".* } # ....Test --help flag related logic............................................................... @test "${TESTED_FILE} › --help as first argument › execute ok › expect pass" { # skip "tmp dev" # ToDo: on task end >> delete this line ← run bash "${TESTED_FILE}" --help test_generic_help_flag_logic } @test "${TESTED_FILE} › second arg: --help › execute ok › expect pass" { # skip "tmp dev" # ToDo: on task end >> delete this line ← run bash "${TESTED_FILE}" --fail-fast --help test_generic_help_flag_logic } ## ToDo: implement >> test for IS_TEAMCITY_RUN==true casses ## (NICE TO HAVE) ToDo: implement >> test for python intsall casses with regard to distribution test_nabo_crawl_libnabo_build_matrix.release.bats000066400000000000000000000067021462511457200411070ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_bats/tests_crawler#!/usr/bin/env bats # # Usage in docker container # $ REPO_ROOT=$(pwd) && RUN_TESTS_IN_DIR='tests' # $ docker run -it --rm -v "$REPO_ROOT:/code" bats/bats:latest "$RUN_TESTS_IN_DIR" # # Note: "/code" is the working directory in the bats official image # # bats-core ref: # - https://bats-core.readthedocs.io/en/stable/tutorial.html # - https://bats-core.readthedocs.io/en/stable/writing-tests.html # - https://opensource.com/article/19/2/testing-bash-bats # ↳ https://github.com/dmlond/how_to_bats/blob/master/test/build.bats # # Helper library: # - https://github.com/bats-core/bats-assert # - https://github.com/bats-core/bats-support # - https://github.com/bats-core/bats-file # BATS_HELPER_PATH=/usr/lib/bats if [[ -d ${BATS_HELPER_PATH} ]]; then load "${BATS_HELPER_PATH}/bats-support/load" load "${BATS_HELPER_PATH}/bats-assert/load" load "${BATS_HELPER_PATH}/bats-file/load" load "${SRC_CODE_PATH}/${N2ST_BATS_TESTING_TOOLS_RELATIVE_PATH}/bats_helper_functions" load "${SRC_CODE_PATH}/build_system/tests/tests_bats/bats_helper_functions" #load "${BATS_HELPER_PATH}/bats-detik/load" # << Kubernetes support else echo -e "\n[\033[1;31mERROR\033[0m] $0 path to bats-core helper library unreachable at \"${BATS_HELPER_PATH}\"!" 1>&2 echo '(press any key to exit)' read -r -n 1 exit 1 fi # ====Setup======================================================================================== TESTED_FILE="nabo_crawl_libnabo_build_matrix.release.bash" TESTED_FILE_PATH="./build_system/" COMPOSE_FILE="docker-compose.libnabo.yaml" DOTENV_BUILD_MATRIX="${SRC_CODE_PATH}"/build_system/.env.build_matrix.libnabo.release DOTENV_BUILD_MATRIX_NAME=$( basename "${DOTENV_BUILD_MATRIX}" ) # executed once before starting the first test (valide for all test in that file) setup_file() { BATS_DOCKER_WORKDIR=$(pwd) && export BATS_DOCKER_WORKDIR ## Uncomment the following for debug, the ">&3" is for printing bats msg to stdin # pwd >&3 && tree -L 1 -a -hug >&3 # printenv >&3 } # executed before each test setup() { cd "$TESTED_FILE_PATH" || exit 1 } # ====Teardown===================================================================================== # executed after each test teardown() { bats_print_run_env_variable_on_error } ## executed once after finishing the last test (valide for all test in that file) #teardown_file() { #} # ====Test casses================================================================================== @test "${TESTED_FILE} › docker image › execute ok › expect pass" { run bash "${TESTED_FILE}" "${DOTENV_BUILD_MATRIX}" --fail-fast -- build --push --dry-run release assert_success assert_output --regexp .*"Starting".*"${TESTED_FILE}".*"\[NBS\]".*"Build images specified in".*"'${COMPOSE_FILE}'".*"following".*"${DOTENV_BUILD_MATRIX_NAME}" assert_output --regexp "Status of tag crawled:".*"Pass".*"› latest".*"Completed".*"${TESTED_FILE}".* } # ....Test --help flag related logic............................................................... @test "${TESTED_FILE} › --help as first argument › execute ok › expect pass" { run bash "${TESTED_FILE}" --help test_generic_help_flag_logic } @test "${TESTED_FILE} › second arg: --help › execute ok › expect pass" { run bash "${TESTED_FILE}" --fail-fast --help test_generic_help_flag_logic } # ToDo: implement >> test for IS_TEAMCITY_RUN==true casses # (NICE TO HAVE) ToDo: implement >> test for python intsall casses with regard to distribution norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_bats/tests_installer/000077500000000000000000000000001462511457200276265ustar00rootroot00000000000000test_build_system_nabo_installer.bats000066400000000000000000000135321462511457200372440ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_bats/tests_installer#!/usr/bin/env bats # # Usage in docker container # $ REPO_ROOT=$(pwd) && RUN_TESTS_IN_DIR='tests' # $ docker run -it --rm -v "$REPO_ROOT:/code" bats/bats:latest "$RUN_TESTS_IN_DIR" # # Note: "/code" is the working directory in the bats official image # # bats-core ref: # - https://bats-core.readthedocs.io/en/stable/tutorial.html # - https://bats-core.readthedocs.io/en/stable/writing-tests.html # - https://opensource.com/article/19/2/testing-bash-bats # ↳ https://github.com/dmlond/how_to_bats/blob/master/test/build.bats # # Helper library: # - https://github.com/bats-core/bats-assert # - https://github.com/bats-core/bats-support # - https://github.com/bats-core/bats-file # BATS_HELPER_PATH=/usr/lib/bats if [[ -d ${BATS_HELPER_PATH} ]]; then load "${BATS_HELPER_PATH}/bats-support/load" load "${BATS_HELPER_PATH}/bats-assert/load" load "${BATS_HELPER_PATH}/bats-file/load" load "${SRC_CODE_PATH}/${N2ST_BATS_TESTING_TOOLS_RELATIVE_PATH}/bats_helper_functions" #load "${BATS_HELPER_PATH}/bats-detik/load" # << Kubernetes support else echo -e "\n[\033[1;31mERROR\033[0m] $0 path to bats-core helper library unreachable at \"${BATS_HELPER_PATH}\"!" 1>&2 echo '(press any key to exit)' read -r -n 1 exit 1 fi # ====Setup======================================================================================== TESTED_FILE3="nabo_install_dependencies_ubuntu.bash" TESTED_FILE4="nabo_install_libnabo_ubuntu.bash" TESTED_FILE_PATH3="./build_system/ubuntu" # executed once before starting the first test (valide for all test in that file) setup_file() { BATS_DOCKER_WORKDIR=$(pwd) && export BATS_DOCKER_WORKDIR # Uncomment the following for debug, the ">&3" is for printing bats msg to stdin # pwd >&3 && tree -L 1 -a -hug >&3 # pwd >&3 && tree -L 2 -a ./build_system/utilities >&3 # printenv >&3 } # executed before each test setup() { echo "(Bats) Source project .env" set -o allexport source "${BATS_DOCKER_WORKDIR:?err}/build_system/.env" set +o allexport cd "$TESTED_FILE_PATH" || exit 1 } # ====Teardown===================================================================================== # executed after each test teardown() { echo "(Bats) Reset install directory" rm -rf "${NBS_LIB_INSTALL_PATH}" # bats_print_run_env_variable_on_error } ## executed once after finishing the last test (valide for all test in that file) #teardown_file() { #} # ====Test casses================================================================================== # ....Build system install script.................................................................. @test "Dependencies | run $TESTED_FILE3 › expect pass" { # skip "tmp debug" # ToDo: on task end >> delete this line ← cd "${BATS_DOCKER_WORKDIR}" run bash ./${TESTED_FILE_PATH3}/$TESTED_FILE3 --test-run assert_success assert_output --regexp .*"\[".*"NABO".*"\]".*"Install Libnabo dependencies".*"Boost" assert_output --regexp .*"\[".*"NABO".*"\]".*"Install Libnabo dependencies".*"Eigen" assert_output --regexp .*"\[".*"NABO done".*"\]".*"Libnabo dependencies installed" } @test "Libnabo | run $TESTED_FILE4 (default) › expect pass" { # skip "tmp debug" # ToDo: on task end >> delete this line ← cd "${BATS_DOCKER_WORKDIR}" run bash "./${TESTED_FILE_PATH3}/$TESTED_FILE4" --test-run assert_success assert_output --regexp .*"\[".*"NABO".*"\]".*"Install libnabo" assert_output --regexp .*"\[".*"NABO".*"\]".*"Execute".*"cmake -D CMAKE_BUILD_TYPE=RelWithDebInfo -D LIBNABO_BUILD_TESTS=OFF -D LIBNABO_BUILD_DOXYGEN=OFF /opt/percep3d_libraries/libnabo" refute_output --regexp .*"\[".*"NABO".*"\]".*"Execute".*"cmake -D CMAKE_BUILD_TYPE=RelWithDebInfo -D LIBNABO_BUILD_TESTS=OFF -D LIBNABO_BUILD_DOXYGEN=OFF -D CMAKE_INSTALL_PREFIX=/opt/percep3d_libraries /opt/percep3d_libraries/libnabo" assert_output --regexp .*"\[".*"NABO done".*"\]".*"libnabo installed successfully at".* } @test "Libnabo | run $TESTED_FILE4 (default) (read APPEND_TO_CMAKE_FLAG ok) › expect pass" { # skip "tmp debug" # ToDo: on task end >> delete this line ← cd "${BATS_DOCKER_WORKDIR}" export APPEND_TO_CMAKE_FLAG=( -D CMAKE_INSTALL_PREFIX=/opt/test_dir ) run source "./${TESTED_FILE_PATH3}/$TESTED_FILE4" --test-run assert_success assert_output --regexp .*"\[".*"NABO".*"\]".*"Install libnabo" assert_output --regexp .*"\[".*"NABO".*"\]".*"Execute".*"cmake -D CMAKE_BUILD_TYPE=RelWithDebInfo -D LIBNABO_BUILD_TESTS=OFF -D LIBNABO_BUILD_DOXYGEN=OFF -D CMAKE_INSTALL_PREFIX=/opt/test_dir /opt/percep3d_libraries/libnabo" refute_output --regexp .*"\[".*"NABO".*"\]".*"Execute".*"cmake -D CMAKE_BUILD_TYPE=RelWithDebInfo -D LIBNABO_BUILD_TESTS=OFF -D LIBNABO_BUILD_DOXYGEN=OFF /opt/percep3d_libraries/libnabo" assert_output --regexp .*"\[".*"NABO done".*"\]".*"libnabo installed successfully at".* } @test "Libnabo | run $TESTED_FILE4 (argument check) › expect pass" { # skip "tmp debug" # ToDo: on task end >> delete this line ← cd "${BATS_DOCKER_WORKDIR}" run bash "./${TESTED_FILE_PATH3}/$TESTED_FILE4" --test-run \ --install-path /opt/test_dir \ --repository-version 1.0.7 \ --compile-test \ --generate-doc \ --cmake-build-type Release assert_success assert_output --regexp .*"\[".*"NABO".*"\]".*"Install libnabo" assert_output --partial "switching to 'tags/1.0.7'." assert_output --regexp .*"\[".*"NABO".*"\]".*"Repository checkout at tag 1.0.7" assert_output --regexp .*"\[".*"NABO".*"\]".*"Execute".*"cmake -D CMAKE_BUILD_TYPE=Release -D LIBNABO_BUILD_TESTS=ON -D LIBNABO_BUILD_DOXYGEN=ON /opt/test_dir/libnabo" refute_output --regexp .*"\[".*"NABO".*"\]".*"Execute".*"cmake -D CMAKE_BUILD_TYPE=RelWithDebInfo -D LIBNABO_BUILD_TESTS=OFF -D LIBNABO_BUILD_DOXYGEN=OFF /opt/percep3d_libraries/libnabo" assert_output --regexp .*"\[".*"NABO done".*"\]".*"libnabo installed successfully at".* } test_nabo_install_docker_tools_and_buildx_create_script.bats000066400000000000000000000052371462511457200440040ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_bats/tests_installer#!/usr/bin/env bats # # Usage in docker container # $ REPO_ROOT=$(pwd) && RUN_TESTS_IN_DIR='tests' # $ docker run -it --rm -v "$REPO_ROOT:/code" bats/bats:latest "$RUN_TESTS_IN_DIR" # # Note: "/code" is the working directory in the bats official image # # bats-core ref: # - https://bats-core.readthedocs.io/en/stable/tutorial.html # - https://bats-core.readthedocs.io/en/stable/writing-tests.html # - https://opensource.com/article/19/2/testing-bash-bats # ↳ https://github.com/dmlond/how_to_bats/blob/master/test/build.bats # # Helper library: # - https://github.com/bats-core/bats-assert # - https://github.com/bats-core/bats-support # - https://github.com/bats-core/bats-file # BATS_HELPER_PATH=/usr/lib/bats if [[ -d ${BATS_HELPER_PATH} ]]; then load "${BATS_HELPER_PATH}/bats-support/load" load "${BATS_HELPER_PATH}/bats-assert/load" load "${BATS_HELPER_PATH}/bats-file/load" load "${SRC_CODE_PATH}/${N2ST_BATS_TESTING_TOOLS_RELATIVE_PATH}/bats_helper_functions" #load "${BATS_HELPER_PATH}/bats-detik/load" # << Kubernetes support else echo -e "\n[\033[1;31mERROR\033[0m] $0 path to bats-core helper library unreachable at \"${BATS_HELPER_PATH}\"!" 1>&2 echo '(press any key to exit)' read -r -n 1 exit 1 fi # ====Setup======================================================================================== TESTED_FILE="nabo_install_docker_tools.bash" TESTED_FILE2="nabo_create_multiarch_docker_builder.bash" TESTED_FILE_PATH="./build_system/nabo_utility_script" # executed once before starting the first test (valide for all test in that file) setup_file() { BATS_DOCKER_WORKDIR=$(pwd) && export BATS_DOCKER_WORKDIR ## Uncomment the following for debug, the ">&3" is for printing bats msg to stdin # pwd >&3 && tree -L 1 -a -hug >&3 # printenv >&3 } # executed before each test setup() { cd "$TESTED_FILE_PATH" || exit 1 } # ====Teardown===================================================================================== # executed after each test teardown() { bats_print_run_env_variable_on_error } ## executed once after finishing the last test (valide for all test in that file) #teardown_file() { #} # ====Test casses================================================================================== @test "run $TESTED_FILE from root › expect pass" { cd "${BATS_DOCKER_WORKDIR}" run bash "./${TESTED_FILE_PATH}/$TESTED_FILE" assert_success run docker --version assert_output --regexp "Docker version".*"build".* } @test "run $TESTED_FILE2 (mock 'docker buildx create' step) › expect pass" { cd "${BATS_DOCKER_WORKDIR}" mock_docker_command_exit_ok run source "./${TESTED_FILE_PATH}/$TESTED_FILE2" assert_success } test_user_nabo_installer.bats000066400000000000000000000125131462511457200355150ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_bats/tests_installer#!/usr/bin/env bats # # Usage in docker container # $ REPO_ROOT=$(pwd) && RUN_TESTS_IN_DIR='tests' # $ docker run -it --rm -v "$REPO_ROOT:/code" bats/bats:latest "$RUN_TESTS_IN_DIR" # # Note: "/code" is the working directory in the bats official image # # bats-core ref: # - https://bats-core.readthedocs.io/en/stable/tutorial.html # - https://bats-core.readthedocs.io/en/stable/writing-tests.html # - https://opensource.com/article/19/2/testing-bash-bats # ↳ https://github.com/dmlond/how_to_bats/blob/master/test/build.bats # # Helper library: # - https://github.com/bats-core/bats-assert # - https://github.com/bats-core/bats-support # - https://github.com/bats-core/bats-file # BATS_HELPER_PATH=/usr/lib/bats if [[ -d ${BATS_HELPER_PATH} ]]; then load "${BATS_HELPER_PATH}/bats-support/load" load "${BATS_HELPER_PATH}/bats-assert/load" load "${BATS_HELPER_PATH}/bats-file/load" load "${SRC_CODE_PATH}/${N2ST_BATS_TESTING_TOOLS_RELATIVE_PATH}/bats_helper_functions" #load "${BATS_HELPER_PATH}/bats-detik/load" # << Kubernetes support else echo -e "\n[\033[1;31mERROR\033[0m] $0 path to bats-core helper library unreachable at \"${BATS_HELPER_PATH}\"!" 1>&2 echo '(press any key to exit)' read -r -n 1 exit 1 fi # ====Setup======================================================================================== TESTED_FILE="libnabo_dependencies_installer.bash" TESTED_FILE2="libnabo_installer.bash" TESTED_FILE_PATH="." # executed once before starting the first test (valide for all test in that file) setup_file() { BATS_DOCKER_WORKDIR=$(pwd) && export BATS_DOCKER_WORKDIR ## Uncomment the following for debug, the ">&3" is for printing bats msg to stdin # pwd >&3 && tree -L 1 -a -hug >&3 # printenv >&3 } # executed before each test setup() { echo "(Bats) Source project .env" set -o allexport source "${BATS_DOCKER_WORKDIR:?err}/build_system/.env" set +o allexport cd "$TESTED_FILE_PATH" || exit 1 } # ====Teardown===================================================================================== # executed after each test teardown() { echo "(Bats) Reset install directory" rm -rf "${NBS_LIB_INSTALL_PATH}" # bats_print_run_env_variable_on_error } ## executed once after finishing the last test (valide for all test in that file) #teardown_file() { #} # ====Test casses================================================================================== # ----User install script-------------------------------------------------------------------------- # ....Test installer › pre-condition failure....................................................... @test "Dependencies | source $TESTED_FILE › expect fail" { cd "${BATS_DOCKER_WORKDIR}" run source "./${TESTED_FILE_PATH}/$TESTED_FILE" assert_failure 1 assert_output --regexp .*"\[".*"NABO ERROR".*"\]".*"Execute this script in a subshell".*"bash ${TESTED_FILE}" } # bats test_tags=tag:1 @test "Libnabo | source $TESTED_FILE2 › expect fail" { cd "${BATS_DOCKER_WORKDIR}" run source "./${TESTED_FILE_PATH}/$TESTED_FILE" assert_failure 1 assert_output --regexp .*"\[".*"NABO ERROR".*"\]".*"Execute this script in a subshell".*"bash ${TESTED_FILE}" } # ....Test installer › normal case................................................................. @test "Dependencies | run $TESTED_FILE from root › expect pass" { cd "${BATS_DOCKER_WORKDIR}" run bash "./${TESTED_FILE_PATH}/$TESTED_FILE" --test-run assert_success ## General dependencies assert_output --regexp .*"\[".*"NABO".*"\]".*"Install development utilities" assert_output --regexp .*"\[".*"NABO".*"\]".*"The install script is executed in stand alone mode" assert_output --regexp .*"\[".*"NBS".*"\]".*"Starting nbs::install_python_dev_tools" assert_output --regexp .*"\[".*"NBS".*"\]".*"Install python development tools for Ubuntu distro".* assert_output --regexp .*"\[".*"NABO".*"\]".*"Install Libnabo dependencies › Boost" assert_output --regexp .*"\[".*"NABO".*"\]".*"Install Libnabo dependencies › Eigen" # assert_output --regexp .*"\[".*"NABO".*"\]".*"Install Libnabo dev tools" assert_output --regexp .*"\[".*"NABO done".*"\]".*"Libnabo dependencies installed" ## Documentation dependencies assert_output --regexp .*"\[".*"NABO".*"\]".*"Install libnabo documentation related dependencies" assert_output --regexp .*"\[".*"NABO done".*"\]".*"Libnabo documentation related dependencies installed" assert_output --regexp .*"\[".*"NABO done".*"\]".*"All Libnabo dependencies installed" } @test "Libnabo | run $TESTED_FILE2 from root › expect pass" { cd "${BATS_DOCKER_WORKDIR}" run bash "./${TESTED_FILE_PATH}/$TESTED_FILE2" --generate-doc --cmake-build-type Release --test-run assert_success assert_output --regexp .*"\[".*"NABO".*"\]".*"Install libnabo" assert_output --regexp .*"\[".*"NABO".*"\]".*"Execute".*"cmake -D CMAKE_BUILD_TYPE=Release -D LIBNABO_BUILD_TESTS=OFF -D LIBNABO_BUILD_DOXYGEN=ON /opt/percep3d_libraries/libnabo" refute_output --regexp .*"\[".*"NABO".*"\]".*"Execute".*"cmake -D CMAKE_BUILD_TYPE=Release -D LIBNABO_BUILD_TESTS=OFF -D LIBNABO_BUILD_DOXYGEN=ON -D CMAKE_INSTALL_PREFIX=/opt/percep3d_libraries /opt/percep3d_libraries/libnabo" assert_output --regexp .*"\[".*"NABO done".*"\]".*"libnabo installed successfully at".* assert_output --regexp .*"\[".*"NABO done".*"\]".*"Libnabo install script completed. Have fun" } norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_docker_dryrun_and_config/000077500000000000000000000000001462511457200304775ustar00rootroot00000000000000dryrun_nabo_crawl_dependencies_build_matrix.bash000066400000000000000000000012001462511457200422330ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_docker_dryrun_and_config#!/bin/bash # ....path resolution logic........................................................................ _PATH_TO_SCRIPT="$(realpath "${BASH_SOURCE[0]}")" NABO_ROOT_DIR="$(dirname "${_PATH_TO_SCRIPT}")" cd "${NABO_ROOT_DIR}/../../" # ====begin======================================================================================== #FLAGS=( '--fail-fast' '--' 'build' '--dry-run' ) #bash nabo_crawl_dependencies_build_matrix.bash ${FLAGS[@]} #bash nabo_crawl_dependencies_build_matrix.bash --fail-fast -- build --dry-run dependencies dependencies-doc bash nabo_crawl_dependencies_build_matrix.bash --fail-fast -- build --dry-run dryrun_nabo_crawl_libnabo_build_matrix.bash000066400000000000000000000010021462511457200412130ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_docker_dryrun_and_config#!/bin/bash # ....path resolution logic........................................................................ _PATH_TO_SCRIPT="$(realpath "${BASH_SOURCE[0]}")" NABO_ROOT_DIR="$(dirname "${_PATH_TO_SCRIPT}")" cd "${NABO_ROOT_DIR}/../../" # ====begin======================================================================================== #bash nabo_crawl_libnabo_build_matrix.bash --fail-fast -- build --dry-run ci_PR_amd64 ci_PR_arm64v8 bash nabo_crawl_libnabo_build_matrix.bash --fail-fast -- build --dry-run dryrun_nabo_crawl_libnabo_build_matrix.bleeding.bash000066400000000000000000000010241462511457200427670ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_docker_dryrun_and_config#!/bin/bash # ....path resolution logic........................................................................ _PATH_TO_SCRIPT="$(realpath "${BASH_SOURCE[0]}")" NABO_ROOT_DIR="$(dirname "${_PATH_TO_SCRIPT}")" cd "${NABO_ROOT_DIR}/../../" # ====begin======================================================================================== #bash nabo_crawl_libnabo_build_matrix.bleeding.bash --fail-fast -- build --dry-run ci_PR_amd64 ci_PR_arm64v8 bash nabo_crawl_libnabo_build_matrix.bleeding.bash --fail-fast -- build --dry-run test_configuration_nabo_crawl_dependencies_build_matrix.bash000066400000000000000000000006421462511457200446270ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_docker_dryrun_and_config#!/bin/bash # ....path resolution logic........................................................................ _PATH_TO_SCRIPT="$(realpath "${BASH_SOURCE[0]}")" NABO_ROOT_DIR="$(dirname "${_PATH_TO_SCRIPT}")" cd "${NABO_ROOT_DIR}/../../" # ====begin======================================================================================== bash nabo_crawl_dependencies_build_matrix.bash --fail-fast -- config --quiet test_configuration_nabo_crawl_libnabo_build_matrix.bash000066400000000000000000000006351462511457200436110ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_docker_dryrun_and_config#!/bin/bash # ....path resolution logic........................................................................ _PATH_TO_SCRIPT="$(realpath "${BASH_SOURCE[0]}")" NABO_ROOT_DIR="$(dirname "${_PATH_TO_SCRIPT}")" cd "${NABO_ROOT_DIR}/../../" # ====begin======================================================================================== bash nabo_crawl_libnabo_build_matrix.bash --fail-fast -- config --quiet test_configuration_nabo_crawl_libnabo_build_matrix.bleeding.bash000066400000000000000000000006461462511457200453630ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_docker_dryrun_and_config#!/bin/bash # ....path resolution logic........................................................................ _PATH_TO_SCRIPT="$(realpath "${BASH_SOURCE[0]}")" NABO_ROOT_DIR="$(dirname "${_PATH_TO_SCRIPT}")" cd "${NABO_ROOT_DIR}/../../" # ====begin======================================================================================== bash nabo_crawl_libnabo_build_matrix.bleeding.bash --fail-fast -- config --quiet norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_docker_interactive/000077500000000000000000000000001462511457200273225ustar00rootroot00000000000000Dockerfile.build_system_test000066400000000000000000000057011462511457200350010ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_docker_interactiveARG BASE_IMAGE=ubuntu ARG BASE_IMAGE_TAG=focal FROM ${BASE_IMAGE}:${BASE_IMAGE_TAG} AS base-image LABEL org.opencontainers.image.authors="luc.coupal.1@ulaval.ca" SHELL ["/bin/bash", "-e", "-c"] ARG DEBIAN_FRONTEND=noninteractive WORKDIR / # ....Setup timezone and localization.............................................................. # change the locale from POSIX to UTF-8 RUN apt-get update && \ apt-get install --assume-yes --no-install-recommends \ locales && \ rm -rf /var/lib/apt/lists/* RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 ENV LANG=en_US.UTF-8 ENV PYTHONIOENCODING=utf-8 # ====Begin install================================================================================ # ....Install development utilities................................................................ RUN apt-get update \ && apt-get install --assume-yes --no-install-recommends \ sudo \ gnupg2 \ lsb-release \ cmake \ build-essential \ curl \ wget \ ca-certificates \ git \ vim \ tree \ less \ apt-utils \ zip gzip tar unzip \ fontconfig \ software-properties-common \ bash-completion \ && rm -rf /var/lib/apt/lists/* # ....Install docker tools......................................................................... # Required for norlab-build-system path resolution logic WORKDIR /libnabo COPY ./.git ./.git # Copy all files from the checkout branch in the repository (except those in the .dockerignore) WORKDIR /libnabo/build_system COPY ./build_system/utilities/norlab-build-system ./utilities/norlab-build-system COPY ./build_system/utilities/norlab-shell-script-tools ./utilities/norlab-shell-script-tools COPY ./build_system/.env ./.env #COPY ./build_system/.env.prompt ./.env.prompt COPY ./build_system/nabo_utility_script/nabo_install_docker_tools.bash ./nabo_utility_script/nabo_install_docker_tools.bash #COPY ./build_system/function_library/prompt_utilities.bash ./function_library/prompt_utilities.bash RUN chmod +x ./nabo_utility_script/nabo_install_docker_tools.bash RUN source ./nabo_utility_script/nabo_install_docker_tools.bash # ....Copy and prep libnabo repository main files.................................................. WORKDIR /libnabo COPY .. /libnabo/ # Note: Build context must be at repository root RUN /bin/bash -c " \ if [[ ! -f LICENSE ]]; then \ echo -e \"\nBuild context must be at repository root.\nProject root not reached! Current workdir: $(pwd).\nAborting build now!\n\"; \ exit 1; \ fi" RUN chmod +x --recursive /libnabo/ # ====End========================================================================================== WORKDIR ./build_system ## Trick to validate the output of the file created with COPY <] # set -e #set -v #set -x DOCKER_CMD_ARGS=${*} clear TMP_CWD=$(pwd) # ....Helper function.............................................................................. if [[ "$(basename $(pwd))" == "tests" ]]; then cd ../ fi # ....path resolution logic........................................................................ _PATH_TO_SCRIPT="$(realpath "${BASH_SOURCE[0]}")" NABO_ROOT_DIR="$(dirname "${_PATH_TO_SCRIPT}")/../../.." cd "${NABO_ROOT_DIR}" set -o allexport && source ./build_system/.env && set +o allexport # ....Helper function.............................................................................................. # import shell functions from utilities library source "./build_system/utilities/norlab-shell-script-tools/import_norlab_shell_script_tools_lib.bash" # ====Begin======================================================================================== print_formated_script_header 'build_and_run_IamBuildSystemTester.bash' "${MSG_LINE_CHAR_TEST}" # ....Build image.................................................................................. echo print_msg "Building 'nabo.ubuntu20.buildsystem.test'" # Note: Build context must be at repository root pwd tree -L 1 -a show_and_execute_docker "build -f build_system/tests/tests_docker_interactive/Dockerfile.build_system_test -t nabo.ubuntu20.buildsystem.test ." #--no-cache # ....Run container................................................................................ print_msg "Starting 'IamBuildSystemTester'" if [[ -n ${DOCKER_CMD_ARGS} ]]; then print_msg "Passing command ${MSG_DIMMED_FORMAT}\"${DOCKER_CMD_ARGS}\"${MSG_END_FORMAT} to docker run" fi show_and_execute_docker "run --name IamBuildSystemTester -it --rm nabo.ubuntu20.buildsystem.test ${DOCKER_CMD_ARGS}" print_formated_script_footer 'build_and_run_IamBuildSystemTester.bash' "${MSG_LINE_CHAR_TEST}" # ====Teardown===================================================================================== cd "${TMP_CWD}" norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_docker_interactive/entrypoint.bash000066400000000000000000000002151462511457200323720ustar00rootroot00000000000000#!/bin/bash pwd tree -L 3 # ====Continue===================================================================================== exec "${@}" test_execute_compose_over_build_matrix.bash000066400000000000000000000012121462511457200401220ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_docker_interactive#!/bin/bash clear # ....path resolution logic........................................................................ _PATH_TO_SCRIPT="$(realpath "${BASH_SOURCE[0]}")" NABO_ROOT_DIR="$(dirname "${_PATH_TO_SCRIPT}")" cd "${NABO_ROOT_DIR}/../../.." pwd # ====begin======================================================================================== bash build_system/tests/tests_docker_interactive/build_and_run_IamBuildSystemTester.bash "bash ./nabo_crawl_libnabo_build_matrix.bash \ --repository-version-build-matrix-override latest \ --cmake-build-type-build-matrix-override None \ --docker-debug-logs \ -- build --dry-run" test_execute_compose_over_build_matrix_with_flag.bash000066400000000000000000000014151462511457200421530ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/tests/tests_docker_interactive#!/bin/bash clear # ....path resolution logic........................................................................ _PATH_TO_SCRIPT="$(realpath "${BASH_SOURCE[0]}")" NABO_ROOT_DIR="$(dirname "${_PATH_TO_SCRIPT}")" cd "${NABO_ROOT_DIR}/../../.." # ====begin======================================================================================== bash build_system/tests/tests_docker_interactive/build_and_run_IamBuildSystemTester.bash "bash ./nabo_crawl_libnabo_build_matrix.bash \ --repository-version-build-matrix-override PR1 \ --cmake-build-type-build-matrix-override RelWithDebInfo \ --os-name-build-matrix-override osx \ --osx-version-build-matrix-override ventura \ --ubuntu-version-build-matrix-override jammy \ -- build --dry-run dependencies" norlab-ulaval-libnabo-cd95c8b/build_system/ubuntu/000077500000000000000000000000001462511457200224145ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/ubuntu/Dockerfile.dependencies000066400000000000000000000065161462511457200270430ustar00rootroot00000000000000ARG BASE_IMAGE=ubuntu ARG BASE_IMAGE_TAG=focal FROM ${BASE_IMAGE}:${BASE_IMAGE_TAG} AS base-image LABEL org.opencontainers.image.authors="luc.coupal.1@ulaval.ca" ARG NBS_LIB_INSTALL_PATH ARG NBS_REPOSITORY_NAME ENV NBS_LIB_INSTALL_PATH=${NBS_LIB_INSTALL_PATH:?'Build argument needs to be set and non-empty.'} ENV NBS_REPOSITORY_NAME=${NBS_REPOSITORY_NAME:?'Build argument needs to be set and non-empty.'} ENV NBS_PATH=${NBS_LIB_INSTALL_PATH}/norlab-build-system ENV N2ST_PATH=${NBS_LIB_INSTALL_PATH}/norlab-shell-script-tools ARG NBS_SUPERPROJECT_BUILD_SYSTEM_DIR ENV NBS_SUPERPROJECT_BUILD_SYSTEM_DIR=${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR:-"${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR}"} ARG IS_TEAMCITY_RUN ENV IS_TEAMCITY_RUN=${IS_TEAMCITY_RUN:-false} SHELL ["/bin/bash", "-c"] ARG DEBIAN_FRONTEND=noninteractive ENV DEBIAN_FRONTEND=${DEBIAN_FRONTEND} ENV TZ=Etc/UTC ENV TERM=${TERM:-"xterm-256color"} # ....Setup timezone and localization.............................................................. # change the locale from POSIX to UTF-8 RUN apt-get update && \ apt-get install --assume-yes --no-install-recommends \ locales \ tzdata && \ rm -rf /var/lib/apt/lists/* RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 ENV LANG=en_US.UTF-8 ENV PYTHONIOENCODING=utf-8 # ====Begin install================================================================================ # ....Install development utilities................................................................ RUN apt-get update && \ apt-get install --assume-yes --no-install-recommends \ sudo \ bash-completion \ git \ vim \ tree \ curl \ wget \ gnupg2 \ zip gzip tar unzip \ net-tools \ ca-certificates \ apt-utils && \ rm -rf /var/lib/apt/lists/* # ....Install norlab-build-system library.......................................................... WORKDIR "${NBS_LIB_INSTALL_PATH}" RUN git clone --recurse-submodules https://github.com/norlab-ulaval/norlab-build-system.git RUN git clone --recurse-submodules https://github.com/norlab-ulaval/norlab-shell-script-tools.git # ====Begin======================================================================================== # Required for norlab-build-system path resolution logic WORKDIR "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}" COPY ./.git ./.git WORKDIR "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}/${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR}" COPY ./${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR}/.env . WORKDIR "${NBS_PATH}/src/utility_scripts/" RUN chmod +x ./nbs_install_python_dev_tools.bash RUN bash nbs_install_python_dev_tools.bash # ====Install Libnabo dependencies================================================================= FROM base-image AS libnabo-dependencies WORKDIR "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}/${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR}" COPY ./${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR}/ubuntu/nabo_install_dependencies_ubuntu.bash ./ubuntu/ WORKDIR ./ubuntu RUN chmod +x ./nabo_install_dependencies_ubuntu.bash RUN bash ./nabo_install_dependencies_ubuntu.bash # ====End========================================================================================== FROM libnabo-dependencies AS final WORKDIR "${NBS_LIB_INSTALL_PATH}/" RUN rm -r -f "./${NBS_REPOSITORY_NAME}" CMD [ "bash" ] norlab-ulaval-libnabo-cd95c8b/build_system/ubuntu/Dockerfile.dependencies.doxygen000066400000000000000000000021571462511457200305140ustar00rootroot00000000000000ARG PROJECT_HUB=norlabulaval ARG BASE_IMAGE=libnabo-dependencies ARG BASE_IMAGE_TAG FROM ${PROJECT_HUB}/${BASE_IMAGE}:${BASE_IMAGE_TAG:?err} AS libnabo-dependencies-full LABEL org.opencontainers.image.authors="luc.coupal.1@ulaval.ca" ARG IS_TEAMCITY_RUN ENV IS_TEAMCITY_RUN=${IS_TEAMCITY_RUN:-false} SHELL ["/bin/bash", "-c"] ARG DEBIAN_FRONTEND=noninteractive # Required for norlab-build-system path resolution logic WORKDIR "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}" COPY ./.git ./.git WORKDIR "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}/build_system" COPY ./build_system/.env . COPY ./build_system/ubuntu/nabo_install_doc_dependencies_ubuntu.bash ./ubuntu/ # ====Install Libnabo documentation related dependencies=========================================== WORKDIR ./ubuntu RUN chmod +x nabo_install_doc_dependencies_ubuntu.bash RUN bash nabo_install_doc_dependencies_ubuntu.bash # ====End========================================================================================== WORKDIR "${NBS_LIB_INSTALL_PATH}/" RUN rm -r -f "./${NBS_REPOSITORY_NAME}" FROM libnabo-dependencies-full AS final CMD [ "bash" ] norlab-ulaval-libnabo-cd95c8b/build_system/ubuntu/Dockerfile.libnabo.ci_PR000066400000000000000000000036371462511457200270170ustar00rootroot00000000000000ARG PROJECT_HUB=norlabulaval ARG BASE_IMAGE=libnabo-dependencies ARG BASE_IMAGE_TAG FROM ${PROJECT_HUB}/${BASE_IMAGE}:${BASE_IMAGE_TAG:?err} AS libnabo-dependencies LABEL org.opencontainers.image.authors="luc.coupal.1@ulaval.ca" ARG REPOSITORY_VERSION='latest' ENV REPOSITORY_VERSION=${REPOSITORY_VERSION} LABEL libnabo.version="${REPOSITORY_VERSION}" ARG NBS_LIB_INSTALL_PATH ARG NBS_REPOSITORY_NAME ENV NBS_LIB_INSTALL_PATH=${NBS_LIB_INSTALL_PATH:?'Build argument needs to be set and non-empty.'} ENV NBS_REPOSITORY_NAME=${NBS_REPOSITORY_NAME:?'Build argument needs to be set and non-empty.'} ARG CMAKE_BUILD_TYPE=RelWithDebInfo ARG INSTALL_SCRIPT_FLAG='--build-system-CI-install --compile-test' ENV CMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} ENV INSTALL_SCRIPT_FLAG=${INSTALL_SCRIPT_FLAG} ARG IS_TEAMCITY_RUN ENV IS_TEAMCITY_RUN=${IS_TEAMCITY_RUN:-false} SHELL ["/bin/bash", "-c"] ARG DEBIAN_FRONTEND=noninteractive # ToDo: validate ENV TERM=${TERM:-"xterm-256color"} # ====Checkout libnabo repository================================================================== WORKDIR "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}" # Copy all files from the checkout branch in the repository (except those in the .dockerignore) COPY . . # ==== Build libnabo checkout branch ============================================================== WORKDIR ./build_system/ubuntu RUN chmod +x nabo_install_libnabo_ubuntu.bash RUN chmod +x nabo_execute_nabo_unittest.bash RUN chmod +x entrypoint.bash RUN bash nabo_install_libnabo_ubuntu.bash \ --repository-version ${REPOSITORY_VERSION} \ --cmake-build-type ${CMAKE_BUILD_TYPE} \ ${INSTALL_SCRIPT_FLAG} # ==== Execute libnabo unit-test=================================================================== RUN source nabo_execute_nabo_unittest.bash # ====End========================================================================================== ENTRYPOINT [ "./entrypoint.bash" ] CMD [ "bash" ] norlab-ulaval-libnabo-cd95c8b/build_system/ubuntu/Dockerfile.libnabo.hub_release000066400000000000000000000045111462511457200302710ustar00rootroot00000000000000ARG PROJECT_HUB=norlabulaval ARG BASE_IMAGE=libnabo-dependencies-doc ARG BASE_IMAGE_TAG FROM ${PROJECT_HUB}/${BASE_IMAGE}:${BASE_IMAGE_TAG:?err} AS libnabo-install LABEL org.opencontainers.image.authors="luc.coupal.1@ulaval.ca" ARG REPOSITORY_VERSION ENV REPOSITORY_VERSION=${REPOSITORY_VERSION:?'Build argument needs to be set and non-empty.'} LABEL libnabo.version="${REPOSITORY_VERSION}" ARG NBS_LIB_INSTALL_PATH ARG NBS_REPOSITORY_NAME ENV NBS_LIB_INSTALL_PATH=${NBS_LIB_INSTALL_PATH:?'Build argument needs to be set and non-empty.'} ENV NBS_REPOSITORY_NAME=${NBS_REPOSITORY_NAME:?'Build argument needs to be set and non-empty.'} ARG CMAKE_BUILD_TYPE=Release ARG INSTALL_SCRIPT_FLAG="" ENV CMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} ENV INSTALL_SCRIPT_FLAG=${INSTALL_SCRIPT_FLAG} ARG IS_TEAMCITY_RUN ENV IS_TEAMCITY_RUN=${IS_TEAMCITY_RUN:-false} SHELL ["/bin/bash", "-c"] ARG DEBIAN_FRONTEND=noninteractive # ====Build system related setup=================================================================== WORKDIR "${NBS_LIB_INSTALL_PATH}/release-prep/" # Copy only the build system file for running the install and test scripts # Note: Logic to copy files from the checkout branch is handle by 'nabo_install_libnabo_ubuntu.bash' script COPY ./build_system/ ./build_system/ COPY ./.git/ ./.git/ # ==== Build libnabo checkout branch ============================================================== WORKDIR ./build_system/ubuntu RUN chmod +x nabo_install_libnabo_ubuntu.bash # Note: Make sure to install in "${NBS_LIB_INSTALL_PATH}//" as the "release-prep/" # directory is deleted at the end of this install step RUN bash nabo_install_libnabo_ubuntu.bash \ --install-path ${NBS_LIB_INSTALL_PATH} \ --repository-version ${REPOSITORY_VERSION} \ --cmake-build-type ${CMAKE_BUILD_TYPE} \ ${INSTALL_SCRIPT_FLAG} RUN rm -rf "${NBS_LIB_INSTALL_PATH}/release-prep/" # ====End========================================================================================== FROM libnabo-install AS libnabo-release WORKDIR "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}" COPY ./build_system/ubuntu/entrypoint.bash ./build_system/ubuntu/entrypoint.bash COPY ./build_system/.env ./build_system/.env RUN chmod +x ./build_system/ubuntu/entrypoint.bash RUN chmod +x ./build_system/.env ENTRYPOINT [ "./build_system/ubuntu/entrypoint.bash" ] CMD [ "bash" ] norlab-ulaval-libnabo-cd95c8b/build_system/ubuntu/Dockerfile.libnabo.integration_test000066400000000000000000000101711462511457200313740ustar00rootroot00000000000000ARG PROJECT_HUB=norlabulaval ARG BASE_IMAGE=libnabo-dependencies ARG BASE_IMAGE_TAG FROM ${PROJECT_HUB}/${BASE_IMAGE}:${BASE_IMAGE_TAG:?err} AS libnabo-dependencies LABEL org.opencontainers.image.authors="luc.coupal.1@ulaval.ca" ARG REPOSITORY_VERSION='latest' ENV REPOSITORY_VERSION=${REPOSITORY_VERSION} LABEL libnabo.version="${REPOSITORY_VERSION}" ARG NBS_LIB_INSTALL_PATH ARG NBS_REPOSITORY_NAME ENV NBS_LIB_INSTALL_PATH=${NBS_LIB_INSTALL_PATH:?'Build argument needs to be set and non-empty.'} ENV NBS_REPOSITORY_NAME=${NBS_REPOSITORY_NAME:?'Build argument needs to be set and non-empty.'} ARG CMAKE_BUILD_TYPE=RelWithDebInfo ARG INSTALL_SCRIPT_FLAG='--build-system-CI-install' ENV CMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} ENV INSTALL_SCRIPT_FLAG=${INSTALL_SCRIPT_FLAG} ARG IS_TEAMCITY_RUN ENV IS_TEAMCITY_RUN=${IS_TEAMCITY_RUN:-false} SHELL ["/bin/bash", "-c"] ARG DEBIAN_FRONTEND=noninteractive # ToDo: validate ENV TERM=${TERM:-"xterm-256color"} # ====Checkout libnabo repository================================================================== WORKDIR "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}" # Copy all files from the checkout branch in the repository (except those in the .dockerignore) COPY . . WORKDIR ./build_system/ubuntu RUN chmod +x nabo_install_libnabo_ubuntu.bash RUN chmod +x nabo_execute_nabo_unittest.bash RUN chmod +x entrypoint.bash # ....Install libpointmatcher missing dependecnies................................................. RUN apt-get update && \ apt-get install --assume-yes "${APT_FLAGS[@]}" \ libyaml-cpp-dev && \ rm -rf /var/lib/apt/lists/* # ====Test compilation with automatic path resolution============================================== FROM libnabo-dependencies AS integration-test-compile-auto-path-resolution #RUN echo && echo ">> nproc=$(nproc)" && echo # ToDo: on task end >> mute this line # .... Build libnabo checkout branch .............................................................. WORKDIR "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}/build_system/ubuntu" RUN source nabo_install_libnabo_ubuntu.bash \ --repository-version ${REPOSITORY_VERSION} \ --cmake-build-type ${CMAKE_BUILD_TYPE} \ ${INSTALL_SCRIPT_FLAG} # .... Compile package dependent on libnabo ....................................................... WORKDIR "${NBS_LIB_INSTALL_PATH}" RUN git clone https://github.com/norlab-ulaval/libpointmatcher.git \ && mkdir -p libpointmatcher/build && cd libpointmatcher/build \ && cmake -DCMAKE_BUILD_TYPE=Release .. \ && make -j $(nproc) \ && make install ENTRYPOINT [ "./entrypoint.bash" ] CMD [ "bash" ] # ====Test compilation with explicit path resolution=============================================== # (Priority) ToDo: implement >> test casse with 'SHARED_LIBS' cmake flag FROM libnabo-dependencies AS integration-test-compile-prefixed-path #RUN echo && echo ">> nproc=$(nproc)" && echo # ToDo: on task end >> mute this line # .... Build libnabo checkout branch .............................................................. WORKDIR "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}/build_system/ubuntu" RUN export APPEND_TO_CMAKE_FLAG=( "-D CMAKE_INSTALL_PREFIX=${NBS_LIB_INSTALL_PATH:?err}" ) \ && source nabo_install_libnabo_ubuntu.bash \ --repository-version ${REPOSITORY_VERSION} \ --cmake-build-type ${CMAKE_BUILD_TYPE} \ ${INSTALL_SCRIPT_FLAG} # .... Compile package dependent on libnabo ....................................................... WORKDIR "${NBS_LIB_INSTALL_PATH}" RUN git clone https://github.com/norlab-ulaval/libpointmatcher.git \ && mkdir -p libpointmatcher/build && cd libpointmatcher/build \ && cmake -DCMAKE_BUILD_TYPE=Release .. \ && make -j $(nproc) \ && make install ENTRYPOINT [ "./entrypoint.bash" ] CMD [ "bash" ] # ................................................................................................. ## Alternate version #RUN chmod +x entrypoint_build_and_test_libnabo_checkout_branch.bash #RUN chmod +x entrypoint_build_libnabo_checkout_branch.bash #RUN source entrypoint_build_and_test_libnabo_checkout_branch.bash #RUN source entrypoint_build_libnabo_checkout_branch.bash norlab-ulaval-libnabo-cd95c8b/build_system/ubuntu/entrypoint.bash000066400000000000000000000017241462511457200254720ustar00rootroot00000000000000#!/bin/bash # # Docker entrypoint for development task # # Usage: # $ bash entrypoint.bash [] # # Parameter # Optional command executed in a subprocess at the end of the entrypoint script. # # ....Load environment variables from file......................................................... set -o allexport source "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}/build_system/.env" set +o allexport # ....Helper function.............................................................................. source "${N2ST_PATH:?err}/import_norlab_shell_script_tools_lib.bash" # ====Begin======================================================================================== clear norlab_splash "${NBS_SPLASH_NAME:?err}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}" #ifconfig pwd && tree -L 1 # ====Continue===================================================================================================== exec "$@" norlab-ulaval-libnabo-cd95c8b/build_system/ubuntu/nabo_execute_nabo_unittest.bash000066400000000000000000000052441462511457200306570ustar00rootroot00000000000000#!/bin/bash # ================================================================================================= # # Run Libnabo unit test # # Usage: # $ bash nabo_execute_nabo_unittest.bash # # Notes: # The script propagate the utest exit code on exit # ================================================================================================= # ....Project root logic........................................................................... TMP_CWD=$(pwd) NABO_PATH=$(git rev-parse --show-toplevel) cd "${NABO_PATH}/build_system" || exit 1 # ....Load environment variables from file......................................................... set -o allexport source .env set +o allexport # ....Helper function.............................................................................. # import shell functions from utilities library N2ST_PATH=${N2ST_PATH:-"${NABO_PATH}/build_system/utilities/norlab-shell-script-tools"} source "${N2ST_PATH}/import_norlab_shell_script_tools_lib.bash" # ====Begin======================================================================================== print_formated_script_header 'nabo_execute_nabo_unittest.bash' ':' cd "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}/build" if [[ ${IS_TEAMCITY_RUN} == true ]] || [[ ${TEAMCITY_VERSION} ]]; then echo -e "##teamcity[testSuiteStarted name='gtest']" echo -e "##teamcity[testStarted name='gtest' captureStandardOutput='true']" else print_msg "Starting Libnabo GoogleTest unit-test" fi # ................................................................................................. sudo chmod +x test make test NABO_TEST_EXIT_CODE=$? # ................................................................................................. SUCCESS_MSG="Libnabo GoogleTest unit-test completed successfully" FAILURE_MSG="Libnabo GoogleTest unit-test completed with error" if [[ ${IS_TEAMCITY_RUN} == true ]] || [[ ${TEAMCITY_VERSION} ]]; then echo -e "##teamcity[testFinished name='gtest']" # Report message to build log if [[ ${NABO_TEST_EXIT_CODE} == 0 ]]; then echo -e "##teamcity[message text='${MSG_BASE_TEAMCITY} ${SUCCESS_MSG}' status='NORMAL']" else echo -e "##teamcity[message text='${MSG_BASE_TEAMCITY} ${FAILURE_MSG}' errorDetails='$NABO_TEST_EXIT_CODE' status='ERROR']" 1>&2 fi echo -e "##teamcity[testSuiteFinished name='gtest']" else if [[ ${NABO_TEST_EXIT_CODE} == 0 ]]; then print_msg_done "${SUCCESS_MSG}" else print_msg_error "${FAILURE_MSG}" fi fi print_formated_script_footer 'nabo_execute_nabo_unittest.bash' ':' # ====Teardown===================================================================================== cd "${TMP_CWD}" exit $NABO_TEST_EXIT_CODE norlab-ulaval-libnabo-cd95c8b/build_system/ubuntu/nabo_install_dependencies_ubuntu.bash000066400000000000000000000106511462511457200320330ustar00rootroot00000000000000#!/bin/bash -i # ================================================================================================= # # Libnabo dependencies installer # # Usage: # $ source nabo_install_dependencies_ubuntu.bash [--test-run] # # ================================================================================================= set -e # Note: we want the installer to always fail-fast (it wont affect the build system policy) declare -a APT_FLAGS # skip GUI dialog by setting everything to default export DEBIAN_FRONTEND=noninteractive # ....Project root logic........................................................................... TMP_CWD=$(pwd) NABO_PATH=$(git rev-parse --show-toplevel) cd "${NABO_PATH}/build_system" || cd "${NABO_PATH}" || exit 1 NBS_PATH=${NBS_PATH:-"${NABO_PATH}/build_system/utilities/norlab-build-system"} N2ST_PATH=${N2ST_PATH:-"${NABO_PATH}/build_system/utilities/norlab-shell-script-tools"} # ....Load environment variables from file......................................................... set -o allexport source .env set +o allexport # ....Helper function.............................................................................. # import shell functions from utilities library source "${N2ST_PATH}/import_norlab_shell_script_tools_lib.bash" # Set environment variable IMAGE_ARCH_AND_OS cd "${N2ST_PATH}"/src/utility_scripts/ && source "which_architecture_and_os.bash" # ====Begin======================================================================================== SHOW_SPLASH_IDU="${SHOW_SPLASH_IDU:-true}" if [[ "${SHOW_SPLASH_IDU}" == 'true' ]]; then norlab_splash "${NBS_SPLASH_NAME}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}" fi print_formated_script_header "nabo_install_dependencies_ubuntu.bash (${IMAGE_ARCH_AND_OS:?err})" "${MSG_LINE_CHAR_INSTALLER}" # ....Script command line flags.................................................................... while [ $# -gt 0 ]; do case $1 in --test-run) APT_FLAGS=( --dry-run ) shift ;; --?* | -?*) echo "$0: $1: unrecognized option" >&2 # Note: '>&2' = print to stderr shift ;; *) # Default case break ;; esac done # ................................................................................................. teamcity_service_msg_blockOpened "Install development utilities" sudo apt-get update && sudo apt-get install --assume-yes \ lsb-release \ build-essential \ ca-certificates \ curl \ wget \ git \ && sudo apt-get install --assume-yes "${APT_FLAGS[@]}" \ g++ \ gcc \ catch \ make \ cmake \ cmake-gui && sudo rm -rf /var/lib/apt/lists/* ##cmake --version teamcity_service_msg_blockClosed # ................................................................................................. # (Priority) ToDo: add check to see if executed in a docker container. Current check does not do what its intended if [[ ${IS_TEAMCITY_RUN} == true ]]; then print_msg "The install script is run in teamCity >> the python install step was executed earlier in the Dockerfile.dependencies" else print_msg "The install script is executed in stand alone mode" cd "${NBS_PATH:?err}/src/utility_scripts" || exit 1 bash "./nbs_install_python_dev_tools.bash" fi # ................................................................................................. teamcity_service_msg_blockOpened "Install Libnabo dependencies › Boost" # https://www.boost.org/doc/libs/1_79_0/more/getting_started/unix-variants.html sudo apt-get update && sudo apt-get install --assume-yes "${APT_FLAGS[@]}" \ libboost-all-dev && sudo rm -rf /var/lib/apt/lists/* teamcity_service_msg_blockClosed # ................................................................................................. teamcity_service_msg_blockOpened "Install Libnabo dependencies › Eigen" # https://eigen.tuxfamily.org/index.php sudo apt-get update && sudo apt-get install --assume-yes "${APT_FLAGS[@]}" \ libeigen3-dev && sudo rm -rf /var/lib/apt/lists/* teamcity_service_msg_blockClosed ## ................................................................................................. echo " " && print_msg_done "Libnabo dependencies installed" print_formated_script_footer "nabo_install_dependencies_ubuntu.bash (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}" # ====Teardown===================================================================================== cd "${TMP_CWD}" norlab-ulaval-libnabo-cd95c8b/build_system/ubuntu/nabo_install_doc_dependencies_ubuntu.bash000066400000000000000000000057141462511457200326640ustar00rootroot00000000000000#!/bin/bash -i # ================================================================================================= # # Libnabo documentation dependencies installer # # Usage: # $ bash nabo_install_doc_dependencies_ubuntu.bash [--test-run] # # ================================================================================================= set -e # Note: we want the installer to always fail-fast (it wont affect the build system policy) declare -a APT_FLAGS ## skip GUI dialog by setting everything to default export DEBIAN_FRONTEND=noninteractive # ....Project root logic........................................................................... TMP_CWD=$(pwd) NABO_PATH=$(git rev-parse --show-toplevel) cd "${NABO_PATH}/build_system" || exit 1 # ....Load environment variables from file......................................................... set -o allexport source .env set +o allexport # ....Helper function.............................................................................. # import shell functions from utilities library N2ST_PATH=${N2ST_PATH:-"${NABO_PATH}/build_system/utilities/norlab-shell-script-tools"} source "${N2ST_PATH}/import_norlab_shell_script_tools_lib.bash" # Set environment variable IMAGE_ARCH_AND_OS cd "${N2ST_PATH}"/src/utility_scripts/ && source "which_architecture_and_os.bash" # ====Begin======================================================================================== SHOW_SPLASH_IDDU="${SHOW_SPLASH_IDDU:-true}" if [[ "${SHOW_SPLASH_IDDU}" == 'true' ]]; then norlab_splash "${NBS_SPLASH_NAME:?err}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}" fi print_formated_script_header "nabo_install_doc_dependencies_ubuntu.bash (${IMAGE_ARCH_AND_OS:?err})" "${MSG_LINE_CHAR_INSTALLER}" # ....Script command line flags.................................................................... while [ $# -gt 0 ]; do case $1 in --test-run) APT_FLAGS=( --dry-run ) shift ;; --?* | -?*) echo "$0: $1: unrecognized option" >&2 # Note: '>&2' = print to stderr shift ;; *) # Default case break ;; esac done # ................................................................................................. teamcity_service_msg_blockOpened "Install libnabo documentation related dependencies" ## Package required when LIBNABO_BUILD_DOXYGEN flag is set to true ## Note: 'texlive-full' is ~6GB. 'doxygen-latex' is a slim version tailor made for doxygen code documentation task sudo apt-get update \ && sudo apt-get install --assume-yes "${APT_FLAGS[@]}" \ doxygen \ doxygen-latex \ && sudo rm -rf /var/lib/apt/lists/* teamcity_service_msg_blockClosed echo " " && print_msg_done "Libnabo documentation related dependencies installed" print_formated_script_footer "nabo_install_doc_dependencies_ubuntu.bash (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}" # ====Teardown===================================================================================== cd "${TMP_CWD}" norlab-ulaval-libnabo-cd95c8b/build_system/ubuntu/nabo_install_libnabo_ubuntu.bash000066400000000000000000000253141462511457200310150ustar00rootroot00000000000000#!/bin/bash -i # ================================================================================================= # # Install libnabo # # Usage: # $ bash nabo_install_libnabo_ubuntu.bash [] # # Arguments: # --install-path The directory where to install libnabo (absolute path) # (default location defined in the .env) # --repository-version 1.0.7 Install libnabo release tag version (default to master branch latest) # --compile-test Compile the libnabo unit-test # --generate-doc Generate the libnabo doxygen documentation # in /usr/local/share/doc/libnabo/api/html/index.html # --cmake-build-type RelWithDebInfo The type of cmake build: None Debug Release RelWithDebInfo MinSizeRel # (default to RelWithDebInfo) # --build-system-CI-install Set special configuration for CI/CD build system: # skip the git clone install step and assume the repository is already # pulled and checkout on the desired branch # --test-run CI/CD build system Test-run mode # -h, --help Get help # # Global # - Read the array APPEND_TO_CMAKE_FLAG # # Usage: # $ export APPEND_TO_CMAKE_FLAG=( -D CMAKE_INSTALL_PREFIX=/opt ) \ # && source nabo_install_libnabo_ubuntu.bash # # Note: # - this script required package: g++, make, cmake, build-essential, git and all libnabo dependencies # - execute `nabo_install_dependencies_ubuntu.bash` first # # ================================================================================================= set -e # Note: we want the installer to always fail-fast (it wont affect the build system policy) declare -a CMAKE_FLAGS CALLER_NAME="$(basename "$0" )" # ....Default...................................................................................... REPOSITORY_VERSION='latest' BUILD_TESTS_FLAG=OFF LIBNABO_BUILD_DOXYGEN_FLAG=OFF BUILD_SYSTEM_CI_INSTALL=FALSE CMAKE_BUILD_TYPE=RelWithDebInfo # skip GUI dialog by setting everything to default export DEBIAN_FRONTEND=noninteractive # ....Project root logic........................................................................... TMP_CWD=$(pwd) NABO_PATH=$(git rev-parse --show-toplevel) cd "${NABO_PATH}/build_system" || exit # ....Load environment variables from file......................................................... set -o allexport source .env set +o allexport # ....Helper function.............................................................................. # import shell functions from utilities library N2ST_PATH=${N2ST_PATH:-"${NABO_PATH}/build_system/utilities/norlab-shell-script-tools"} source "${N2ST_PATH}/import_norlab_shell_script_tools_lib.bash" # Set environment variable IMAGE_ARCH_AND_OS cd "${N2ST_PATH}"/src/utility_scripts/ && source "which_architecture_and_os.bash" function print_help_in_terminal() { echo -e "\$ ${0} [] \033[1m:\033[0m --install-path The directory where to install (absolute path) (default location ${MSG_DIMMED_FORMAT}${NBS_LIB_INSTALL_PATH:?err}${MSG_END_FORMAT}) --repository-version 1.0.7 Install release tag version (default to master branch latest) --compile-test Compile the unit-test in ${MSG_DIMMED_FORMAT}${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME:?err}/build${MSG_END_FORMAT} --generate-doc Generate the libnabo doxygen documentation in ${MSG_DIMMED_FORMAT}/usr/local/share/doc/${NBS_REPOSITORY_NAME}/api/html/index.html${MSG_END_FORMAT} --cmake-build-type RelWithDebInfo The type of cmake build: None Debug Release RelWithDebInfo MinSizeRel --build-system-CI-install Set special configuration for CI/CD build system: skip the git clone install step and assume the repository is already pulled and checkout on the desired branch --test-run CI/CD build system Test-run mode -h, --help Get help Global - Read the array APPEND_TO_CMAKE_FLAG Usage: $ export APPEND_TO_CMAKE_FLAG=( -D CMAKE_INSTALL_PREFIX=/opt ) && source nabo_install_libnabo_ubuntu.bash " } # ====Begin======================================================================================== SHOW_SPLASH_ILU="${SHOW_SPLASH_ILU:-true}" if [[ "${SHOW_SPLASH_ILU}" == 'true' ]]; then norlab_splash "${NBS_SPLASH_NAME:?err}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}" fi print_formated_script_header "${CALLER_NAME} (${IMAGE_ARCH_AND_OS:?err})" "${MSG_LINE_CHAR_INSTALLER}" # ....Script command line flags.................................................................... while [ $# -gt 0 ]; do case $1 in --install-path) unset NBS_LIB_INSTALL_PATH NBS_LIB_INSTALL_PATH="${2}" shift # Remove argument (--install-path) shift # Remove argument value ;; --repository-version) REPOSITORY_VERSION="${2}" shift # Remove argument (--repository-version) shift # Remove argument value ;; --cmake-build-type) CMAKE_BUILD_TYPE="${2}" shift # Remove argument (--cmake-build-type) shift # Remove argument value ;; --compile-test) BUILD_TESTS_FLAG=ON shift ;; --generate-doc) LIBNABO_BUILD_DOXYGEN_FLAG=ON shift ;; --build-system-CI-install) BUILD_SYSTEM_CI_INSTALL=TRUE shift ;; --test-run) TEST_RUN=true shift ;; -h | --help) print_help_in_terminal exit ;; --) # no more option shift break ;; --?* | -?*) echo "$0: $1: unrecognized option" >&2 # Note: '>&2' = print to stderr shift ;; *) # Default case break ;; esac done # ....Cmake flags.................................................................................. CMAKE_FLAGS=( -D CMAKE_BUILD_TYPE="${CMAKE_BUILD_TYPE}" -D LIBNABO_BUILD_TESTS="${BUILD_TESTS_FLAG}" -D LIBNABO_BUILD_DOXYGEN="${LIBNABO_BUILD_DOXYGEN_FLAG}" "${APPEND_TO_CMAKE_FLAG[@]}" ) # (CRITICAL) ToDo: validate >> LIBNABO_BUILD_DOXYGEN install dir # Note: # - Previously use intall flag quick-hack to work around the install issue. # - Keep it here as futur reference # -D LIBNABO_INSTALL_DIR="${NBS_LIB_INSTALL_PATH}/libnabo" \ # ----Install steps-------------------------------------------------------------------------------- teamcity_service_msg_blockOpened "Install ${NBS_REPOSITORY_NAME}" mkdir -p "${NBS_LIB_INSTALL_PATH}" print_msg "Directories (pre libnabo install)$(tree -L 2 "${NBS_LIB_INSTALL_PATH}")" cd "${NBS_LIB_INSTALL_PATH}" # ....Repository cloning step...................................................................... if [[ ${BUILD_SYSTEM_CI_INSTALL} == FALSE ]]; then if [[ -d ${NBS_REPOSITORY_NAME}/.git ]]; then print_msg_error_and_exit "${MSG_DIMMED_FORMAT}${NBS_REPOSITORY_NAME}${MSG_END_FORMAT} source code was already checkout in the specified install directory ${MSG_DIMMED_FORMAT}${NBS_LIB_INSTALL_PATH}/${MSG_END_FORMAT}, specify an other one using ${MSG_DIMMED_FORMAT}--install-path ${MSG_END_FORMAT}." fi git clone https://github.com/"${NBS_REPOSITORY_DOMAIN}"/"${NBS_REPOSITORY_NAME}".git if [[ "${REPOSITORY_VERSION}" != 'latest' ]]; then cd "${NBS_REPOSITORY_NAME}" git fetch --tags git tag --list # Remove prefix 'v' from version tag # GITHUB_TAG="${REPOSITORY_VERSION/v/}" GITHUB_TAG="${REPOSITORY_VERSION}" git checkout tags/"${GITHUB_TAG}" print_msg "Repository checkout at tag $(git symbolic-ref -q --short HEAD || git describe --tags --exact-match)" fi fi cd "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}" mkdir -p build && cd build # ....Cmake install step........................................................................... teamcity_service_msg_compilationStarted "cmake" print_msg "Execute ${MSG_DIMMED_FORMAT} cmake ${CMAKE_FLAGS[*]} ${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME} ${MSG_END_FORMAT}" if [[ $TEST_RUN == true ]]; then print_msg "Test-run mode: Skipping cmake" BUILD_EXIT_CODE=0 INSTALL_EXIT_CODE=0 else cmake "${CMAKE_FLAGS[@]}" "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}" BUILD_EXIT_CODE=$? make -j $(nproc) sudo make install INSTALL_EXIT_CODE=$? if [[ ${LIBNABO_BUILD_DOXYGEN_FLAG} = ON ]]; then make doc fi ## List all CMake build options and their default values ## ref: https://stackoverflow.com/questions/16851084/how-to-list-all-cmake-build-options-and-their-default-values #cmake -LAH fi print_msg "Directories (post ${NBS_REPOSITORY_NAME} install)$(tree -L 2 ${NBS_LIB_INSTALL_PATH})" teamcity_service_msg_compilationFinished teamcity_service_msg_blockClosed # ....Install/build feedback....................................................................... SUCCESS_MSG="${NBS_REPOSITORY_NAME} installed successfully at ${MSG_DIMMED_FORMAT}${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}${MSG_END_FORMAT}" FAILURE_MSG="${NBS_REPOSITORY_NAME} installer exited with error" if [[ ${IS_TEAMCITY_RUN} == true ]]; then # Report message to build log if [[ ${BUILD_EXIT_CODE} == 0 ]] && [[ ${INSTALL_EXIT_CODE} == 0 ]]; then echo -e "##teamcity[message text='${MSG_BASE_TEAMCITY} ${SUCCESS_MSG}' status='NORMAL']" else if [[ ${BUILD_EXIT_CODE} != 0 ]]; then echo -e "##teamcity[message text='${MSG_BASE_TEAMCITY} ${FAILURE_MSG}' errorDetails='$BUILD_EXIT_CODE' status='ERROR']" print_formated_script_footer "${CALLER_NAME} (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}" exit $BUILD_EXIT_CODE else echo -e "##teamcity[message text='${MSG_BASE_TEAMCITY} ${FAILURE_MSG}' errorDetails='$INSTALL_EXIT_CODE' status='ERROR']" print_formated_script_footer "${CALLER_NAME} (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}" exit $INSTALL_EXIT_CODE fi fi else if [[ ${BUILD_EXIT_CODE} == 0 ]] && [[ ${INSTALL_EXIT_CODE} == 0 ]]; then echo " " && print_msg_done "${SUCCESS_MSG}" else print_msg_error "${FAILURE_MSG}" print_formated_script_footer "${CALLER_NAME} (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}" if [[ ${BUILD_EXIT_CODE} != 0 ]]; then exit $BUILD_EXIT_CODE else exit $INSTALL_EXIT_CODE fi fi fi print_formated_script_footer "${CALLER_NAME} (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}" # ====Teardown===================================================================================== cd "${TMP_CWD}" norlab-ulaval-libnabo-cd95c8b/build_system/utilities/000077500000000000000000000000001462511457200231055ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/utilities/norlab-build-system/000077500000000000000000000000001462511457200270015ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/build_system/utilities/norlab-shell-script-tools/000077500000000000000000000000001462511457200301275ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/cmake_uninstall.cmake.in000066400000000000000000000017661462511457200231610ustar00rootroot00000000000000if (NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") message(FATAL_ERROR "Cannot find install manifest: @CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") endif (NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files) string(REGEX REPLACE "\n" ";" files "${files}") foreach (file ${files}) message(STATUS "Uninstalling $ENV{DESTDIR}${file}") if (IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}") exec_program( "@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\"" OUTPUT_VARIABLE rm_out RETURN_VALUE rm_retval ) if (NOT "${rm_retval}" STREQUAL 0) message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}") endif (NOT "${rm_retval}" STREQUAL 0) else (IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}") message(STATUS "File $ENV{DESTDIR}${file} does not exist.") endif (IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}") endforeach (file) norlab-ulaval-libnabo-cd95c8b/contributing/000077500000000000000000000000001462511457200210765ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/contributing/commit_msg_reference.md000066400000000000000000000023011462511457200255700ustar00rootroot00000000000000# _Conventional Commits_ specification quick reference See https://www.conventionalcommits.org for details #### Commit types description: - `!`: Commit that introduces a breaking API change (correlating with MAJOR in Semantic Versioning) - `feat`: A new feature - `fix`: A bug fix - `docs`: Documentation only changes - `style`: Changes that do not affect the meaning of the code (white-space, formatting, missing semi-colons, etc) - `refactor`: A code change that neither fixes a bug nor adds a feature - `perf`: A code change that improves performance - `test`: Adding missing tests or correcting existing tests - `build`: Changes that affect the build system or external dependencies (example scopes: gulp, broccoli, npm) - `ci`: Changes to our CI configuration files and scripts (example scopes: Travis, Circle, BrowserStack, SauceLabs) - `chore`: Other changes that don't modify src or test files - `revert`: Reverts a previous commit #### Commit footer: - `BREAKING CHANGE`: Commit that introduces a breaking API change (correlating with MAJOR in Semantic Versioning) #### Commit message structure ``` [()]: [optional-body] [optional-footer(s)] ``` norlab-ulaval-libnabo-cd95c8b/contributing/contributing_instructions.md000066400000000000000000000127121462511457200267560ustar00rootroot00000000000000# Contributing to _libnabo_ ## Bug Reporting Please use our [github's issue tracker](http://github.com/norlab-ulaval/libnabo/issues) to report bugs. ## Code Contributions Libnabo codebase now integrate [norlab-build-system (NBS)](https://github.com/norlab-ulaval/norlab-build-system) and [norlab-shell-script-tools (N2ST)](https://github.com/norlab-ulaval/norlab-shell-script-tools). `NBS` is a build-infrastructure-agnostic build system custom-made to meet our needs in robotic software engineering at NorLab and `N2ST` is a library of shell script functions as well as a shell testing tools leveraging _**bats-core**_ and _**docker**_ . `N2ST` purpose is to speed up shell script development and improve reliability. `NBS` is deployed on our [TeamCity](https://www.jetbrains.com/teamcity/) continuous integration/deployment server and oversees protected branches of the [libnabo](https://github.com/norlab-ulaval/libnabo) GitHub repository: - The `develop` branch can only be merged through a pull-request from any `` branches. Any contributor can submit a pull request to the `develop` branch; - the `release` branch is a revision and preparation branch where we can freeze the codebase in a given state without stalling to `develop` branch progression; - The `master` branch can only be merged through a pull-request from the `release` branch. Only repository admin can submit a PR to the `master` branch. In any cases, submitting a pull request to `develop` or `master` will trigger a build/test configuration on our build system and the pull request will be granted if the build/test run succeed. **Current build matrix:** `[latest] x [x86, arm64] x [ubuntu] x [bionic, focal] x [Release, RelWithDebInfo, MinSizeRel]` ### Development Workflow To speed up the development process, you can run the build system localy on your workstation and have access to stacktrace and build log. It support multi-OS and multi-architecture through docker container. #### Install _libnabo-build-system_ Dependencies ```shell cd # If libnabo is already cloned, fetch the NBS and N2ST submodule git submodule update --remote --recursive --init cd ./build_system/nabo_utility_script # Execute docker tools install script i.e. docker daemon, docker compose, docker buildx bash nabo_install_docker_tools.bash # Configure a multi-architecture docker builder bash nabo_create_multiarch_docker_builder.bash ``` #### _libnabo_ Development › To Execute Build/Test Step Locally ```shell cd /build_system # Run the build matrix as specified in ".env.build_matrix.libnabo" # on native architecture using "ci_PR" service bash nabo_crawl_libnabo_build_matrix.bash --fail-fast -- build ci_PR # Run a specific case using build flags with multi-architecture # virtualization using "ci_PR_amd64" and "ci_PR_arm64v8" services bash nabo_crawl_libnabo_build_matrix.bash \ --repository-version-build-matrix-override latest \ --os-name-build-matrix-override ubuntu \ --cmake-build-type-build-matrix-override RelWithDebInfo \ --ubuntu-version-build-matrix-override focal \ --fail-fast \ -- build ci_PR_amd64 ci_PR_arm64v8 # Read the help for details bash nabo_crawl_libnabo_build_matrix.bash --help ``` Note: To assess the state of the codebase, even for cases that are known the break the build, execute `nabo_crawl_libnabo_build_matrix.bleeding.bash` with build matrix `.env.build_matrix.libnabo.bleeding`. The stable build matrix used for release is `.env.build_matrix.libnabo`. #### Build System Development ```shell cd /build_system/tests/ # To execute docker dryrun and configuration tests bash run_all_docker_dryrun_and_config_tests.bash # To execute shell script tests bash run_bats_core_test_in_n2st.bash # To spin a container in interactive mode with the codebase cloned but not compiled cd ./tests_docker_interactive/ bash build_and_run_IamBuildSystemTester.bash bash ``` #### Build System Notes - `nabo_crawl_dependencies_build_matrix.bash` execute the build matrix for the libnabo dependencies. It's not required to build them locally as they are pre-build by our TeamCity server periodically push to dockerhub. When executing `nabo_crawl_libnabo_build_matrix.bash`, the `libnabo-dependencies` docker images are pull and used as base image for the `libnabo-[ci_PR_test|release]` images. - About `libnabo/.github/workflow/` vs `libnabo/build_system/` logic: Those are separate build logic. `.github/workflow/` was community contributed and as the responsibilities of building python-binding and pushing packages. For this reason, it run a one-dimension build matrix: multiple python version, single OS version, single arch (x86) and single compile flag which GitHub action computing resources can handle just fine. ## Commit Messages This is optional for now but will eventually move our release workflow to semantic-versioning. See [Commit Message References](commit_msg_reference.md) for details. ## Note For Repository Admins ### About Release Branch And Pull Request To Master Branch - Only repository admins have the privilege to `push/merge` on the default branch (ie: `master`) and the `release` branch. - Keep PR in `draft` mode until all the release reviewers are ready to push the release. - Once a PR from `release` -> `master` branch is created (not in draft mode), - it triggers the _build-system_ test - (in-progress) and it triggers the _semantic release automation_ norlab-ulaval-libnabo-cd95c8b/debian/000077500000000000000000000000001462511457200176115ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/debian/changelog000066400000000000000000000004771462511457200214730ustar00rootroot00000000000000libnabo (1.0.4) precise; urgency=low * Latest upstream -- Stéphane Magnenat Tue, 03 Sep 2013 14:01:26 +0200 libnabo (1.0.1) natty; urgency=low * Latest upstream (including python bindings) -- Stéphane Magnenat Tue, 10 Nov 2011 14:00:00 +0100 norlab-ulaval-libnabo-cd95c8b/debian/compat000066400000000000000000000000021462511457200210070ustar00rootroot000000000000007 norlab-ulaval-libnabo-cd95c8b/debian/control000066400000000000000000000055421462511457200212220ustar00rootroot00000000000000Source: libnabo Priority: extra Maintainer: Stéphane Magnenat Build-Depends: debhelper (>= 7.0.50~), cmake, doxygen, cdbs, libboost-python-dev, libeigen3-dev, python-dev, python-numpy Standards-Version: 3.9.1 Section: libs Homepage: https://github.com/ethz-asl/libnabo Vcs-Git: git://github.com/ethz-asl/libnabo.git Vcs-Browser: https://github.com/ethz-asl/libnabo Package: libnabo-dev Section: libdevel Architecture: any Depends: libnabo1 (= ${binary:Version}), libeigen3-dev Suggests: libnabo-doc Description: Development headers of libnabo, a fast K Nearset Neighbor library. libnabo is a fast K Nearest Neighbour library for low-dimensional spaces. It provides a clean, legacy-free, scalar-type–agnostic API thanks to C++ templates. Its current CPU implementation is strongly inspired by ANN, but with more compact data types. On the average, libnabo is 5% to 20% faster than ANN. Package: libnabo1-dbg Section: libdevel Architecture: any Depends: libnabo1 (= ${binary:Version}) Description: Debug symbols for libnabo, a fast K Nearset Neighbor library. libnabo is a fast K Nearest Neighbour library for low-dimensional spaces. It provides a clean, legacy-free, scalar-type–agnostic API thanks to C++ templates. Its current CPU implementation is strongly inspired by ANN, but with more compact data types. On the average, libnabo is 5% to 20% faster than ANN. Package: libnabo1 Section: libs Architecture: any Depends: ${shlibs:Depends}, ${misc:Depends} Description: Version 1 of libnabo, a fast K Nearset Neighbor library. libnabo is a fast K Nearest Neighbour library for low-dimensional spaces. It provides a clean, legacy-free, scalar-type–agnostic API thanks to C++ templates. Its current CPU implementation is strongly inspired by ANN, but with more compact data types. On the average, libnabo is 5% to 20% faster than ANN. Package: libnabo-doc Section: doc Architecture: all Description: API documentation of libnabo, a fast K Nearset Neighbor library. libnabo is a fast K Nearest Neighbour library for low-dimensional spaces. It provides a clean, legacy-free, scalar-type–agnostic API thanks to C++ templates. Its current CPU implementation is strongly inspired by ANN, but with more compact data types. On the average, libnabo is 5% to 20% faster than ANN. This package contains the API documentation for libnabo Package: python-nabo Section: python Architecture: any Depends: libnabo1 (= ${binary:Version}), python, python-numpy Description: Python bindings for libnabo, a fast K Nearset Neighbor library. libnabo is a fast K Nearest Neighbour library for low-dimensional spaces. It provides a clean, legacy-free, scalar-type–agnostic API thanks to C++ templates. Its current CPU implementation is strongly inspired by ANN, but with more compact data types. On the average, libnabo is 5% to 20% faster than ANN. norlab-ulaval-libnabo-cd95c8b/debian/copyright000066400000000000000000000034111462511457200215430ustar00rootroot00000000000000Format: http://dep.debian.net/deps/dep5 Upstream-Name: libnabo Source: https://github.com/ethz-asl/libnabo Files: * Copyright: 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland License: BSD-3-Clause Files: debian/* Copyright: 2011 Stéphane Magnenat License: BSD-3-Clause License: BSD-3-Clause Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. 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. 3. Neither the name of the University 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 REGENTS 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 REGENTS 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. norlab-ulaval-libnabo-cd95c8b/debian/docs000066400000000000000000000000121462511457200204550ustar00rootroot00000000000000README.md norlab-ulaval-libnabo-cd95c8b/debian/libnabo-dev.dirs000066400000000000000000000000231462511457200226510ustar00rootroot00000000000000usr/include usr/libnorlab-ulaval-libnabo-cd95c8b/debian/libnabo-dev.install000066400000000000000000000000361462511457200233620ustar00rootroot00000000000000usr/include/* usr/lib/lib*.so norlab-ulaval-libnabo-cd95c8b/debian/libnabo-doc.dirs000066400000000000000000000000151462511457200226410ustar00rootroot00000000000000usr/share/docnorlab-ulaval-libnabo-cd95c8b/debian/libnabo-doc.install000066400000000000000000000000341462511457200233470ustar00rootroot00000000000000usr/share/doc/libnabo-doc/* norlab-ulaval-libnabo-cd95c8b/debian/libnabo1.dirs000066400000000000000000000000101462511457200221520ustar00rootroot00000000000000usr/lib norlab-ulaval-libnabo-cd95c8b/debian/libnabo1.install000066400000000000000000000000221462511457200226620ustar00rootroot00000000000000usr/lib/lib*.so.* norlab-ulaval-libnabo-cd95c8b/debian/python-nabo.dirs000066400000000000000000000000001462511457200227200ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/debian/python-nabo.install000066400000000000000000000000471462511457200234400ustar00rootroot00000000000000usr/lib/python*/dist-packages/pynabo.sonorlab-ulaval-libnabo-cd95c8b/debian/rules000077500000000000000000000012171462511457200206720ustar00rootroot00000000000000#!/usr/bin/make -f # -*- makefile -*- # Sample debian/rules that uses debhelper. # This file was originally written by Joey Hess and Craig Small. # As a special exception, when this file is copied by dh-make into a # dh-make output file, you may use that output file without restriction. # This special exception was added by Craig Small in version 0.37 of dh-make. # Uncomment this to turn on verbose mode. #export DH_VERBOSE=1 #%: # dh $@ DEB_CMAKE_EXTRA_FLAGS=-DSHARED_LIBS=true -DDOC_INSTALL_TARGET="share/doc/libnabo-doc/api" -DPYTHON_DEB_INSTALL_TARGET=true include /usr/share/cdbs/1/rules/debhelper.mk include /usr/share/cdbs/1/class/cmake.mk norlab-ulaval-libnabo-cd95c8b/debian/source/000077500000000000000000000000001462511457200211115ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/debian/source/format000066400000000000000000000000151462511457200223200ustar00rootroot000000000000003.0 (native) norlab-ulaval-libnabo-cd95c8b/examples/000077500000000000000000000000001462511457200202055ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/examples/CMakeLists.txt000066400000000000000000000003161462511457200227450ustar00rootroot00000000000000include_directories(..) add_executable(trivial trivial.cpp) target_link_libraries(trivial ${LIB_NAME} ${EXTRA_LIBS}) add_executable(usage usage.cpp) target_link_libraries(usage ${LIB_NAME} ${EXTRA_LIBS}) norlab-ulaval-libnabo-cd95c8b/examples/libnabo-cmake-example/000077500000000000000000000000001462511457200243225ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/examples/libnabo-cmake-example/CMakeLists.txt000066400000000000000000000005421462511457200270630ustar00rootroot00000000000000cmake_minimum_required(VERSION 3.0) project(libnabo-cmake-example) # This looks for the libnabo-config.cmake file, which in turns # includes libnabo-targets.cmake: find_package(libnabo REQUIRED) add_executable(${PROJECT_NAME} trivial.cpp) # This sets both the include directories and link library: target_link_libraries(${PROJECT_NAME} libnabo::nabo) norlab-ulaval-libnabo-cd95c8b/examples/libnabo-cmake-example/trivial.cpp000066400000000000000000000011331462511457200264760ustar00rootroot00000000000000// This example is in the public domain #include "nabo/nabo.h" int main() { using namespace Nabo; using namespace Eigen; // 100 points in 3D MatrixXf M = MatrixXf::Random(3, 100); // 1 query points VectorXf q = VectorXf::Random(3); // create a kd-tree for M, note that M must stay valid during the lifetime of the kd-tree NNSearchF* nns = NNSearchF::createKDTreeLinearHeap(M); // look for the 5 nearest neighbour of a the single-point query const int K = 5; VectorXi indices(K); VectorXf dists2(K); nns->knn(q, indices, dists2, K); // cleanup kd-tree delete nns; return 0; } norlab-ulaval-libnabo-cd95c8b/examples/trivial.cpp000066400000000000000000000011331462511457200223610ustar00rootroot00000000000000// This example is in the public domain #include "nabo/nabo.h" int main() { using namespace Nabo; using namespace Eigen; // 100 points in 3D MatrixXf M = MatrixXf::Random(3, 100); // 1 query points VectorXf q = VectorXf::Random(3); // create a kd-tree for M, note that M must stay valid during the lifetime of the kd-tree NNSearchF* nns = NNSearchF::createKDTreeLinearHeap(M); // look for the 5 nearest neighbour of a the single-point query const int K = 5; VectorXi indices(K); VectorXf dists2(K); nns->knn(q, indices, dists2, K); // cleanup kd-tree delete nns; return 0; } norlab-ulaval-libnabo-cd95c8b/examples/usage.cpp000066400000000000000000000041521462511457200220170ustar00rootroot00000000000000// This example is in the public domain #include "nabo/nabo.h" #include int main() { using namespace Nabo; using namespace Eigen; using namespace std; // 100 points in 3D MatrixXf M = MatrixXf::Random(3, 100); // 50 query points MatrixXf q = MatrixXf::Random(3, 50); // Create a kd-tree for M, note that M must stay valid during the lifetime of the kd-tree. NNSearchF* nns = NNSearchF::createKDTreeLinearHeap(M); // The output of the query are a matrix of indices to columns of M and // a matrix of squared distances corresponding to these indices. // These matrix must have the correct size when passed to the search function. MatrixXi indices; MatrixXf dists2; // Look for the 5 nearest neighbours of each query point, // We do not want approximations but we want to sort by the distance, indices.resize(5, q.cols()); dists2.resize(5, q.cols()); nns->knn(q, indices, dists2, 5, 0, NNSearchF::SORT_RESULTS); // Look for the 3 nearest neighbours of each query point, use the data themselves for the query. // We do not want approximations but we want to sort by the distance, // and we want to allow self-match. indices.resize(3, M.cols()); dists2.resize(3, M.cols()); nns->knn(M, indices, dists2, 3, 0, NNSearchF::SORT_RESULTS | NNSearchF::ALLOW_SELF_MATCH); // Make sure that the closest return points correspond to the points from M. for (int i = 0; i < 100; ++i) { // The query is the data itself and we allow self-match. if (indices.coeff(0, i) != i) cerr << "Oups, something went wrong: " << indices.coeff(0, i) << " " << i << endl; } // Now look for the 2 nearset neighbours of each query point. // We do allow 10% approximation but do not want to allow self-match. // We do not care about sorting either. indices.resize(2, M.cols()); dists2.resize(2, M.cols()); nns->knn(M, indices, dists2, 2, 0.1, 0); for (int i = 0; i < 50; ++i) { // The query is the data itself but we forbide self-match. if (indices.coeff(0, i) == i) cerr << "Oups, something went wrong: " << indices.coeff(0, i) << " " << i << endl; } // Cleanup the kd-tree. delete nns; return 0; } norlab-ulaval-libnabo-cd95c8b/experimental/000077500000000000000000000000001462511457200210645ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/experimental/CMakeLists.txt000066400000000000000000000001061462511457200236210ustar00rootroot00000000000000# experimental nabo lib add_library(naboexperimental kdtree_cpu.cpp )norlab-ulaval-libnabo-cd95c8b/experimental/kdtree_cpu.cpp000066400000000000000000000747651462511457200237400ustar00rootroot00000000000000/* Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland You can contact the author at 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 the 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 ETH-ASL 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. */ #include "nabo_experimental.h" #include "../nabo/index_heap.h" #include #include #include #include #include namespace Nabo { using namespace std; template size_t argMax(const typename NearestNeighbourSearch::Vector& v) { T maxVal(0); size_t maxIdx(0); for (int i = 0; i < v.size(); ++i) { if (v[i] > maxVal) { maxVal = v[i]; maxIdx = i; } } return maxIdx; } template size_t KDTreeBalancedPtInNodes::getTreeSize(size_t elCount) const { // FIXME: 64 bits safe stuff, only work for 2^32 elements right now size_t count = 0; int i = 31; for (; i >= 0; --i) { if (elCount & (1 << i)) break; } for (int j = 0; j <= i; ++j) count |= (1 << j); //cerr << "tree size " << count << " (" << elCount << " elements)\n"; return count; } template typename KDTreeBalancedPtInNodes::IndexVector KDTreeBalancedPtInNodes::cloudIndexesFromNodesIndexes(const IndexVector& indexes) const { IndexVector cloudIndexes(indexes.size()); for (int i = 0; i < indexes.size(); ++i) cloudIndexes.coeffRef(i) = nodes[indexes[i]].index; return cloudIndexes; } template void KDTreeBalancedPtInNodes::buildNodes(const BuildPointsIt first, const BuildPointsIt last, const size_t pos) { const size_t count(last - first); //cerr << count << endl; if (count == 1) { nodes[pos] = Node(first->pos, -1, first->index); return; } // estimate variance // get mean Vector mean(Vector::Zero(this->dim)); for (BuildPointsCstIt it(first); it != last; ++it) mean += it->pos; mean /= last - first; // get sum of variance Vector var(Vector::Zero(this->dim)); for (BuildPointsCstIt it(first); it != last; ++it) var += (it->pos - mean).cwise() * (it->pos - mean); // get dimension of maxmial variance const size_t cutDim = argMax(var); // sort sort(first, last, CompareDim(cutDim)); // set node const size_t recurseCount(count-1); const size_t rightCount(recurseCount/2); const size_t leftCount(recurseCount-rightCount); assert(last - rightCount == first + leftCount + 1); nodes[pos] = Node((first+leftCount)->pos, cutDim, (first+leftCount)->index); //cerr << pos << " cutting on " << cutDim << " at " << (first+leftCount)->pos[cutDim] << endl; // recurse if (count > 2) { buildNodes(first, first + leftCount, childLeft(pos)); buildNodes(first + leftCount + 1, last, childRight(pos)); } else { nodes[childLeft(pos)] = Node(first->pos, -1, first->index); nodes[childRight(pos)] = Node(Vector(), -2, 0); } } template void KDTreeBalancedPtInNodes::dump(const Vector minValues, const Vector maxValues, const size_t pos) const { const Node& node(nodes[pos]); if (node.dim >= -1) { if (this->dim == 2) cout << "" << endl; else cout << "pt at\n" << node.pos << endl; } if (node.dim >= 0) { //cerr << "in bounds:\n" << minValues << "\nto\n" << maxValues << endl; // update bounds for left Vector leftMaxValues(maxValues); leftMaxValues[node.dim] = node.pos[node.dim]; // update bounds for right Vector rightMinValues(minValues); rightMinValues[node.dim] = node.pos[node.dim]; // print line if (this->dim == 2) cout << "" << endl; else cout << "cut from\n" << rightMinValues << "\nto\n" << leftMaxValues << endl; // recurs dump(minValues, leftMaxValues, childLeft(pos)); dump(rightMinValues, maxValues, childRight(pos)); } } template KDTreeBalancedPtInNodes::KDTreeBalancedPtInNodes(const CloudType& cloud): NearestNeighbourSearch::NearestNeighbourSearch(cloud) { // build point vector and compute bounds BuildPoints buildPoints; buildPoints.reserve(cloud.cols()); for (int i = 0; i < cloud.cols(); ++i) { const Vector& v(cloud.col(i)); buildPoints.push_back(BuildPoint(v, i)); const_cast(this->minBound) = this->minBound.cwise().min(v); const_cast(this->maxBound) = this->maxBound.cwise().max(v); } // create nodes nodes.resize(getTreeSize(cloud.cols())); buildNodes(buildPoints.begin(), buildPoints.end(), 0); // dump nodes //dump(minBound, maxBound, 0); } // points in nodes, priority queue template KDTreeBalancedPtInNodesPQ::KDTreeBalancedPtInNodesPQ(const CloudType& cloud): KDTreeBalancedPtInNodes::KDTreeBalancedPtInNodes(cloud) { } template typename KDTreeBalancedPtInNodesPQ::IndexVector KDTreeBalancedPtInNodesPQ::knn(const Vector& query, const Index k, const T epsilon, const unsigned optionFlags) { typedef priority_queue Queue; const T maxError(1 + epsilon); const bool allowSelfMatch(optionFlags & NearestNeighbourSearch::ALLOW_SELF_MATCH); Queue queue; queue.push(SearchElement(0, 0)); IndexHeapSTL heap(k); statistics.lastQueryVisitCount = 0; while (!queue.empty()) { SearchElement el(queue.top()); queue.pop(); // nothing is closer, we found best if (el.minDist * maxError > heap.headValue()) break; size_t n(el.index); while (1) { const Node& node(nodes[n]); assert (node.dim != -2); // TODO: optimise dist while going down const T dist(dist2(node.pos, query)); if ((dist < heap.headValue()) && (allowSelfMatch || (dist > numeric_limits::epsilon()))) heap.replaceHead(n, dist); // if we are at leaf, stop if (node.dim < 0) break; const T offset(query.coeff(node.dim) - node.pos.coeff(node.dim)); const T offset2(offset * offset); const T bestDist(heap.headValue()); if (offset > 0) { // enqueue offside ? if (offset2 < bestDist && nodes[childLeft(n)].dim != -2) queue.push(SearchElement(childLeft(n), offset2)); // continue onside if (nodes[childRight(n)].dim != -2) n = childRight(n); else break; } else { // enqueue offside ? if (offset2 < bestDist && nodes[childRight(n)].dim != -2) queue.push(SearchElement(childRight(n), offset2)); // continue onside if (nodes[childLeft(n)].dim != -2) n = childLeft(n); else break; } ++statistics.lastQueryVisitCount; } } statistics.totalVisitCount += statistics.lastQueryVisitCount; if (optionFlags & NearestNeighbourSearch::SORT_RESULTS) heap.sort(); return cloudIndexesFromNodesIndexes(heap.getIndexes()); } template struct KDTreeBalancedPtInNodesPQ; template struct KDTreeBalancedPtInNodesPQ; template struct KDTreeBalancedPtInNodesPQ; template struct KDTreeBalancedPtInNodesPQ; template struct KDTreeBalancedPtInNodesPQ >; template struct KDTreeBalancedPtInNodesPQ >; // points in nodes, stack template KDTreeBalancedPtInNodesStack::KDTreeBalancedPtInNodesStack(const CloudType& cloud): KDTreeBalancedPtInNodes::KDTreeBalancedPtInNodes(cloud) { } template typename KDTreeBalancedPtInNodesStack::IndexVector KDTreeBalancedPtInNodesStack::knn(const Vector& query, const Index k, const T epsilon, const unsigned optionFlags) { const bool allowSelfMatch(optionFlags & NearestNeighbourSearch::ALLOW_SELF_MATCH); assert(nodes.size() > 0); assert(nodes[0].pos.size() == query.size()); Heap heap(k); Vector off(Vector::Zero(nodes[0].pos.size())); statistics.lastQueryVisitCount = 0; recurseKnn(query, 0, 0, heap, off, 1 + epsilon, allowSelfMatch); if (optionFlags & NearestNeighbourSearch::SORT_RESULTS) heap.sort(); statistics.totalVisitCount += statistics.lastQueryVisitCount; return cloudIndexesFromNodesIndexes(heap.getIndexes()); } template void KDTreeBalancedPtInNodesStack::recurseKnn(const Vector& query, const size_t n, T rd, Heap& heap, Vector& off, const T maxError, const bool allowSelfMatch) { const Node& node(nodes[n]); const int cd(node.dim); ++statistics.lastQueryVisitCount; if (cd == -2) return; const T dist(dist2(node.pos, query)); if ((dist < heap.headValue()) && (allowSelfMatch || (dist > numeric_limits::epsilon())) ) heap.replaceHead(n, dist); if (cd != -1) { const T old_off(off.coeff(cd)); const T new_off(query.coeff(cd) - node.pos.coeff(cd)); if (new_off > 0) { recurseKnn(query, childRight(n), rd, heap, off, maxError, allowSelfMatch); rd += - old_off*old_off + new_off*new_off; if (rd * maxError < heap.headValue()) { off.coeffRef(cd) = new_off; recurseKnn(query, childLeft(n), rd, heap, off, maxError, allowSelfMatch); off.coeffRef(cd) = old_off; } } else { recurseKnn(query, childLeft(n), rd, heap, off, maxError, allowSelfMatch); rd += - old_off*old_off + new_off*new_off; if (rd * maxError < heap.headValue()) { off.coeffRef(cd) = new_off; recurseKnn(query, childRight(n), rd, heap, off, maxError, allowSelfMatch); off.coeffRef(cd) = old_off; } } } } template struct KDTreeBalancedPtInNodesStack; template struct KDTreeBalancedPtInNodesStack; template struct KDTreeBalancedPtInNodesStack; template struct KDTreeBalancedPtInNodesStack; template struct KDTreeBalancedPtInNodesStack >; template struct KDTreeBalancedPtInNodesStack >; // NEW: template size_t KDTreeBalancedPtInLeavesStack::getTreeSize(size_t elCount) const { // FIXME: 64 bits safe stuff, only work for 2^32 elements right now assert(elCount > 0); elCount --; size_t count = 0; int i = 31; for (; i >= 0; --i) { if (elCount & (1 << i)) break; } for (int j = 0; j <= i; ++j) count |= (1 << j); count <<= 1; count |= 1; return count; } template void KDTreeBalancedPtInLeavesStack::buildNodes(const BuildPointsIt first, const BuildPointsIt last, const size_t pos, const Vector minValues, const Vector maxValues, const bool balanceVariance) { const size_t count(last - first); //cerr << count << endl; if (count == 1) { const int dim = -2-(first->index); assert(pos < nodes.size()); nodes[pos] = Node(dim); return; } size_t cutDim; if (balanceVariance) { // estimate variance // get mean Vector mean(Vector::Zero(this->dim)); for (BuildPointsCstIt it(first); it != last; ++it) mean += it->pos; mean /= last - first; // get sum of variance Vector var(Vector::Zero(this->dim)); for (BuildPointsCstIt it(first); it != last; ++it) var += (it->pos - mean).cwise() * (it->pos - mean); // get dimension of maxmial variance cutDim = argMax(var); } else { // find the largest dimension of the box cutDim = argMax(maxValues - minValues); } // compute number of elements const size_t rightCount(count/2); const size_t leftCount(count - rightCount); assert(last - rightCount == first + leftCount); // sort //sort(first, last, CompareDim(cutDim)); nth_element(first, first + leftCount, last, CompareDim(cutDim)); // set node const T cutVal((first+leftCount)->pos.coeff(cutDim)); nodes[pos] = Node(cutDim, cutVal); //cerr << pos << " cutting on " << cutDim << " at " << (first+leftCount)->pos[cutDim] << endl; // update bounds for left Vector leftMaxValues(maxValues); leftMaxValues[cutDim] = cutVal; // update bounds for right Vector rightMinValues(minValues); rightMinValues[cutDim] = cutVal; // recurse buildNodes(first, first + leftCount, childLeft(pos), minValues, leftMaxValues, balanceVariance); buildNodes(first + leftCount, last, childRight(pos), rightMinValues, maxValues, balanceVariance); } template KDTreeBalancedPtInLeavesStack::KDTreeBalancedPtInLeavesStack(const CloudType& cloud, const bool balanceVariance): NearestNeighbourSearch::NearestNeighbourSearch(cloud) { // build point vector and compute bounds BuildPoints buildPoints; buildPoints.reserve(cloud.cols()); for (int i = 0; i < cloud.cols(); ++i) { const Vector& v(cloud.col(i)); buildPoints.push_back(BuildPoint(v, i)); const_cast(minBound) = minBound.cwise().min(v); const_cast(maxBound) = maxBound.cwise().max(v); } // create nodes nodes.resize(getTreeSize(cloud.cols())); buildNodes(buildPoints.begin(), buildPoints.end(), 0, minBound, maxBound, balanceVariance); //for (size_t i = 0; i < nodes.size(); ++i) // cout << i << ": " << nodes[i].dim << " " << nodes[i].cutVal << endl; } template typename KDTreeBalancedPtInLeavesStack::IndexVector KDTreeBalancedPtInLeavesStack::knn(const Vector& query, const Index k, const T epsilon, const unsigned optionFlags) { const bool allowSelfMatch(optionFlags & NearestNeighbourSearch::ALLOW_SELF_MATCH); assert(nodes.size() > 0); Heap heap(k); Vector off(Vector::Zero(query.size())); statistics.lastQueryVisitCount = 0; recurseKnn(query, 0, 0, heap, off, 1 + epsilon, allowSelfMatch); if (optionFlags & NearestNeighbourSearch::SORT_RESULTS) heap.sort(); statistics.totalVisitCount += statistics.lastQueryVisitCount; return heap.getIndexes(); } template void KDTreeBalancedPtInLeavesStack::recurseKnn(const Vector& query, const size_t n, T rd, Heap& heap, Vector& off, const T maxError, const bool allowSelfMatch) { const Node& node(nodes[n]); const int cd(node.dim); ++statistics.lastQueryVisitCount; if (cd < 0) { if (cd == -1) return; const int index(-(cd + 2)); const T dist(dist2(query, cloud.col(index))); if ((dist < heap.headValue()) && (allowSelfMatch || (dist > numeric_limits::epsilon())) ) heap.replaceHead(index, dist); } else { const T old_off(off.coeff(cd)); const T new_off(query.coeff(cd) - node.cutVal); if (new_off > 0) { recurseKnn(query, childRight(n), rd, heap, off, maxError, allowSelfMatch); rd += - old_off*old_off + new_off*new_off; if (rd * maxError < heap.headValue()) { off.coeffRef(cd) = new_off; recurseKnn(query, childLeft(n), rd, heap, off, maxError, allowSelfMatch); off.coeffRef(cd) = old_off; } } else { recurseKnn(query, childLeft(n), rd, heap, off, maxError, allowSelfMatch); rd += - old_off*old_off + new_off*new_off; if (rd * maxError < heap.headValue()) { off.coeffRef(cd) = new_off; recurseKnn(query, childRight(n), rd, heap, off, maxError, allowSelfMatch); off.coeffRef(cd) = old_off; } } } } template struct KDTreeBalancedPtInLeavesStack; template struct KDTreeBalancedPtInLeavesStack; template struct KDTreeBalancedPtInLeavesStack; template struct KDTreeBalancedPtInLeavesStack; template struct KDTreeBalancedPtInLeavesStack >; template struct KDTreeBalancedPtInLeavesStack >; template unsigned KDTreeUnbalancedPtInLeavesImplicitBoundsStack::buildNodes(const BuildPointsIt first, const BuildPointsIt last, const Vector minValues, const Vector maxValues) { const size_t count(last - first); const unsigned pos(nodes.size()); //cerr << count << endl; if (count == 1) { nodes.push_back(Node(first->index)); return pos; } // find the largest dimension of the box const unsigned cutDim = argMax(maxValues - minValues); T cutVal((maxValues(cutDim) + minValues(cutDim))/2); // TODO: do only sort once // sort sort(first, last, CompareDim(cutDim)); // TODO: optimise using binary search size_t rightStart(0); while (rightStart < count && (first+rightStart)->pos.coeff(cutDim) < cutVal) ++rightStart; // prevent trivial splits if (rightStart == 0) { cutVal = first->pos.coeff(cutDim); rightStart = 1; } else if (rightStart == count) { rightStart = count - 1; cutVal = (first + rightStart)->pos.coeff(cutDim); } // update bounds for left Vector leftMaxValues(maxValues); leftMaxValues[cutDim] = cutVal; // update bounds for right Vector rightMinValues(minValues); rightMinValues[cutDim] = cutVal; // count for recursion const size_t rightCount(count - rightStart); const size_t leftCount(count - rightCount); // add this nodes.push_back(Node(cutDim, cutVal, 0)); // recurse const unsigned __attribute__ ((unused)) leftChild = buildNodes(first, first + leftCount, minValues, leftMaxValues); assert(leftChild == pos + 1); const unsigned rightChild = buildNodes(first + leftCount, last, rightMinValues, maxValues); // write right child index and return nodes[pos].rightChild = rightChild; return pos; } template KDTreeUnbalancedPtInLeavesImplicitBoundsStack::KDTreeUnbalancedPtInLeavesImplicitBoundsStack(const CloudType& cloud): NearestNeighbourSearch::NearestNeighbourSearch(cloud) { // build point vector and compute bounds BuildPoints buildPoints; buildPoints.reserve(cloud.cols()); for (int i = 0; i < cloud.cols(); ++i) { const Vector& v(cloud.col(i)); buildPoints.push_back(BuildPoint(v, i)); const_cast(minBound) = minBound.cwise().min(v); const_cast(maxBound) = maxBound.cwise().max(v); } // create nodes //nodes.resize(getTreeSize(cloud.cols())); buildNodes(buildPoints.begin(), buildPoints.end(), minBound, maxBound); //for (size_t i = 0; i < nodes.size(); ++i) // cout << i << ": " << nodes[i].dim << " " << nodes[i].cutVal << " " << nodes[i].rightChild << endl; } template typename KDTreeUnbalancedPtInLeavesImplicitBoundsStack::IndexVector KDTreeUnbalancedPtInLeavesImplicitBoundsStack::knn(const Vector& query, const Index k, const T epsilon, const unsigned optionFlags) { const bool allowSelfMatch(optionFlags & NearestNeighbourSearch::ALLOW_SELF_MATCH); assert(nodes.size() > 0); Heap heap(k); Vector off(Vector::Zero(query.size())); statistics.lastQueryVisitCount = 0; recurseKnn(query, 0, 0, heap, off, 1+epsilon, allowSelfMatch); if (optionFlags & NearestNeighbourSearch::SORT_RESULTS) heap.sort(); statistics.totalVisitCount += statistics.lastQueryVisitCount; return heap.getIndexes(); } template typename KDTreeUnbalancedPtInLeavesImplicitBoundsStack::IndexMatrix KDTreeUnbalancedPtInLeavesImplicitBoundsStack::knnM(const Matrix& query, const Index k, const T epsilon, const unsigned optionFlags) { const bool allowSelfMatch(optionFlags & NearestNeighbourSearch::ALLOW_SELF_MATCH); assert(nodes.size() > 0); assert(nodes.size() > 0); Heap heap(k); Vector off(query.rows()); IndexMatrix result(k, query.cols()); const int colCount(query.cols()); for (int i = 0; i < colCount; ++i) { const Vector& q(query.col(i)); off.setZero(); heap.reset(); statistics.lastQueryVisitCount = 0; recurseKnn(q, 0, 0, heap, off, 1+epsilon, allowSelfMatch); if (optionFlags & NearestNeighbourSearch::SORT_RESULTS) heap.sort(); result.col(i) = heap.getIndexes(); statistics.totalVisitCount += statistics.lastQueryVisitCount; } return result; } template void KDTreeUnbalancedPtInLeavesImplicitBoundsStack::recurseKnn(const Vector& query, const unsigned n, T rd, Heap& heap, Vector& off, const T maxError, const bool allowSelfMatch) { const Node& node(nodes[n]); //++statistics.lastQueryVisitCount; if (node.rightChild == Node::INVALID_CHILD) { const unsigned index(node.ptIndex); //const T dist(dist2(query, cloud.col(index))); //const T dist((query - cloud.col(index)).squaredNorm()); T dist(0); const T* qPtr(&query.coeff(0)); const T* dPtr(&cloud.coeff(0, index)); const int dim(query.size()); for (int i = 0; i < dim; ++i) { const T diff(*qPtr - *dPtr); dist += diff*diff; qPtr++; dPtr++; } if ((dist < heap.headValue()) && (allowSelfMatch || (dist > numeric_limits::epsilon())) ) heap.replaceHead(index, dist); } else { const unsigned cd(node.dim); const T old_off(off.coeff(cd)); const T new_off(query.coeff(cd) - node.cutVal); if (new_off > 0) { recurseKnn(query, node.rightChild, rd, heap, off, maxError, allowSelfMatch); rd += - old_off*old_off + new_off*new_off; if (rd * maxError < heap.headValue()) { off.coeffRef(cd) = new_off; recurseKnn(query, n + 1, rd, heap, off, maxError, allowSelfMatch); off.coeffRef(cd) = old_off; } } else { recurseKnn(query, n+1, rd, heap, off, maxError, allowSelfMatch); rd += - old_off*old_off + new_off*new_off; if (rd * maxError < heap.headValue()) { off.coeffRef(cd) = new_off; recurseKnn(query, node.rightChild, rd, heap, off, maxError, allowSelfMatch); off.coeffRef(cd) = old_off; } } } } template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStack>; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStack>; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStack>; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStack>; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStack,Eigen::Matrix3Xf>; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStack,Eigen::Matrix3Xf>; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStack,Eigen::Matrix3Xd>; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStack,Eigen::Matrix3Xd>; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStack,Eigen::Map >; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStack,Eigen::Map >; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStack,Eigen::Map >; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStack,Eigen::Map >; template unsigned KDTreeUnbalancedPtInLeavesExplicitBoundsStack::buildNodes(const BuildPointsIt first, const BuildPointsIt last, const Vector minValues, const Vector maxValues) { const size_t count(last - first); const unsigned pos(nodes.size()); //cerr << count << endl; if (count == 1) { const int dim = -1-(first->index); nodes.push_back(Node(dim)); return pos; } // find the largest dimension of the box const int cutDim = argMax(maxValues - minValues); T cutVal((maxValues(cutDim) + minValues(cutDim))/2); // TODO: do only sort once // sort sort(first, last, CompareDim(cutDim)); // TODO: optimise using binary search size_t rightStart(0); while (rightStart < count && (first+rightStart)->pos.coeff(cutDim) < cutVal) ++rightStart; // prevent trivial splits if (rightStart == 0) { cutVal = first->pos.coeff(cutDim); rightStart = 1; } else if (rightStart == count) { rightStart = count - 1; cutVal = (first + rightStart)->pos.coeff(cutDim); } // update bounds for left Vector leftMaxValues(maxValues); leftMaxValues[cutDim] = cutVal; // update bounds for right Vector rightMinValues(minValues); rightMinValues[cutDim] = cutVal; // count for recursion const size_t rightCount(count - rightStart); const size_t leftCount(count - rightCount); // add this nodes.push_back(Node(cutDim, cutVal, minValues.coeff(cutDim), maxValues.coeff(cutDim))); // recurse const unsigned __attribute__ ((unused)) leftChild = buildNodes(first, first + leftCount, minValues, leftMaxValues); assert(leftChild == pos + 1); const unsigned rightChild = buildNodes(first + leftCount, last, rightMinValues, maxValues); // write right child index and return nodes[pos].rightChild = rightChild; return pos; } template KDTreeUnbalancedPtInLeavesExplicitBoundsStack::KDTreeUnbalancedPtInLeavesExplicitBoundsStack(const CloudType& cloud): NearestNeighbourSearch::NearestNeighbourSearch(cloud) { // build point vector and compute bounds BuildPoints buildPoints; buildPoints.reserve(cloud.cols()); for (int i = 0; i < cloud.cols(); ++i) { const Vector& v(cloud.col(i)); buildPoints.push_back(BuildPoint(v, i)); const_cast(minBound) = minBound.cwise().min(v); const_cast(maxBound) = maxBound.cwise().max(v); } // create nodes //nodes.resize(getTreeSize(cloud.cols())); buildNodes(buildPoints.begin(), buildPoints.end(), minBound, maxBound); //for (size_t i = 0; i < nodes.size(); ++i) // cout << i << ": " << nodes[i].dim << " " << nodes[i].cutVal << " " << nodes[i].rightChild << endl; } template typename KDTreeUnbalancedPtInLeavesExplicitBoundsStack::IndexVector KDTreeUnbalancedPtInLeavesExplicitBoundsStack::knn(const Vector& query, const Index k, const T epsilon, const unsigned optionFlags) { const bool allowSelfMatch(optionFlags & NearestNeighbourSearch::ALLOW_SELF_MATCH); assert(nodes.size() > 0); Heap heap(k); statistics.lastQueryVisitCount = 0; recurseKnn(query, 0, 0, heap, 1+epsilon, allowSelfMatch); if (optionFlags & NearestNeighbourSearch::SORT_RESULTS) heap.sort(); statistics.totalVisitCount += statistics.lastQueryVisitCount; return heap.getIndexes(); } template void KDTreeUnbalancedPtInLeavesExplicitBoundsStack::recurseKnn(const Vector& query, const size_t n, T rd, Heap& heap, const T maxError, const bool allowSelfMatch) { const Node& node(nodes[n]); const int cd(node.dim); ++statistics.lastQueryVisitCount; if (cd < 0) { const int index(-(cd + 1)); const T dist(dist2(query, cloud.col(index))); if ((dist < heap.headValue()) && (allowSelfMatch || (dist > numeric_limits::epsilon())) ) heap.replaceHead(index, dist); } else { const T q_val(query.coeff(cd)); const T cut_diff(q_val - node.cutVal); if (cut_diff < 0) { recurseKnn(query, n+1, rd, heap, maxError, allowSelfMatch); T box_diff = node.lowBound - q_val; if (box_diff < 0) box_diff = 0; rd += cut_diff*cut_diff - box_diff*box_diff; if (rd * maxError < heap.headValue()) recurseKnn(query, node.rightChild, rd, heap, maxError, allowSelfMatch); } else { recurseKnn(query, node.rightChild, rd, heap, maxError, allowSelfMatch); T box_diff = q_val - node.highBound; if (box_diff < 0) box_diff = 0; rd += cut_diff*cut_diff - box_diff*box_diff; if (rd * maxError < heap.headValue()) recurseKnn(query, n + 1, rd, heap, maxError, allowSelfMatch); } } } template struct KDTreeUnbalancedPtInLeavesExplicitBoundsStack; template struct KDTreeUnbalancedPtInLeavesExplicitBoundsStack; template struct KDTreeUnbalancedPtInLeavesExplicitBoundsStack; template struct KDTreeUnbalancedPtInLeavesExplicitBoundsStack; template struct KDTreeUnbalancedPtInLeavesExplicitBoundsStack >; template struct KDTreeUnbalancedPtInLeavesExplicitBoundsStack >; } norlab-ulaval-libnabo-cd95c8b/experimental/nabo_experimental.h000066400000000000000000000313241462511457200247340ustar00rootroot00000000000000/* Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland You can contact the author at 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 the 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 ETH-ASL 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. */ #ifndef __NABO_EXPERIMENTAL_H #define __NABO_EXPERIMENTAL_H #include "../nabo/nabo_private.h" #include "../nabo/index_heap.h" namespace Nabo { // KDTree, balanced, points in nodes template struct KDTreeBalancedPtInNodes:public NearestNeighbourSearch { typedef typename NearestNeighbourSearch::Vector Vector; typedef typename NearestNeighbourSearch::Matrix Matrix; typedef typename NearestNeighbourSearch::Index Index; typedef typename NearestNeighbourSearch::IndexVector IndexVector; protected: struct BuildPoint { Vector pos; size_t index; BuildPoint(const Vector& pos = Vector(), const size_t index = 0): pos(pos), index(index) {} }; typedef std::vector BuildPoints; typedef typename BuildPoints::iterator BuildPointsIt; typedef typename BuildPoints::const_iterator BuildPointsCstIt; struct CompareDim { size_t dim; CompareDim(const size_t dim):dim(dim){} bool operator() (const BuildPoint& p0, const BuildPoint& p1) { return p0.pos(dim) < p1.pos(dim); } }; struct Node { Vector pos; int dim; // -1 == leaf, -2 == invalid Index index; Node(const Vector& pos = Vector(), const int dim = -2, const Index index = 0):pos(pos), dim(dim), index(index) {} }; typedef std::vector Nodes; Nodes nodes; inline size_t childLeft(size_t pos) const { return 2*pos + 1; } inline size_t childRight(size_t pos) const { return 2*pos + 2; } inline size_t parent(size_t pos) const { return (pos-1)/2; } size_t getTreeSize(size_t size) const; IndexVector cloudIndexesFromNodesIndexes(const IndexVector& indexes) const; void buildNodes(const BuildPointsIt first, const BuildPointsIt last, const size_t pos); void dump(const Vector minValues, const Vector maxValues, const size_t pos) const; protected: KDTreeBalancedPtInNodes(const CloudType& cloud); }; // KDTree, balanced, points in nodes, priority queue template struct KDTreeBalancedPtInNodesPQ: public KDTreeBalancedPtInNodes { typedef typename NearestNeighbourSearch::Vector Vector; typedef typename NearestNeighbourSearch::Matrix Matrix; typedef typename NearestNeighbourSearch::Index Index; typedef typename NearestNeighbourSearch::IndexVector IndexVector; typedef typename KDTreeBalancedPtInNodes::Node Node; typedef typename KDTreeBalancedPtInNodes::Nodes Nodes; using NearestNeighbourSearch::statistics; using KDTreeBalancedPtInNodes::nodes; using KDTreeBalancedPtInNodes::childLeft; using KDTreeBalancedPtInNodes::childRight; protected: struct SearchElement { size_t index; T minDist; SearchElement(const size_t index, const T minDist): index(index), minDist(minDist) {} // invert test as std::priority_queue shows biggest element at top friend bool operator<(const SearchElement& e0, const SearchElement& e1) { return e0.minDist > e1.minDist; } }; public: KDTreeBalancedPtInNodesPQ(const CloudType& cloud); virtual IndexVector knn(const Vector& query, const Index k, const T epsilon, const unsigned optionFlags); }; // KDTree, balanced, points in nodes, stack template struct KDTreeBalancedPtInNodesStack: public KDTreeBalancedPtInNodes { typedef typename NearestNeighbourSearch::Vector Vector; typedef typename NearestNeighbourSearch::Matrix Matrix; typedef typename NearestNeighbourSearch::Index Index; typedef typename NearestNeighbourSearch::IndexVector IndexVector; typedef typename KDTreeBalancedPtInNodes::Node Node; typedef typename KDTreeBalancedPtInNodes::Nodes Nodes; using NearestNeighbourSearch::statistics; using KDTreeBalancedPtInNodes::nodes; using KDTreeBalancedPtInNodes::childLeft; using KDTreeBalancedPtInNodes::childRight; typedef IndexHeapSTL Heap; protected: void recurseKnn(const Vector& query, const size_t n, T rd, Heap& heap, Vector& off, const T maxError, const bool allowSelfMatch); public: KDTreeBalancedPtInNodesStack(const CloudType& cloud); virtual IndexVector knn(const Vector& query, const Index k, const T epsilon, const unsigned optionFlags); }; // KDTree, balanced, points in leaves, stack template struct KDTreeBalancedPtInLeavesStack: public NearestNeighbourSearch { typedef typename NearestNeighbourSearch::Vector Vector; typedef typename NearestNeighbourSearch::Matrix Matrix; typedef typename NearestNeighbourSearch::Index Index; typedef typename NearestNeighbourSearch::IndexVector IndexVector; using NearestNeighbourSearch::statistics; using NearestNeighbourSearch::cloud; using NearestNeighbourSearch::minBound; using NearestNeighbourSearch::maxBound; protected: struct BuildPoint { Vector pos; size_t index; BuildPoint(const Vector& pos = Vector(), const size_t index = 0): pos(pos), index(index) {} }; typedef std::vector BuildPoints; typedef typename BuildPoints::iterator BuildPointsIt; typedef typename BuildPoints::const_iterator BuildPointsCstIt; struct CompareDim { size_t dim; CompareDim(const size_t dim):dim(dim){} bool operator() (const BuildPoint& p0, const BuildPoint& p1) { return p0.pos(dim) < p1.pos(dim); } }; typedef IndexHeapSTL Heap; struct Node { int dim; // -1 == invalid, <= -2 = index of pt T cutVal; Node(const int dim = -1, const T cutVal = 0): dim(dim), cutVal(cutVal) {} }; typedef std::vector Nodes; Nodes nodes; inline size_t childLeft(size_t pos) const { return 2*pos + 1; } inline size_t childRight(size_t pos) const { return 2*pos + 2; } inline size_t parent(size_t pos) const { return (pos-1)/2; } size_t getTreeSize(size_t size) const; void buildNodes(const BuildPointsIt first, const BuildPointsIt last, const size_t pos, const Vector minValues, const Vector maxValues, const bool balanceVariance); void recurseKnn(const Vector& query, const size_t n, T rd, Heap& heap, Vector& off, const T maxError, const bool allowSelfMatch); public: KDTreeBalancedPtInLeavesStack(const CloudType& cloud, const bool balanceVariance); virtual IndexVector knn(const Vector& query, const Index k, const T epsilon, const unsigned optionFlags); }; // KDTree, unbalanced, points in leaves, stack, implicit bounds, ANN_KD_SL_MIDPT template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStack: public NearestNeighbourSearch { typedef typename NearestNeighbourSearch::Vector Vector; typedef typename NearestNeighbourSearch::Matrix Matrix; typedef typename NearestNeighbourSearch::Index Index; typedef typename NearestNeighbourSearch::IndexVector IndexVector; typedef typename NearestNeighbourSearch::IndexMatrix IndexMatrix; using NearestNeighbourSearch::statistics; using NearestNeighbourSearch::cloud; using NearestNeighbourSearch::minBound; using NearestNeighbourSearch::maxBound; protected: struct BuildPoint { Vector pos; size_t index; BuildPoint(const Vector& pos = Vector(), const size_t index = 0): pos(pos), index(index) {} }; typedef std::vector BuildPoints; typedef typename BuildPoints::iterator BuildPointsIt; typedef typename BuildPoints::const_iterator BuildPointsCstIt; struct CompareDim { size_t dim; CompareDim(const size_t dim):dim(dim){} bool operator() (const BuildPoint& p0, const BuildPoint& p1) { return p0.pos(dim) < p1.pos(dim); } }; struct Node { enum { INVALID_CHILD = 0xffffffff, INVALID_PT = 0xffffffff }; unsigned dim; unsigned rightChild; union { T cutVal; unsigned ptIndex; }; Node(const int dim, const T cutVal, unsigned rightChild): dim(dim), rightChild(rightChild), cutVal(cutVal) {} Node(const unsigned ptIndex = INVALID_PT): dim(0), rightChild(INVALID_CHILD), ptIndex(ptIndex) {} }; typedef std::vector Nodes; Nodes nodes; unsigned buildNodes(const BuildPointsIt first, const BuildPointsIt last, const Vector minValues, const Vector maxValues); void recurseKnn(const Vector& query, const unsigned n, T rd, Heap& heap, Vector& off, const T maxError, const bool allowSelfMatch); public: KDTreeUnbalancedPtInLeavesImplicitBoundsStack(const CloudType& cloud); virtual IndexVector knn(const Vector& query, const Index k, const T epsilon, const unsigned optionFlags); virtual IndexMatrix knnM(const Matrix& query, const Index k, const T epsilon, const unsigned optionFlags); }; // KDTree, unbalanced, points in leaves, stack, explicit bounds, ANN_KD_SL_MIDPT template struct KDTreeUnbalancedPtInLeavesExplicitBoundsStack: public NearestNeighbourSearch { typedef typename NearestNeighbourSearch::Vector Vector; typedef typename NearestNeighbourSearch::Matrix Matrix; typedef typename NearestNeighbourSearch::Index Index; typedef typename NearestNeighbourSearch::IndexVector IndexVector; using NearestNeighbourSearch::statistics; using NearestNeighbourSearch::cloud; using NearestNeighbourSearch::minBound; using NearestNeighbourSearch::maxBound; protected: struct BuildPoint { Vector pos; size_t index; BuildPoint(const Vector& pos = Vector(), const size_t index = 0): pos(pos), index(index) {} }; typedef std::vector BuildPoints; typedef typename BuildPoints::iterator BuildPointsIt; typedef typename BuildPoints::const_iterator BuildPointsCstIt; struct CompareDim { size_t dim; CompareDim(const size_t dim):dim(dim){} bool operator() (const BuildPoint& p0, const BuildPoint& p1) { return p0.pos(dim) < p1.pos(dim); } }; typedef IndexHeapSTL Heap; struct Node { int dim; // <= -1 = index of pt unsigned rightChild; T cutVal; T lowBound; T highBound; Node(const int dim = -1, const T cutVal = 0, const T lowBound = 0, const T highBound = 0, unsigned rightChild = 0): dim(dim), rightChild(rightChild), cutVal(cutVal), lowBound(lowBound), highBound(highBound) {} }; typedef std::vector Nodes; Nodes nodes; unsigned buildNodes(const BuildPointsIt first, const BuildPointsIt last, const Vector minValues, const Vector maxValues); void recurseKnn(const Vector& query, const size_t n, T rd, Heap& heap, const T maxError, const bool allowSelfMatch); public: KDTreeUnbalancedPtInLeavesExplicitBoundsStack(const CloudType& cloud); virtual IndexVector knn(const Vector& query, const Index k, const T epsilon, const unsigned optionFlags); }; } #endif // __NABO_H norlab-ulaval-libnabo-cd95c8b/libnaboConfig.cmake.in000066400000000000000000000010001462511457200225210ustar00rootroot00000000000000# - Config file for the libnabo package # It defines the following variables # libnabo_INCLUDE_DIRS - include directories for libnabo # libnabo_LIBRARIES - libraries to link against @PACKAGE_INIT@ include(${CMAKE_CURRENT_LIST_DIR}/libnabo-targets.cmake) # This causes catkin_simple to link against these libraries set(libnabo_FOUND_CATKIN_PROJECT true) # Compute paths set(libnabo_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@") set(libnabo_LIBRARIES "@libnabo_library@") check_required_components("@PROJECT_NAME@")norlab-ulaval-libnabo-cd95c8b/libnabo_dependencies_installer.bash000066400000000000000000000056061462511457200254260ustar00rootroot00000000000000#!/bin/bash # ================================================================================================= # # Install all libnabo dependencies # # Redirect the execution to libnabo-build-system library # # Usage: # $ bash libnabo_dependencies_installer.bash [--test-run] # # ================================================================================================= PARAMS="$@" MSG_DIMMED_FORMAT="\033[1;2m" MSG_ERROR_FORMAT="\033[1;31m" MSG_END_FORMAT="\033[0m" function nabo::install_libnabo_dependencise(){ # ....path resolution logic...................................................................... NABO_ROOT="$(dirname "$(realpath "$0")")" cd "${NABO_ROOT}" || exit 1 # ....Load environment variables from file....................................................... # . . Source NABO environment variables . . . . . . . . . . . . . . . . . . . . . . . . . . . .. if [[ -f .env.libnabo ]]; then set -o allexport && source .env.libnabo && set +o allexport else echo -e "${MSG_ERROR_FORMAT}[NABO ERROR]${MSG_END_FORMAT} .env.libnabo unreachable. Cwd $(pwd)" 1>&2 exit 1 fi # . . Source NBS dependencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . cd "${N2ST_PATH}" || exit 1 source import_norlab_shell_script_tools_lib.bash # . . Source NABO-build-system environment variables . . . . . . . . . . . . . . . . . . . . . .. cd "${NABO_BUILD_SYSTEM_PATH}" || exit 1 if [[ -f .env ]]; then set -o allexport && source .env && set +o allexport else echo -e "${MSG_ERROR_FORMAT}[NABO ERROR]${MSG_END_FORMAT} .env unreachable. Cwd $(pwd)" 1>&2 exit 1 fi # ====Begin====================================================================================== norlab_splash "${NBS_SPLASH_NAME}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}" export SHOW_SPLASH_IDU=false export SHOW_SPLASH_IDDU=false # ....Install general dependencies............................................................... cd "${NABO_PATH:?err}"/build_system/ubuntu || exit 1 # shellcheck disable=SC2086 source nabo_install_dependencies_ubuntu.bash ${PARAMS[@]} # ....Install documentation related dependencies................................................. cd "${NABO_PATH:?err}"/build_system/ubuntu || exit 1 # shellcheck disable=SC2086 source nabo_install_doc_dependencies_ubuntu.bash ${PARAMS[@]} print_msg_done "All Libnabo dependencies installed" } # ::::Main::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::: if [[ "${BASH_SOURCE[0]}" = "$0" ]]; then # This script is being run, ie: __name__="__main__" nabo::install_libnabo_dependencise else # This script is being sourced, ie: __name__="__source__" echo -e "${MSG_ERROR_FORMAT}[NABO ERROR]${MSG_END_FORMAT} Execute this script in a subshell i.e.: $ bash libnabo_dependencies_installer.bash" 1>&2 exit 1 fi norlab-ulaval-libnabo-cd95c8b/libnabo_installer.bash000066400000000000000000000074131462511457200227160ustar00rootroot00000000000000#!/bin/bash # ================================================================================================= # # Install libnabo # # Usage: # $ bash libnabo_installer.bash [] # # Arguments: # --install-path The directory where to install libnabo (absolute path) # (default location defined in the .env) # --repository-version 1.1.2 Install libnabo release tag version (default to master branch latest) # --compile-test Compile the libnabo unit-test # --generate-doc Generate the libnabo doxygen documentation # in /usr/local/share/doc/libnabo/api/html/index.html # --cmake-build-type RelWithDebInfo The type of cmake build: None Debug Release RelWithDebInfo MinSizeRel # (default to RelWithDebInfo) # --build-system-CI-install Set special configuration for CI/CD build system: # skip the git clone install step and assume the repository is already # pulled and checkout on the desired branch # --test-run CI/CD build system Test-run mode # -h, --help Get help # # Note: # - this script required package: g++, make, cmake, build-essential, git and all libnabo dependencies # - execute `libnabo_dependencies_installer.bash` first # # ================================================================================================= PARAMS="$@" MSG_DIMMED_FORMAT="\033[1;2m" MSG_ERROR_FORMAT="\033[1;31m" MSG_END_FORMAT="\033[0m" function nabo::install_libnabo(){ # ....path resolution logic...................................................................... NABO_ROOT="$(dirname "$(realpath "$0")")" cd "${NABO_ROOT}" || exit 1 # ....Load environment variables from file....................................................... # . . Source NABO environment variables . . . . . . . . . . . . . . . . . . . . . . . . . . . .. if [[ -f .env.libnabo ]]; then set -o allexport && source .env.libnabo && set +o allexport else echo -e "${MSG_ERROR_FORMAT}[NABO ERROR]${MSG_END_FORMAT} .env.libnabo unreachable. Cwd $(pwd)" 1>&2 exit 1 fi # . . Source NBS dependencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . cd "${NBS_PATH}" || exit 1 source import_norlab_build_system_lib.bash # . . Source NABO-build-system environment variables . . . . . . . . . . . . . . . . . . . . . .. cd "${NABO_BUILD_SYSTEM_PATH}" || exit 1 if [[ -f .env ]]; then set -o allexport && source .env && set +o allexport else echo -e "${MSG_ERROR_FORMAT}[NABO ERROR]${MSG_END_FORMAT} .env unreachable. Cwd $(pwd)" 1>&2 exit 1 fi # ====Begin====================================================================================== norlab_splash "${NBS_SPLASH_NAME}" "https://github.com/${NBS_REPOSITORY_DOMAIN:?err}/${NBS_REPOSITORY_NAME:?err}" export SHOW_SPLASH_ILU=false # ....Install general dependencies............................................................... cd "${NABO_PATH:?err}"/build_system/ubuntu || exit 1 # shellcheck disable=SC2068 source nabo_install_libnabo_ubuntu.bash ${PARAMS[@]} print_msg_done "Libnabo install script completed. Have fun" } # ::::Main::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::: if [[ "${BASH_SOURCE[0]}" = "$0" ]]; then # This script is being run, ie: __name__="__main__" nabo::install_libnabo else # This script is being sourced, ie: __name__="__source__" echo -e "${MSG_ERROR_FORMAT}[NABO ERROR]${MSG_END_FORMAT} Execute this script in a subshell i.e.: $ bash libnabo_installer.bash" 1>&2 exit 1 fi norlab-ulaval-libnabo-cd95c8b/nabo/000077500000000000000000000000001462511457200173065ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/nabo/brute_force_cpu.cpp000066400000000000000000000110541462511457200231610ustar00rootroot00000000000000/* Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland You can contact the author at 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 the 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 ETH-ASL 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. */ #include "nabo_private.h" #include "index_heap.h" /*! \file brute_force_cpu.cpp \brief brute force search, cpu implementation \ingroup private */ namespace Nabo { using namespace std; template BruteForceSearch::BruteForceSearch(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags): NearestNeighbourSearch::NearestNeighbourSearch(cloud, dim, creationOptionFlags) { #ifdef EIGEN3_API const_cast(this->minBound) = cloud.topRows(this->dim).rowwise().minCoeff(); const_cast(this->maxBound) = cloud.topRows(this->dim).rowwise().maxCoeff(); #else // EIGEN3_API // compute bounds for (int i = 0; i < cloud.cols(); ++i) { const Vector& v(cloud.block(0,i,this->dim,1)); const_cast(this->minBound) = this->minBound.cwise().min(v); const_cast(this->maxBound) = this->maxBound.cwise().max(v); } #endif // EIGEN3_API } template unsigned long BruteForceSearch::knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Index k, const T epsilon, const unsigned optionFlags, const T maxRadius) const { const Vector maxRadii(Vector::Constant(query.cols(), maxRadius)); return knn(query, indices, dists2, maxRadii, k, epsilon, optionFlags); } template unsigned long BruteForceSearch::knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Vector& maxRadii, const Index k, const T /*epsilon*/, const unsigned optionFlags) const { checkSizesKnn(query, indices, dists2, k, optionFlags, &maxRadii); const bool allowSelfMatch(optionFlags & NearestNeighbourSearch::ALLOW_SELF_MATCH); const bool sortResults(optionFlags & NearestNeighbourSearch::SORT_RESULTS); const bool collectStatistics(creationOptionFlags & NearestNeighbourSearch::TOUCH_STATISTICS); IndexHeapSTL heap(k); for (int c = 0; c < query.cols(); ++c) { const T maxRadius(maxRadii[c]); const T maxRadius2(maxRadius * maxRadius); const Vector& q(query.block(0,c,dim,1)); heap.reset(); for (int i = 0; i < this->cloud.cols(); ++i) { const T dist(dist2(this->cloud.block(0,i,dim,1), q)); if ((dist <= maxRadius2) && (dist < heap.headValue()) && (allowSelfMatch || (dist > numeric_limits::epsilon()))) heap.replaceHead(i, dist); } if (sortResults) heap.sort(); heap.getData(indices.col(c), dists2.col(c)); } if (collectStatistics) return (unsigned long)query.cols() * (unsigned long)this->cloud.cols(); else return 0; } template struct BruteForceSearch; template struct BruteForceSearch; template struct BruteForceSearch; template struct BruteForceSearch; template struct BruteForceSearch >; template struct BruteForceSearch >; } norlab-ulaval-libnabo-cd95c8b/nabo/index_heap.h000066400000000000000000000262211462511457200215660ustar00rootroot00000000000000/* Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland You can contact the author at 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 the 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 ETH-ASL 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. */ #ifndef __INDEX_HEAP_H #define __INDEX_HEAP_H #include "nabo.h" #include #include #include #include /*! \file index_heap.h \brief implementation of index heaps \ingroup private */ namespace Nabo { //! balanced-tree implementation of heap /** It uses a binary heap, which provides replacement in O(log(n)), * however the constant overhead is significative. */ template struct IndexHeapSTL { //! type of an index typedef IT Index; //! type of a value typedef VT Value; //! an entry of the heap tree struct Entry { IT index; //!< index of point VT value; //!< distance for this point //! create a new entry Entry(const IT index, const VT value): index(index), value(value) {} //! return true if e0 is of lower value than e1, false otherwise friend bool operator<(const Entry& e0, const Entry& e1) { return e0.value < e1.value; } }; //! vector of entry, type for the storage of the tree typedef std::vector Entries; //! vector of indices typedef typename Eigen::Matrix IndexVector; //! vector of values typedef typename Eigen::Matrix ValueVector; //! storage for the tree Entries data; //! number of neighbours requested const size_t nbNeighbours; //! Constructor /*! \param size number of elements in the heap */ IndexHeapSTL(const size_t size): data(1, Entry(invalidIndex(), invalidValue())), nbNeighbours(size) { data.reserve(size); } //! reset to the empty heap inline void reset() { data.clear(); data.push_back(Entry(invalidIndex(), invalidValue())); } //! get the largest value of the heap /** \return the largest value in the heap */ inline const VT& headValue() const { return data.front().value; } //! put value into heap, replace the largest value if full /** \param index new point index * \param value new distance value */ inline void replaceHead(const Index index, const Value value) { if (data.size() == nbNeighbours) { // we have enough neighbours to discard largest pop_heap(data.begin(), data.end()); data.back() = Entry(index, value); } else { // missing neighbours data.push_back(Entry(index, value)); } // ensure heap push_heap(data.begin(), data.end()); } //! sort the entries, from the smallest to the largest inline void sort() { sort_heap (data.begin(), data.end()); } //! get the data from the heap /** \param indices index vector * \param values value vector */ template inline void getData(const Eigen::MatrixBase& indices, const Eigen::MatrixBase & values) const { // note: we must implement this hack because of problem with reference to temporary // C++0x will solve this with rvalue // see: http://eigen.tuxfamily.org/dox-devel/TopicFunctionTakingEigenTypes.html // for more informations size_t i = 0; for (; i < data.size(); ++i) { const_cast&>(indices).coeffRef(i) = data[i].index; const_cast&>(values).coeffRef(i) = data[i].value; } for (; i < nbNeighbours; ++i) { const_cast&>(indices).coeffRef(i) = invalidIndex(); const_cast&>(values).coeffRef(i) = invalidValue(); } } #if 0 //! get the data-point indices from the heap /** \return the indices */ inline IndexVector getIndexes() const { IndexVector indexes(data.capacity()); size_t i = 0; for (; i < data.size(); ++i) indexes.coeffRef(i) = data[i].index; for (; i < data.capacity(); ++i) indexes.coeffRef(i) = 0; return indexes; } #endif }; #if 0 //! brute-force implementation of heap /** It uses a vector and linear search, which provides replacement in O(n), * but with a very low constant overhead. */ template struct IndexHeapBruteForceVector { //! type of an index typedef IT Index; //! type of a value typedef VT Value; //! an entry of the heap vector struct Entry { IT index; //!< index of point VT value; //!< distance for this point //! create a new entry Entry(const IT index, const VT value): index(index), value(value) {} //! return true if e0 is smaller than e1, false otherwise friend bool operator<(const Entry& e0, const Entry& e1) { return e0.value < e1.value; } }; //! vector of entry, type for the storage of the tree typedef std::vector Entries; //! vector of indices typedef typename Eigen::Matrix IndexVector; //! storage for the tree Entries data; //! reference to the largest value in the tree, to optimise access speed const VT& headValueRef; //! pre-competed size minus one, to optimise access speed const size_t sizeMinusOne; //! Constructor /*! \param size number of elements in the heap */ IndexHeapBruteForceVector(const size_t size): data(size, Entry(0, std::numeric_limits::infinity())), headValueRef((data.end() - 1)->value), sizeMinusOne(data.size() - 1) { } //! reset to the empty heap inline void reset() { for (typename Entries::iterator it(data.begin()); it != data.end(); ++it) { it->value = std::numeric_limits::infinity(); it->index = 0; } } //! get the largest value of the heap /** \return the smallest value in the heap */ inline const VT& headValue() const { return data[0].value; } //! replace the largest value of the heap /** \param index new point index * \param value new distance value */ inline void replaceHead(const Index index, const Value value) { size_t i = 0; for (; i < sizeMinusOne; ++i) { if (data[i + 1].value > value) data[i] = data[i + 1]; else break; } data[i].value = value; data[i].index = index; } //! sort the entries, from the smallest to the largest inline void sort() { // no need to sort as data are already sorted } //! get the data-point indices from the heap /** \return the indices */ inline IndexVector getIndexes() const { IndexVector indexes(data.size()); for (size_t i = 0; i < data.size(); ++i) indexes.coeffRef(i) = data[sizeMinusOne-i].index; return indexes; } }; #endif //! brute-force implementation of heap /** It uses a vector and linear search, which provides replacement in O(n), * but with a very low constant overhead. */ template struct IndexHeapBruteForceVector { //! type of an index typedef IT Index; //! type of a value typedef VT Value; //! an entry of the heap vector struct Entry { IT index; //!< index of point VT value; //!< distance for this point //! create a new entry Entry(const IT index, const VT value): index(index), value(value) {} //! return true if e0 is smaller than e1, false otherwise friend bool operator<(const Entry& e0, const Entry& e1) { return e0.value < e1.value; } }; //! vector of entry, type for the storage of the tree typedef std::vector Entries; //! vector of indices typedef typename Eigen::Matrix IndexVector; //! vector of values typedef typename Eigen::Matrix ValueVector; //! storage for the tree Entries data; //! reference to the largest value in the tree, to optimise access speed const VT& headValueRef; //! pre-competed size minus one, to optimise access speed const size_t sizeMinusOne; //! Constructor /*! \param size number of elements in the heap */ IndexHeapBruteForceVector(const size_t size): data(size, Entry(invalidIndex(), invalidValue())), headValueRef((data.end() - 1)->value), sizeMinusOne(data.size() - 1) { } //! reset to the empty heap inline void reset() { for (typename Entries::iterator it(data.begin()); it != data.end(); ++it) { it->value = invalidValue(); it->index = invalidIndex(); } } //! get the largest value of the heap /** \return the smallest value in the heap */ inline const VT& headValue() const { return headValueRef; } //! replace the largest value of the heap /** \param index new point index * \param value new distance value */ inline void replaceHead(const Index index, const Value value) { size_t i; for (i = sizeMinusOne; i > 0; --i) { if (data[i-1].value > value) data[i] = data[i-1]; else break; } data[i].value = value; data[i].index = index; } //! sort the entries, from the smallest to the largest inline void sort() { // no need to sort as data are already sorted } //! get the data from the heap /** \param indices index vector * \param values value vector */ template inline void getData(const Eigen::MatrixBase& indices, const Eigen::MatrixBase & values) const { // note: we must implement this hack because of problem with reference to temporary // C++0x will solve this with rvalue // see: http://eigen.tuxfamily.org/dox-devel/TopicFunctionTakingEigenTypes.html // for more informations for (size_t i = 0; i < data.size(); ++i) { const_cast&>(indices).coeffRef(i) = data[i].index; const_cast&>(values).coeffRef(i) = data[i].value; } } #if 0 //! get the data-point indices from the heap /** \return the indices */ inline IndexVector getIndexes() const { IndexVector indexes(data.size()); for (size_t i = 0; i < data.size(); ++i) indexes.coeffRef(i) = data[i].index; return indexes; } #endif }; } #endif // __INDEX_HEAP_H norlab-ulaval-libnabo-cd95c8b/nabo/kdtree_cpu.cpp000066400000000000000000000416041462511457200221440ustar00rootroot00000000000000/* Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland You can contact the author at 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 the 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 ETH-ASL 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. */ #include "nabo_private.h" #include "index_heap.h" #include #include #include #include #include #include #ifdef HAVE_OPENMP #include #endif /*! \file kdtree_cpu.cpp \brief kd-tree search, cpu implementation \ingroup private */ namespace Nabo { //! \ingroup private //@{ using namespace std; //! Return the number of bit required to store a value /** \param v value to store * \return number of bits required */ template T getStorageBitCount(T v) { for (T i = 0; i < 64; ++i) { if (v == 0) return i; v >>= 1; } return 64; } //! Return the index of the maximum value of a vector of positive values /** \param v vector of positive values * \return index of maximum value, 0 if the vector is empty */ template size_t argMax(const typename NearestNeighbourSearch::Vector& v) { T maxVal(0); size_t maxIdx(0); for (int i = 0; i < v.size(); ++i) { if (v[i] > maxVal) { maxVal = v[i]; maxIdx = i; } } return maxIdx; } // OPT template pair KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt::getBounds(const BuildPointsIt first, const BuildPointsIt last, const unsigned dim) { T minVal(std::numeric_limits::max()); T maxVal(std::numeric_limits::lowest()); for (BuildPointsCstIt it(first); it != last; ++it) { const T val(cloud.coeff(dim, *it)); minVal = min(val, minVal); maxVal = max(val, maxVal); } return make_pair(minVal, maxVal); } template unsigned KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt::buildNodes(const BuildPointsIt first, const BuildPointsIt last, const Vector minValues, const Vector maxValues) { const int count(last - first); assert(count >= 1); const unsigned pos(nodes.size()); //cerr << count << endl; if (count <= int(bucketSize)) { const uint32_t initBucketsSize(buckets.size()); //cerr << "creating bucket with " << count << " values" << endl; for (int i = 0; i < count; ++i) { const Index index(*(first+i)); assert(index < cloud.cols()); buckets.push_back(BucketEntry(&cloud.coeff(0, index), index)); //cerr << " " << &cloud.coeff(0, index) << ", " << index << endl; } //cerr << "at address " << bucketStart << endl; nodes.push_back(Node(createDimChildBucketSize(dim, count),initBucketsSize)); return pos; } // find the largest dimension of the box const unsigned cutDim = argMax(maxValues - minValues); const T idealCutVal((maxValues(cutDim) + minValues(cutDim))/2); // get bounds from actual points const pair minMaxVals(getBounds(first, last, cutDim)); // correct cut following bounds T cutVal; if (idealCutVal < minMaxVals.first) cutVal = minMaxVals.first; else if (idealCutVal > minMaxVals.second) cutVal = minMaxVals.second; else cutVal = idealCutVal; int l(0); int r(count-1); // partition points around cutVal while (1) { while (l < count && cloud.coeff(cutDim, *(first+l)) < cutVal) ++l; while (r >= 0 && cloud.coeff(cutDim, *(first+r)) >= cutVal) --r; if (l > r) break; swap(*(first+l), *(first+r)); ++l; --r; } const int br1 = l; // now: points[0..br1-1] < cutVal <= points[br1..count-1] r = count-1; // partition points[br1..count-1] around cutVal while (1) { while (l < count && cloud.coeff(cutDim, *(first+l)) <= cutVal) ++l; while (r >= br1 && cloud.coeff(cutDim, *(first+r)) > cutVal) --r; if (l > r) break; swap(*(first+l), *(first+r)); ++l; --r; } const int br2 = l; // now: points[br1..br2-1] == cutVal < points[br2..count-1] // find best split index int leftCount; if (idealCutVal < minMaxVals.first) leftCount = 1; else if (idealCutVal > minMaxVals.second) leftCount = count-1; else if (br1 > count / 2) leftCount = br1; else if (br2 < count / 2) leftCount = br2; else leftCount = count / 2; assert(leftCount > 0); /*if (leftCount >= count) { cerr << "Error found in kdtree:" << endl; cerr << "cloud size: " << cloud.cols() << endl; cerr << "count:" << count << endl; cerr << "leftCount: " << leftCount << endl; cerr << "br1: " << br1 << endl; cerr << "br2: " << br2 << endl; cerr << "idealCutVal: " << idealCutVal << endl; cerr << "cutVal: " << cutVal << endl; cerr << "minMaxVals.first: " << minMaxVals.first << endl; cerr << "minMaxVals.second: " << minMaxVals.second << endl; }*/ assert(leftCount < count); // update bounds for left Vector leftMaxValues(maxValues); leftMaxValues[cutDim] = cutVal; // update bounds for right Vector rightMinValues(minValues); rightMinValues[cutDim] = cutVal; // add this nodes.push_back(Node(0, cutVal)); // recurse const unsigned _UNUSED leftChild = buildNodes(first, first + leftCount, minValues, leftMaxValues); assert(leftChild == pos + 1); const unsigned rightChild = buildNodes(first + leftCount, last, rightMinValues, maxValues); // write right child index and return nodes[pos].dimChildBucketSize = createDimChildBucketSize(cutDim, rightChild); return pos; } template KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt::KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags, const Parameters& additionalParameters): NearestNeighbourSearch::NearestNeighbourSearch(cloud, dim, creationOptionFlags), bucketSize(additionalParameters.get("bucketSize", 8)), dimBitCount(getStorageBitCount(this->dim)), dimMask((1<dim, cloud.cols()),uint32_t(0))); return; } const uint64_t maxNodeCount((0x1ULL << (32-dimBitCount)) - 1); const uint64_t estimatedNodeCount(cloud.cols() / (bucketSize / 2)); if (estimatedNodeCount > maxNodeCount) { throw runtime_error("Cloud has a risk to have more nodes (" + std::to_string(estimatedNodeCount) + ") than the kd-tree allows (" + std::to_string(maxNodeCount) + "). " "The kd-tree has " + std::to_string(dimBitCount) + " bits for dimensions and " + std::to_string((32-dimBitCount)) + " bits for node indices"); } // build point vector and compute bounds BuildPoints buildPoints; buildPoints.reserve(cloud.cols()); for (int i = 0; i < cloud.cols(); ++i) { const Vector& v(cloud.block(0,i,this->dim,1)); buildPoints.push_back(i); #ifdef EIGEN3_API const_cast(minBound) = minBound.array().min(v.array()); const_cast(maxBound) = maxBound.array().max(v.array()); #else // EIGEN3_API const_cast(minBound) = minBound.cwise().min(v); const_cast(maxBound) = maxBound.cwise().max(v); #endif // EIGEN3_API } // create nodes buildNodes(buildPoints.begin(), buildPoints.end(), minBound, maxBound); buildPoints.clear(); } template unsigned long KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt::knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Index k, const T epsilon, const unsigned optionFlags, const T maxRadius) const { checkSizesKnn(query, indices, dists2, k, optionFlags); const bool allowSelfMatch(optionFlags & NearestNeighbourSearch::ALLOW_SELF_MATCH); const bool sortResults(optionFlags & NearestNeighbourSearch::SORT_RESULTS); const bool collectStatistics(creationOptionFlags & NearestNeighbourSearch::TOUCH_STATISTICS); const T maxRadius2(maxRadius * maxRadius); const T maxError2((1+epsilon)*(1+epsilon)); const int colCount(query.cols()); assert(nodes.size() > 0); IndexMatrix result(k, query.cols()); unsigned long leafTouchedCount(0); #pragma omp parallel { Heap heap(k); std::vector off(dim, 0); #pragma omp for reduction(+:leafTouchedCount) schedule(guided,32) for (int i = 0; i < colCount; ++i) { leafTouchedCount += onePointKnn(query, indices, dists2, i, heap, off, maxError2, maxRadius2, allowSelfMatch, collectStatistics, sortResults); } } return leafTouchedCount; } template unsigned long KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt::knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Vector& maxRadii, const Index k, const T epsilon, const unsigned optionFlags) const { checkSizesKnn(query, indices, dists2, k, optionFlags, &maxRadii); const bool allowSelfMatch(optionFlags & NearestNeighbourSearch::ALLOW_SELF_MATCH); const bool sortResults(optionFlags & NearestNeighbourSearch::SORT_RESULTS); const bool collectStatistics(creationOptionFlags & NearestNeighbourSearch::TOUCH_STATISTICS); const T maxError2((1+epsilon)*(1+epsilon)); const int colCount(query.cols()); assert(nodes.size() > 0); IndexMatrix result(k, query.cols()); unsigned long leafTouchedCount(0); #pragma omp parallel { Heap heap(k); std::vector off(dim, 0); #pragma omp for reduction(+:leafTouchedCount) schedule(guided,32) for (int i = 0; i < colCount; ++i) { const T maxRadius(maxRadii[i]); const T maxRadius2(maxRadius * maxRadius); leafTouchedCount += onePointKnn(query, indices, dists2, i, heap, off, maxError2, maxRadius2, allowSelfMatch, collectStatistics, sortResults); } } return leafTouchedCount; } template unsigned long KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt::onePointKnn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, int i, Heap& heap, std::vector& off, const T maxError2, const T maxRadius2, const bool allowSelfMatch, const bool collectStatistics, const bool sortResults) const { fill(off.begin(), off.end(), static_cast(0)); heap.reset(); unsigned long leafTouchedCount(0); if (allowSelfMatch) { if (collectStatistics) leafTouchedCount += recurseKnn(&query.coeff(0, i), 0, 0, heap, off, maxError2, maxRadius2); else recurseKnn(&query.coeff(0, i), 0, 0, heap, off, maxError2, maxRadius2); } else { if (collectStatistics) leafTouchedCount += recurseKnn(&query.coeff(0, i), 0, 0, heap, off, maxError2, maxRadius2); else recurseKnn(&query.coeff(0, i), 0, 0, heap, off, maxError2, maxRadius2); } if (sortResults) heap.sort(); heap.getData(indices.col(i), dists2.col(i)); return leafTouchedCount; } template template unsigned long KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt::recurseKnn(const T* query, const unsigned n, T rd, Heap& heap, std::vector& off, const T maxError2, const T maxRadius2) const { const Node& node(nodes[n]); const uint32_t cd(getDim(node.dimChildBucketSize)); if (cd == uint32_t(dim)) { //cerr << "entering bucket " << node.bucket << endl; const BucketEntry* bucket(&buckets[node.bucketIndex]); const uint32_t bucketSize(getChildBucketSize(node.dimChildBucketSize)); for (uint32_t i = 0; i < bucketSize; ++i) { //cerr << " " << bucket-> pt << endl; //const T dist(dist2(query, cloud.col(index))); //const T dist((query - cloud.col(index)).squaredNorm()); T dist(0); const T* qPtr(query); const T* dPtr(bucket->pt); for (int i = 0; i < this->dim; ++i) { const T diff(*qPtr - *dPtr); dist += diff*diff; qPtr++; dPtr++; } if ((dist <= maxRadius2) && (dist < heap.headValue()) && (allowSelfMatch || (dist > numeric_limits::epsilon())) ) heap.replaceHead(bucket->index, dist); ++bucket; } return (unsigned long)(bucketSize); } else { const unsigned rightChild(getChildBucketSize(node.dimChildBucketSize)); unsigned long leafVisitedCount(0); T& offcd(off[cd]); //const T old_off(off.coeff(cd)); const T old_off(offcd); const T new_off(query[cd] - node.cutVal); if (new_off > 0) { if (collectStatistics) leafVisitedCount += recurseKnn(query, rightChild, rd, heap, off, maxError2, maxRadius2); else recurseKnn(query, rightChild, rd, heap, off, maxError2, maxRadius2); rd += - old_off*old_off + new_off*new_off; if ((rd <= maxRadius2) && (rd * maxError2 < heap.headValue())) { offcd = new_off; if (collectStatistics) leafVisitedCount += recurseKnn(query, n + 1, rd, heap, off, maxError2, maxRadius2); else recurseKnn(query, n + 1, rd, heap, off, maxError2, maxRadius2); offcd = old_off; } } else { if (collectStatistics) leafVisitedCount += recurseKnn(query, n+1, rd, heap, off, maxError2, maxRadius2); else recurseKnn(query, n+1, rd, heap, off, maxError2, maxRadius2); rd += - old_off*old_off + new_off*new_off; if ((rd <= maxRadius2) && (rd * maxError2 < heap.headValue())) { offcd = new_off; if (collectStatistics) leafVisitedCount += recurseKnn(query, rightChild, rd, heap, off, maxError2, maxRadius2); else recurseKnn(query, rightChild, rd, heap, off, maxError2, maxRadius2); offcd = old_off; } } return leafVisitedCount; } } template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt >; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt >; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt >; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt >; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt,Eigen::Matrix3Xf>; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt,Eigen::Matrix3Xf>; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt,Eigen::Matrix3Xd>; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt,Eigen::Matrix3Xd>; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt,Eigen::Map >; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt,Eigen::Map >; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt,Eigen::Map >; template struct KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt,Eigen::Map >; //@} } /* vim: set ts=8 sw=8 tw=0 noexpandtab cindent softtabstop=8 :*/ norlab-ulaval-libnabo-cd95c8b/nabo/kdtree_opencl.cpp000066400000000000000000000607301462511457200226360ustar00rootroot00000000000000/* Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland You can contact the author at 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 the 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 ETH-ASL 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. */ #ifdef HAVE_OPENCL #include "nabo_private.h" #include "index_heap.h" #include #include #include #include #include #include #include // #include /*! \file kdtree_opencl.cpp \ *brief kd-tree search, opencl implementation \ingroup private */ namespace cl { //! Vector of device typedef std::vector Devices; } namespace Nabo { //! Return the index of the maximum value of a vector of positive values /** \param v vector of positive values * \return index of maximum value, 0 if the vector is empty */ template size_t argMax(const typename NearestNeighbourSearch::Vector& v) { T maxVal(0); size_t maxIdx(0); for (int i = 0; i < v.size(); ++i) { if (v[i] > maxVal) { maxVal = v[i]; maxIdx = i; } } return maxIdx; } //! \ingroup private //@{ //! Maximum number of points acceptable in a query #define MAX_K 32 using namespace std; //! Template to retrieve type-specific code for CL support template struct EnableCLTypeSupport {}; //! CL support code for float template struct EnableCLTypeSupport { //! Return CL code to enable float support and set it for use by our CL code static string code(const cl::Device& device) { return "typedef float T;\n"; } }; //! CL support code for double template struct EnableCLTypeSupport { //! Return CL code to enable double support and set it for use by our CL code. /** This is more complex than float as double is not supported by default. */ static string code(const cl::Device& device) { string s; const string& exts(device.getInfo()); //cerr << "extensions: " << exts << endl; // first try generic 64-bits fp, otherwise try to fall back on vendor-specific extensions if (exts.find("cl_khr_fp64") != string::npos) s += "#pragma OPENCL EXTENSION cl_khr_fp64 : enable\n"; else if (exts.find("cl_amd_fp64") != string::npos) s += "#pragma OPENCL EXTENSION cl_amd_fp64 : enable\n"; else throw runtime_error("The OpenCL platform does not support 64 bits double-precision floating-points scalars."); s += "typedef double T;\n"; return s; } }; //! Cache CL source code (including defines and support code) struct SourceCacher { //! Vector of devices typedef std::vector Devices; //! Map of cached programmes typedef std::map ProgramCache; cl::Context context; //!< context in which programs are cached Devices devices; //!< devices linked to the context ProgramCache cachedPrograms; //!< cached programs //! Create a source cacher for a given device type, retrieves a list of devices SourceCacher(const cl_device_type deviceType) { // looking for platforms, AMD drivers do not like the default for creating context vector platforms; cl::Platform::get(&platforms); if (platforms.empty()) throw runtime_error("No OpenCL platform found"); //for(vector::iterator i = platforms.begin(); i != platforms.end(); ++i) // cerr << "platform " << i - platforms.begin() << " is " << (*i).getInfo() << endl; cl::Platform platform = platforms[0]; const char *userDefinedPlatform(getenv("NABO_OPENCL_USE_PLATFORM")); if (userDefinedPlatform) { size_t userDefinedPlatformId = atoi(userDefinedPlatform); if (userDefinedPlatformId < platforms.size()) platform = platforms[userDefinedPlatformId]; } // create OpenCL contexts cl_context_properties properties[] = { CL_CONTEXT_PLATFORM, (cl_context_properties)platform(), 0 }; bool deviceFound = false; try { context = cl::Context(deviceType, properties); deviceFound = true; } catch (const cl::Error& e) { cerr << "Cannot find device type " << deviceType << " for OpenCL, falling back to any device" << endl; } if (!deviceFound) context = cl::Context(CL_DEVICE_TYPE_ALL, properties); devices = context.getInfo(); if (devices.empty()) throw runtime_error("No devices on OpenCL platform"); } //! Destroy the cache, programs will be released automatically ~SourceCacher() { cerr << "Destroying source cacher containing " << cachedPrograms.size() << " cached programs" << endl; } //! Return whether program source is cached bool contains(const std::string& source) { return cachedPrograms.find(source) != cachedPrograms.end(); } }; //! Create and manage CL contexts and corresponding source caches class ContextManager { public: //! A map from device to caches typedef std::map Devices; //! Destroy the manager and all caches ~ContextManager() { cerr << "Destroying CL context manager, used " << devices.size() << " contexts" << endl; for (Devices::iterator it(devices.begin()); it != devices.end(); ++it) delete it->second; } //! Create a new contexc for a given type of device cl::Context& createContext(const cl_device_type deviceType) { std::lock_guard lock(mutex); Devices::iterator it(devices.find(deviceType)); if (it == devices.end()) { it = devices.insert( pair(deviceType, new SourceCacher(deviceType)) ).first; } return it->second->context; } //! Return the cache for a given type of device SourceCacher* getSourceCacher(const cl_device_type deviceType) { std::lock_guard lock(mutex); Devices::iterator it(devices.find(deviceType)); if (it == devices.end()) throw runtime_error("Attempt to get source cacher before creating a context"); return it->second; } protected: Devices devices; //!< devices with caches std::mutex mutex; //!< mutex to protect concurrent accesses to devices }; //! Static instance of context manager static ContextManager contextManager; template OpenCLSearch::OpenCLSearch(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags, const cl_device_type deviceType): NearestNeighbourSearch::NearestNeighbourSearch(cloud, dim, creationOptionFlags), deviceType(deviceType), context(contextManager.createContext(deviceType)) { } template void OpenCLSearch::initOpenCL(const char* clFileName, const char* kernelName, const std::string& additionalDefines) { const bool collectStatistics(creationOptionFlags & NearestNeighbourSearch::TOUCH_STATISTICS); SourceCacher* sourceCacher(contextManager.getSourceCacher(deviceType)); SourceCacher::Devices& devices(sourceCacher->devices); // build and load source files cl::Program::Sources sources; // build defines ostringstream oss; oss << EnableCLTypeSupport::code(devices.back()); oss << "#define EPSILON " << numeric_limits::epsilon() << "\n"; oss << "#define DIM_COUNT " << dim << "\n"; //oss << "#define CLOUD_POINT_COUNT " << cloud.cols() << "\n"; oss << "#define POINT_STRIDE " << cloud.stride() << "\n"; oss << "#define MAX_K " << MAX_K << "\n"; if (collectStatistics) oss << "#define TOUCH_STATISTICS\n"; oss << additionalDefines; //cerr << "params:\n" << oss.str() << endl; const std::string& source(oss.str()); if (!sourceCacher->contains(source)) { const size_t defLen(source.length()); char *defContent(new char[defLen+1]); strcpy(defContent, source.c_str()); sources.push_back(std::make_pair(defContent, defLen)); string sourceFileName(OPENCL_SOURCE_DIR); sourceFileName += clFileName; // load files const char* files[] = { OPENCL_SOURCE_DIR "structure.cl", OPENCL_SOURCE_DIR "heap.cl", sourceFileName.c_str(), NULL }; for (const char** file = files; *file != NULL; ++file) { std::ifstream stream(*file); if (!stream.good()) throw runtime_error((string("cannot open file: ") + *file)); stream.seekg(0, std::ios_base::end); size_t size(stream.tellg()); stream.seekg(0, std::ios_base::beg); char* content(new char[size + 1]); std::copy(std::istreambuf_iterator(stream), std::istreambuf_iterator(), content); content[size] = '\0'; sources.push_back(std::make_pair(content, size)); } sourceCacher->cachedPrograms[source] = cl::Program(context, sources); cl::Program& program = sourceCacher->cachedPrograms[source]; // build cl::Error error(CL_SUCCESS); try { program.build(devices); } catch (cl::Error e) { error = e; } // dump for (cl::Devices::const_iterator it = devices.begin(); it != devices.end(); ++it) { cerr << "device : " << it->getInfo() << "\n"; cerr << "compilation log:\n" << program.getBuildInfo(*it) << endl; } // cleanup sources for (cl::Program::Sources::iterator it = sources.begin(); it != sources.end(); ++it) { delete[] it->first; } sources.clear(); // make sure to stop if compilation failed if (error.err() != CL_SUCCESS) throw error; } cl::Program& program = sourceCacher->cachedPrograms[source]; // build kernel and command queue knnKernel = cl::Kernel(program, kernelName); queue = cl::CommandQueue(context, devices.back()); // map cloud if (!(cloud.Flags & Eigen::DirectAccessBit) || (cloud.Flags & Eigen::RowMajorBit)) throw runtime_error("wrong memory mapping in point cloud"); const size_t cloudCLSize(cloud.cols() * cloud.stride() * sizeof(T)); cloudCL = cl::Buffer(context, CL_MEM_READ_ONLY | CL_MEM_USE_HOST_PTR, cloudCLSize, const_cast(&cloud.coeff(0,0))); knnKernel.setArg(0, sizeof(cl_mem), &cloudCL); } template unsigned long OpenCLSearch::knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Index k, const T epsilon, const unsigned optionFlags, const T maxRadius) const { checkSizesKnn(query, indices, dists2, k, optionFlags); const bool collectStatistics(creationOptionFlags & NearestNeighbourSearch::TOUCH_STATISTICS); // check K if (k > MAX_K) throw runtime_error("number of neighbors too large for OpenCL"); // check consistency of query wrt cloud if (query.stride() != cloud.stride() || query.rows() != cloud.rows()) throw runtime_error("query is not of the same dimensionality as the point cloud"); // map query if (!(query.Flags & Eigen::DirectAccessBit) || (query.Flags & Eigen::RowMajorBit)) throw runtime_error("wrong memory mapping in query data"); const size_t queryCLSize(query.cols() * query.stride() * sizeof(T)); cl::Buffer queryCL(context, CL_MEM_READ_ONLY | CL_MEM_USE_HOST_PTR, queryCLSize, const_cast(&query.coeff(0,0))); knnKernel.setArg(1, sizeof(cl_mem), &queryCL); // map indices assert((indices.Flags & Eigen::DirectAccessBit) && (!(indices.Flags & Eigen::RowMajorBit))); const int indexStride(indices.stride()); const size_t indicesCLSize(indices.cols() * indexStride * sizeof(int)); cl::Buffer indicesCL(context, CL_MEM_WRITE_ONLY | CL_MEM_USE_HOST_PTR, indicesCLSize, &indices.coeffRef(0,0)); knnKernel.setArg(2, sizeof(cl_mem), &indicesCL); // map dists2 assert((dists2.Flags & Eigen::DirectAccessBit) && (!(dists2.Flags & Eigen::RowMajorBit))); const int dists2Stride(dists2.stride()); const size_t dists2CLSize(dists2.cols() * dists2Stride * sizeof(T)); cl::Buffer dists2CL(context, CL_MEM_WRITE_ONLY | CL_MEM_USE_HOST_PTR, dists2CLSize, &dists2.coeffRef(0,0)); knnKernel.setArg(3, sizeof(cl_mem), &dists2CL); // set resulting parameters knnKernel.setArg(4, k); knnKernel.setArg(5, (1 + epsilon)*(1 + epsilon)); knnKernel.setArg(6, maxRadius*maxRadius); knnKernel.setArg(7, optionFlags); knnKernel.setArg(8, indexStride); knnKernel.setArg(9, dists2Stride); knnKernel.setArg(10, cl_uint(cloud.cols())); // if required, map visit count vector visitCounts; const size_t visitCountCLSize(query.cols() * sizeof(cl_uint)); cl::Buffer visitCountCL; if (collectStatistics) { visitCounts.resize(query.cols()); visitCountCL = cl::Buffer(context, CL_MEM_READ_ONLY | CL_MEM_USE_HOST_PTR, visitCountCLSize, &visitCounts[0]); knnKernel.setArg(11, sizeof(cl_mem), &visitCountCL); } // execute query queue.enqueueNDRangeKernel(knnKernel, cl::NullRange, cl::NDRange(query.cols()), cl::NullRange); queue.enqueueMapBuffer(indicesCL, true, CL_MAP_READ, 0, indicesCLSize, 0, 0); queue.enqueueMapBuffer(dists2CL, true, CL_MAP_READ, 0, dists2CLSize, 0, 0); if (collectStatistics) queue.enqueueMapBuffer(visitCountCL, true, CL_MAP_READ, 0, visitCountCLSize, 0, 0); queue.finish(); // if required, collect statistics if (collectStatistics) { unsigned long totalVisitCounts(0); for (size_t i = 0; i < visitCounts.size(); ++i) totalVisitCounts += (unsigned long)visitCounts[i]; return totalVisitCounts; } else return 0; } template BruteForceSearchOpenCL::BruteForceSearchOpenCL(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags, const cl_device_type deviceType): OpenCLSearch::OpenCLSearch(cloud, dim, creationOptionFlags, deviceType) { #ifdef EIGEN3_API const_cast(this->minBound) = cloud.topRows(this->dim).rowwise().minCoeff(); const_cast(this->maxBound) = cloud.topRows(this->dim).rowwise().maxCoeff(); #else // EIGEN3_API // compute bounds for (int i = 0; i < cloud.cols(); ++i) { const Vector& v(cloud.block(0,i,this->dim,1)); const_cast(this->minBound) = this->minBound.cwise().min(v); const_cast(this->maxBound) = this->maxBound.cwise().max(v); } #endif // EIGEN3_API // init openCL initOpenCL("knn_bf.cl", "knnBruteForce"); } template struct BruteForceSearchOpenCL; template struct BruteForceSearchOpenCL; template struct BruteForceSearchOpenCL; template struct BruteForceSearchOpenCL; template struct BruteForceSearchOpenCL >; template struct BruteForceSearchOpenCL >; template size_t KDTreeBalancedPtInLeavesStackOpenCL::getTreeSize(size_t elCount) const { // FIXME: 64 bits safe stuff, only work for 2^32 elements right now assert(elCount > 0); elCount --; size_t count = 0; int i = 31; for (; i >= 0; --i) { if (elCount & (1 << i)) break; } for (int j = 0; j <= i; ++j) count |= (1 << j); count <<= 1; count |= 1; return count; } template size_t KDTreeBalancedPtInLeavesStackOpenCL::getTreeDepth(size_t elCount) const { if (elCount <= 1) return 0; elCount --; size_t i = 31; for (; i >= 0; --i) { if (elCount & (1 << i)) break; } return i+1; } template void KDTreeBalancedPtInLeavesStackOpenCL::buildNodes(const BuildPointsIt first, const BuildPointsIt last, const size_t pos, const Vector minValues, const Vector maxValues) { const size_t count(last - first); //cerr << count << endl; if (count == 1) { const int d = -2-(first->index); assert(pos < nodes.size()); nodes[pos] = Node(d); return; } // find the largest dimension of the box size_t cutDim = argMax(maxValues - minValues); // compute number of elements const size_t rightCount(count/2); const size_t leftCount(count - rightCount); assert(last - rightCount == first + leftCount); // sort nth_element(first, first + leftCount, last, CompareDim(cutDim)); // set node const T cutVal((first+leftCount)->pos.coeff(cutDim)); nodes[pos] = Node(cutDim, cutVal); //cerr << pos << " cutting on " << cutDim << " at " << (first+leftCount)->pos[cutDim] << endl; // update bounds for left Vector leftMaxValues(maxValues); leftMaxValues[cutDim] = cutVal; // update bounds for right Vector rightMinValues(minValues); rightMinValues[cutDim] = cutVal; // recurse buildNodes(first, first + leftCount, childLeft(pos), minValues, leftMaxValues); buildNodes(first + leftCount, last, childRight(pos), rightMinValues, maxValues); } template KDTreeBalancedPtInLeavesStackOpenCL::KDTreeBalancedPtInLeavesStackOpenCL(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags, const cl_device_type deviceType): OpenCLSearch::OpenCLSearch(cloud, dim, creationOptionFlags, deviceType) { const bool collectStatistics(creationOptionFlags & NearestNeighbourSearch::TOUCH_STATISTICS); // build point vector and compute bounds BuildPoints buildPoints; buildPoints.reserve(cloud.cols()); for (int i = 0; i < cloud.cols(); ++i) { const Vector& v(cloud.block(0,i,this->dim,1)); buildPoints.push_back(BuildPoint(v, i)); #ifdef EIGEN3_API const_cast(minBound) = minBound.array().min(v.array()); const_cast(maxBound) = maxBound.array().max(v.array()); #else // EIGEN3_API const_cast(minBound) = minBound.cwise().min(v); const_cast(maxBound) = maxBound.cwise().max(v); #endif // EIGEN3_API } // create nodes nodes.resize(getTreeSize(cloud.cols())); buildNodes(buildPoints.begin(), buildPoints.end(), 0, minBound, maxBound); const unsigned maxStackDepth(getTreeDepth(nodes.size()) + 1); // init openCL initOpenCL("knn_kdtree_pt_in_leaves.cl", "knnKDTree", "#define MAX_STACK_DEPTH " + std::to_string(maxStackDepth) + "\n"); // map nodes, for info about alignment, see sect 6.1.5 const size_t nodesCLSize(nodes.size() * sizeof(Node)); nodesCL = cl::Buffer(context, CL_MEM_READ_ONLY | CL_MEM_USE_HOST_PTR, nodesCLSize, &nodes[0]); if (collectStatistics) knnKernel.setArg(12, sizeof(cl_mem), &nodesCL); else knnKernel.setArg(11, sizeof(cl_mem), &nodesCL); } template struct KDTreeBalancedPtInLeavesStackOpenCL; template struct KDTreeBalancedPtInLeavesStackOpenCL; template struct KDTreeBalancedPtInLeavesStackOpenCL; template struct KDTreeBalancedPtInLeavesStackOpenCL; template struct KDTreeBalancedPtInLeavesStackOpenCL >; template struct KDTreeBalancedPtInLeavesStackOpenCL >; template size_t KDTreeBalancedPtInNodesStackOpenCL::getTreeSize(size_t elCount) const { // FIXME: 64 bits safe stuff, only work for 2^32 elements right now size_t count = 0; int i = 31; for (; i >= 0; --i) { if (elCount & (1 << i)) break; } for (int j = 0; j <= i; ++j) count |= (1 << j); //cerr << "tree size " << count << " (" << elCount << " elements)\n"; return count; } template size_t KDTreeBalancedPtInNodesStackOpenCL::getTreeDepth(size_t elCount) const { // FIXME: 64 bits safe stuff, only work for 2^32 elements right now int i = 31; for (; i >= 0; --i) { if (elCount & (1 << i)) break; } return i + 1; } template void KDTreeBalancedPtInNodesStackOpenCL::buildNodes(const BuildPointsIt first, const BuildPointsIt last, const size_t pos, const Vector minValues, const Vector maxValues) { const size_t count(last - first); //cerr << count << endl; if (count == 1) { nodes[pos] = Node(-1, *first); return; } // find the largest dimension of the box const size_t cutDim = argMax(maxValues - minValues); // compute number of elements const size_t recurseCount(count-1); const size_t rightCount(recurseCount/2); const size_t leftCount(recurseCount-rightCount); assert(last - rightCount == first + leftCount + 1); // sort nth_element(first, first + leftCount, last, CompareDim(cloud, cutDim)); // set node const Index index(*(first+leftCount)); const T cutVal(cloud.coeff(cutDim, index)); nodes[pos] = Node(cutDim, index); //cerr << pos << " cutting on " << cutDim << " at " << (first+leftCount)->pos[cutDim] << endl; // update bounds for left Vector leftMaxValues(maxValues); leftMaxValues[cutDim] = cutVal; // update bounds for right Vector rightMinValues(minValues); rightMinValues[cutDim] = cutVal; // recurse if (count > 2) { buildNodes(first, first + leftCount, childLeft(pos), minValues, leftMaxValues); buildNodes(first + leftCount + 1, last, childRight(pos), rightMinValues, maxValues); } else { nodes[childLeft(pos)] = Node(-1, *first); nodes[childRight(pos)] = Node(-2, 0); } } template KDTreeBalancedPtInNodesStackOpenCL::KDTreeBalancedPtInNodesStackOpenCL(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags, const cl_device_type deviceType): OpenCLSearch::OpenCLSearch(cloud, dim, creationOptionFlags, deviceType) { const bool collectStatistics(creationOptionFlags & NearestNeighbourSearch::TOUCH_STATISTICS); // build point vector and compute bounds BuildPoints buildPoints; buildPoints.reserve(cloud.cols()); for (int i = 0; i < cloud.cols(); ++i) { buildPoints.push_back(i); const Vector& v(cloud.block(0,i,this->dim,1)); #ifdef EIGEN3_API const_cast(minBound) = minBound.array().min(v.array()); const_cast(maxBound) = maxBound.array().max(v.array()); #else // EIGEN3_API const_cast(minBound) = minBound.cwise().min(v); const_cast(maxBound) = maxBound.cwise().max(v); #endif // EIGEN3_API } // create nodes nodes.resize(getTreeSize(cloud.cols())); buildNodes(buildPoints.begin(), buildPoints.end(), 0, minBound, maxBound); const unsigned maxStackDepth(getTreeDepth(nodes.size()) + 1); // init openCL initOpenCL("knn_kdtree_pt_in_nodes.cl", "knnKDTree", "#define MAX_STACK_DEPTH " + std::to_string(maxStackDepth) + "\n"); // map nodes, for info about alignment, see sect 6.1.5 const size_t nodesCLSize(nodes.size() * sizeof(Node)); nodesCL = cl::Buffer(context, CL_MEM_READ_ONLY | CL_MEM_USE_HOST_PTR, nodesCLSize, &nodes[0]); if (collectStatistics) knnKernel.setArg(12, sizeof(cl_mem), &nodesCL); else knnKernel.setArg(11, sizeof(cl_mem), &nodesCL); } template struct KDTreeBalancedPtInNodesStackOpenCL; template struct KDTreeBalancedPtInNodesStackOpenCL; template struct KDTreeBalancedPtInNodesStackOpenCL; template struct KDTreeBalancedPtInNodesStackOpenCL; template struct KDTreeBalancedPtInNodesStackOpenCL >; template struct KDTreeBalancedPtInNodesStackOpenCL >; //@} } #endif // HAVE_OPENCL /* vim: set ts=8 sw=8 tw=0 noexpandtab cindent softtabstop=8 :*/ norlab-ulaval-libnabo-cd95c8b/nabo/nabo.cpp000066400000000000000000000226271462511457200207420ustar00rootroot00000000000000/* Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland You can contact the author at 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 the 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 ETH-ASL 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. */ #include "nabo.h" #include "nabo_private.h" #include "index_heap.h" #include #include #include #include /*! \file nabo.cpp \brief implementation of public interface \ingroup private */ namespace Nabo { using namespace std; // Custom exception class supporting stream-style message constructions. struct runtime_error : std::runtime_error { stringstream ss; template runtime_error& operator<<(const T& t) { ss << t; // Linux executor would not print correctly by overiding "virtual const char* what()". // One solution is refreshing underlying std::runtime_error every time message is changed. static_cast(*this) = std::runtime_error(ss.str()); return *this; } runtime_error(): std::runtime_error("") {} runtime_error(const runtime_error& re): std::runtime_error(re.ss.str()), ss(re.ss.str()) {} virtual ~runtime_error() throw () {} }; template NearestNeighbourSearch::NearestNeighbourSearch(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags): cloud(cloud), dim(min(dim, int(cloud.rows()))), creationOptionFlags(creationOptionFlags), minBound(Vector::Constant(this->dim, numeric_limits::max())), maxBound(Vector::Constant(this->dim, numeric_limits::min())) { if (cloud.cols() == 0) throw runtime_error() << "Cloud has no points"; if (cloud.rows() == 0) throw runtime_error() << "Cloud has 0 dimensions"; } template unsigned long NearestNeighbourSearch::knn(const Vector& query, IndexVector& indices, Vector& dists2, const Index k, const T epsilon, const unsigned optionFlags, const T maxRadius) const { #ifdef EIGEN3_API const Eigen::Map queryMatrix(&query.coeff(0,0), dim, 1); #else // EIGEN3_API const Eigen::Map queryMatrix(&query.coeff(0,0), dim, 1); #endif // EIGEN3_API // note: this is inefficient, because we copy memory, due to the template- // based abstraction of Eigen. High-performance implementation should // take care of knnM and then implement knn on top of it. // C++0x should solve this with rvalue IndexMatrix indexMatrix(k, 1); Matrix dists2Matrix(k, 1); const unsigned long stats = knn(queryMatrix, indexMatrix, dists2Matrix, k, epsilon, optionFlags, maxRadius); indices = indexMatrix.col(0); dists2 = dists2Matrix.col(0); return stats; } template void NearestNeighbourSearch::checkSizesKnn(const Matrix& query, const IndexMatrix& indices, const Matrix& dists2, const Index k, const unsigned optionFlags, const Vector* maxRadii) const { const bool allowSelfMatch(optionFlags & NearestNeighbourSearch::ALLOW_SELF_MATCH); if (allowSelfMatch) { if (k > cloud.cols()) throw runtime_error() << "Requesting more points (" << k << ") than available in cloud (" << cloud.cols() << ")"; } else { if (k > cloud.cols()-1) throw runtime_error() << "Requesting more points (" << k << ") than available in cloud minus 1 (" << cloud.cols()-1 << ") (as self match is forbidden)"; } if (query.rows() < dim) throw runtime_error() << "Query has less dimensions (" << query.rows() << ") than requested for cloud (" << dim << ")"; if (indices.rows() != k) throw runtime_error() << "Index matrix has a different number of rows (" << indices.rows() << ") than k (" << k << ")"; if (indices.cols() != query.cols()) throw runtime_error() << "Index matrix has a different number of columns (" << indices.rows() << ") than query (" << query.cols() << ")"; if (dists2.rows() != k) throw runtime_error() << "Distance matrix has a different number of rows (" << dists2.rows() << ") than k (" << k << ")"; if (dists2.cols() != query.cols()) throw runtime_error() << "Distance matrix has a different number of columns (" << dists2.rows() << ") than query (" << query.cols() << ")"; if (maxRadii && (maxRadii->size() != query.cols())) throw runtime_error() << "Maximum radii vector has not the same length (" << maxRadii->size() << ") than query has columns (" << k << ")"; const unsigned maxOptionFlagsValue(ALLOW_SELF_MATCH|SORT_RESULTS); if (optionFlags > maxOptionFlagsValue) throw runtime_error() << "OR-ed value of option flags (" << optionFlags << ") is larger than maximal valid value (" << maxOptionFlagsValue << ")"; } template NearestNeighbourSearch* NearestNeighbourSearch::create(const CloudType& cloud, const Index dim, const SearchType preferedType, const unsigned creationOptionFlags, const Parameters& additionalParameters) { if (dim <= 0) throw runtime_error() << "Your space must have at least one dimension"; switch (preferedType) { case BRUTE_FORCE: return new BruteForceSearch(cloud, dim, creationOptionFlags); case KDTREE_LINEAR_HEAP: return new KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt, CloudType>(cloud, dim, creationOptionFlags, additionalParameters); case KDTREE_TREE_HEAP: return new KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt, CloudType>(cloud, dim, creationOptionFlags, additionalParameters); #ifdef HAVE_OPENCL case KDTREE_CL_PT_IN_NODES: return new KDTreeBalancedPtInNodesStackOpenCL(cloud, dim, creationOptionFlags, CL_DEVICE_TYPE_GPU); case KDTREE_CL_PT_IN_LEAVES: return new KDTreeBalancedPtInLeavesStackOpenCL(cloud, dim, creationOptionFlags, CL_DEVICE_TYPE_GPU); case BRUTE_FORCE_CL: return new BruteForceSearchOpenCL(cloud, dim, creationOptionFlags, CL_DEVICE_TYPE_GPU); #else // HAVE_OPENCL case KDTREE_CL_PT_IN_NODES: throw runtime_error() << "OpenCL not found during compilation"; case KDTREE_CL_PT_IN_LEAVES: throw runtime_error() << "OpenCL not found during compilation"; case BRUTE_FORCE_CL: throw runtime_error() << "OpenCL not found during compilation"; #endif // HAVE_OPENCL default: throw runtime_error() << "Unknown search type"; } } template NearestNeighbourSearch* NearestNeighbourSearch::createBruteForce(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags) { if (dim <= 0) throw runtime_error() << "Your space must have at least one dimension"; return new BruteForceSearch(cloud, dim, creationOptionFlags); } template NearestNeighbourSearch* NearestNeighbourSearch::createKDTreeLinearHeap(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags, const Parameters& additionalParameters) { if (dim <= 0) throw runtime_error() << "Your space must have at least one dimension"; return new KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt, CloudType>(cloud, dim, creationOptionFlags, additionalParameters); } template NearestNeighbourSearch* NearestNeighbourSearch::createKDTreeTreeHeap(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags, const Parameters& additionalParameters) { if (dim <= 0) throw runtime_error() << "Your space must have at least one dimension"; return new KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt, CloudType>(cloud, dim, creationOptionFlags, additionalParameters); } template struct NearestNeighbourSearch; template struct NearestNeighbourSearch; template struct NearestNeighbourSearch; template struct NearestNeighbourSearch; template struct NearestNeighbourSearch >; template struct NearestNeighbourSearch >; } norlab-ulaval-libnabo-cd95c8b/nabo/nabo.h000066400000000000000000000537101462511457200204040ustar00rootroot00000000000000/* Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland You can contact the author at 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 the 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 ETH-ASL 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. */ #ifndef __NABO_H #define __NABO_H #include "Eigen/Core" #if EIGEN_VERSION_AT_LEAST(2,92,0) #define EIGEN3_API #endif #ifndef EIGEN3_API #include "Eigen/Array" #endif #include #include #include "third_party/any.hpp" /*! \file nabo.h \brief public interface \ingroup public */ /*! \mainpage libnabo from http://github.com/ethz-asl/libnabo by Stéphane Magnenat (http://stephane.magnenat.net), ASL-ETHZ, Switzerland (http://www.asl.ethz.ch) libnabo is a fast K Nearest Neighbour library for low-dimensional spaces. It provides a clean, legacy-free, scalar-type–agnostic API thanks to C++ templates. Its current CPU implementation is strongly inspired by \ref ANN, but with more compact data types. On the average, libnabo is 5% to 20% faster than \ref ANN. libnabo depends on \ref Eigen, a modern C++ matrix and linear-algebra library. libnabo works with either version 2 or 3 of Eigen. \section Compilation libnabo uses \ref CMake as build system. The complete compilation process depends on the system you are using (Linux, Mac OS X or Windows). You will find a nice introductory tutorial in this you tube video: http://www.youtube.com/watch?v=CLvZTyji_Uw. \subsection Prerequisites If your operating system does not provide it, you must get \ref Eigen. \ref Eigen only needs to be downloaded and extracted. \subsection CompilationOptions Compilation options libnabo provides the following compilation options, available through \ref CMake : - \c SHARED_LIBS (boolean, default: \c false): if \c true, build a shared library, otherwise build a static library You specify them with a command-line tool, \c ccmake, or with a graphical tool, \c cmake-gui. Please read the CMake documentation for more information. \subsection QuickCompilationUnix Quick compilation and installation under Unix Under Unix, assuming that \ref Eigen is installed system-wide, you can compile (with optimisation and debug information) and install libnabo in \c /usr/local with the following commands run in the top-level directory of libnabo's sources: \code SRC_DIR=`pwd` BUILD_DIR=${SRC_DIR}/build mkdir -p ${BUILD_DIR} && cd ${BUILD_DIR} cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ${SRC_DIR} # if Eigen is not available system-wide, run at that point: # cmake-gui . # cmake-gui allows you to tell the location of Eigen make sudo make install \endcode These lines will compile libnabo in a \c build sub-directory and therefore keep your source tree clean. Note that you could compile libnabo anywhere you have write access, such as in \c /tmp/libnabo. This out-of-source build is a nice feature of \ref CMake. If \ref Eigen is not installed system-wide, you might have to tell \ref CMake where to find them (using \c ccmake or \c cmake-gui). You can generate the documentation by typing: \code make doc \endcode \section Usage libnabo is easy to use. For example, assuming that you are working with floats and that you have a point set \c M and a query point \c q, you can find the \c K nearest neighbours of \c q in \c M : \include trivial.cpp In this example, \c M is an \ref Eigen (refering to the software, not to the math) matrix (column major, float) and \c q is an \ref Eigen vector (float). The results \c indices and \c dists2 are \ref Eigen vectors of indices and squared distances refering to the columns of \c M. Here is a slightly more complex example: \include usage.cpp Note that the matrix-based interface for query is more efficient than the vector-based one, because some sanity checks can be done only once. Therefore, if you have multiple points to query, we warmly suggest to pass them as a matrix instead of calling \c knn() multiple times. \section ConstructionParameters Construction parameters The following additional construction parameters are available in KDTREE_ algorithms: - \c bucketSize (\c unsigned): bucket size, defaults to 8 \section UnitTesting Unit testing The distribution of libnabo integrates a unit test module, based on CTest. Just type: \code make test \endcode ...in the build directory to run the tests. Their outputs are available in the \c Testing directory. These consist of validation and benchmarking tests. If \ref ANN is detected when compiling libnabo, \c make \c test will also perform comparative benchmarks. \section Citing Citing libnabo If you use libnabo in the academic context, please cite this paper that evaluates its performances in the contex of ICP: \code @article{elsebergcomparison, title={Comparison of nearest-neighbor-search strategies and implementations for efficient shape registration}, author={Elseberg, J. and Magnenat, S. and Siegwart, R. and N{\"u}chter, A.}, journal={Journal of Software Engineering for Robotics (JOSER)}, pages={2--12}, volume={3}, number={1}, year={2012}, issn={2035-3928} } \endcode \section BugReporting Bug reporting Please use github's issue tracker to report bugs. \section License libnabo is released under a permissive BSD license. \section Faq \subsection ANN libnabo differs from \ref ANN on the following points: * API - templates for scalar type - self-match option as execution-time (instead of compile-time) parameter - range search instead of radius search - \ref Eigen library for vector and matrixes - reentrant * limitations - only euclidean distance - only KD-tree, no BD-tree - only ANN_KD_SL_MIDPT splitting rules * implementation - optional O(log(n)) tree heap instead of O(n) vector heap - compact memory representation, one memory allocation for all nodes, 5-fold smaller memory footprint compared than ANN - implicit reference to left child (always next node in array) - do not store bounds in nodes (that is, I do it like in ANN's article instead of like in ANN's source code) * performances - about 5% to 20% faster than ANN (both -O3 -NDEBUG), probably due to the smaller memory footprint - clearly memory-bound, neither OpenMP nor std::thread improve performances \section References \li \anchor Eigen Eigen: http://eigen.tuxfamily.org \li \anchor ANN ANN: http://www.cs.umd.edu/~mount/ANN \li \anchor CMake CMake: http://www.cmake.org */ //! Namespace for Nabo namespace Nabo { //! \defgroup public public interface //@{ //! version of the Nabo library as string #define NABO_VERSION "1.1.2" //! version of the Nabo library as an int #define NABO_VERSION_INT 10102 // TODO (c++14) Convert invalidIndex, invalidValue to constexpr templated variables. template inline constexpr IndexType invalidIndex() { static_assert(std::is_integral::value, ""); return std::is_unsigned::value ? std::numeric_limits::max() : IndexType(-1); } template inline constexpr ValueType invalidValue() { static_assert(std::is_floating_point::value, ""); return std::numeric_limits::infinity(); } //! Parameter vector // // TODO: replace with C++17 std::any. struct Parameters: public std::map { //! Create an empty parameter vector Parameters(){} //! Create a parameter vector with a single entry /** \param key entry key * \param value entry value */ Parameters(const std::string& key, const linb::any& value){(*this)[key] = value;} //! Get the value of a key, return defaultValue if the key does not exist /** \param key requested key * \param defaultValue value to return if the key does not exist * \return value of the key, or defaultValue if the key does not exist */ template T get(const std::string& key, const T& defaultValue) const { const_iterator it(find(key)); if (it != end()) return linb::any_cast(it->second); else return defaultValue; } }; //! Nearest neighbour search interface, templatized on scalar type template > struct NearestNeighbourSearch { //! an Eigen vector of type T, to hold the coordinates of a point typedef typename Eigen::Matrix Vector; //! a column-major Eigen matrix in which each column is a point; this matrix has dim rows typedef typename Eigen::Matrix Matrix; //! a column-major Eigen matrix in which each column is a point; this matrix has dim rows typedef Cloud_T CloudType; //! an index to a Vector or a Matrix, for refering to data points typedef int Index; //! a vector of indices to data points typedef typename Eigen::Matrix IndexVector; //! a matrix of indices to data points typedef typename Eigen::Matrix IndexMatrix; //! the reference to the data-point cloud, which must remain valid during the lifetime of the NearestNeighbourSearch object const CloudType& cloud; //! the dimensionality of the data-point cloud const Index dim; //! creation options const unsigned creationOptionFlags; //! the low bound of the search space (axis-aligned bounding box) const Vector minBound; //! the high bound of the search space (axis-aligned bounding box) const Vector maxBound; //! the invalid index static constexpr Index InvalidIndex = invalidIndex(); //! the invalid value static constexpr T InvalidValue = invalidValue(); //! type of search enum SearchType { BRUTE_FORCE = 0, //!< brute force, check distance to every point in the data KDTREE_LINEAR_HEAP, //!< kd-tree with linear heap, good for small k (~up to 30) KDTREE_TREE_HEAP, //!< kd-tree with tree heap, good for large k (~from 30) KDTREE_CL_PT_IN_NODES, //!< kd-tree using openCL, pt in nodes, only available if OpenCL enabled, UNSTABLE API KDTREE_CL_PT_IN_LEAVES, //!< kd-tree using openCL, pt in leaves, only available if OpenCL enabled, UNSTABLE API BRUTE_FORCE_CL, //!< brute-force using openCL, only available if OpenCL enabled, UNSTABLE API SEARCH_TYPE_COUNT //!< number of search types }; //! creation option enum CreationOptionFlags { TOUCH_STATISTICS = 1 //!< perform statistics on the number of points touched }; //! search option enum SearchOptionFlags { ALLOW_SELF_MATCH = 1, //!< allows the return of the same point as the query, if this point is in the data cloud; forbidden by default SORT_RESULTS = 2 //!< sort points by distances, when k > 1; do not sort by default }; //! Find the k nearest neighbours of query /*! If the search finds less than k points, the empty entries in dists2 will be filled with InvalidValue and the indices with InvalidIndex. If you must query more than one point at once, use the version of the knn() function taking matrices as input, because it is much faster. * \param query query point * \param indices indices of nearest neighbours, must be of size k * \param dists2 squared distances to nearest neighbours, must be of size k * \param k number of nearest neighbour requested * \param epsilon maximal ratio of error for approximate search, 0 for exact search; has no effect if the number of neighbour found is smaller than the number requested * \param optionFlags search options, a bitwise OR of elements of SearchOptionFlags * \param maxRadius maximum radius in which to search, can be used to prune search, is not affected by epsilon * \return if creationOptionFlags contains TOUCH_STATISTICS, return the number of point touched, otherwise return 0 */ unsigned long knn(const Vector& query, IndexVector& indices, Vector& dists2, const Index k = 1, const T epsilon = 0, const unsigned optionFlags = 0, const T maxRadius = std::numeric_limits::infinity()) const; //! Find the k nearest neighbours for each point of query /*! If the search finds less than k points, the empty entries in dists2 will be filled with InvalidValue and the indices with InvalidIndex. * \param query query points * \param indices indices of nearest neighbours, must be of size k x query.cols() * \param dists2 squared distances to nearest neighbours, must be of size k x query.cols() * \param k number of nearest neighbour requested * \param epsilon maximal ratio of error for approximate search, 0 for exact search; has no effect if the number of neighbour found is smaller than the number requested * \param optionFlags search options, a bitwise OR of elements of SearchOptionFlags * \param maxRadius maximum radius in which to search, can be used to prune search, is not affected by epsilon * \return if creationOptionFlags contains TOUCH_STATISTICS, return the number of point touched, otherwise return 0 */ virtual unsigned long knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Index k = 1, const T epsilon = 0, const unsigned optionFlags = 0, const T maxRadius = std::numeric_limits::infinity()) const = 0; //! Find the k nearest neighbours for each point of query /*! If the search finds less than k points, the empty entries in dists2 will be filled with InvalidValue and the indices with InvalidIndex. * \param query query points * \param indices indices of nearest neighbours, must be of size k x query.cols() * \param dists2 squared distances to nearest neighbours, must be of size k x query.cols() * \param maxRadii vector of maximum radii in which to search, used to prune search, is not affected by epsilon * \param k number of nearest neighbour requested * \param epsilon maximal ratio of error for approximate search, 0 for exact search; has no effect if the number of neighbour found is smaller than the number requested * \param optionFlags search options, a bitwise OR of elements of SearchOptionFlags * \return if creationOptionFlags contains TOUCH_STATISTICS, return the number of point touched, otherwise return 0 */ virtual unsigned long knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Vector& maxRadii, const Index k = 1, const T epsilon = 0, const unsigned optionFlags = 0) const = 0; //! Create a nearest-neighbour search /*! \param cloud data-point cloud in which to search * \param dim number of dimensions to consider, must be lower or equal to cloud.rows() * \param preferedType type of search, one of SearchType * \param creationOptionFlags creation options, a bitwise OR of elements of CreationOptionFlags * \param additionalParameters additional parameters, currently only useful for KDTREE_ * \return an object on which to run nearest neighbour queries */ static NearestNeighbourSearch* create(const CloudType& cloud, const Index dim = std::numeric_limits::max(), const SearchType preferedType = KDTREE_LINEAR_HEAP, const unsigned creationOptionFlags = 0, const Parameters& additionalParameters = Parameters()); //! Create a nearest-neighbour search, using brute-force search, useful for comparison only /*! This is an helper function, you can also use create() with BRUTE_FORCE as preferedType * \param cloud data-point cloud in which to search * \param dim number of dimensions to consider, must be lower or equal to cloud.rows() * \param creationOptionFlags creation options, a bitwise OR of elements of CreationOptionFlags * \return an object on which to run nearest neighbour queries */ static NearestNeighbourSearch* createBruteForce(const CloudType& cloud, const Index dim = std::numeric_limits::max(), const unsigned creationOptionFlags = 0); //! Create a nearest-neighbour search, using a kd-tree with linear heap, good for small k (~up to 30) /*! This is an helper function, you can also use create() with KDTREE_LINEAR_HEAP as preferedType * \param cloud data-point cloud in which to search * \param dim number of dimensions to consider, must be lower or equal to cloud.rows() * \param creationOptionFlags creation options, a bitwise OR of elements of CreationOptionFlags * \param additionalParameters additional parameters * \return an object on which to run nearest neighbour queries */ static NearestNeighbourSearch* createKDTreeLinearHeap(const CloudType& cloud, const Index dim = std::numeric_limits::max(), const unsigned creationOptionFlags = 0, const Parameters& additionalParameters = Parameters()); //! Create a nearest-neighbour search, using a kd-tree with tree heap, good for large k (~from 30) /*! This is an helper function, you can also use create() with KDTREE_TREE_HEAP as preferedType * \param cloud data-point cloud in which to search * \param dim number of dimensions to consider, must be lower or equal to cloud.rows() * \param creationOptionFlags creation options, a bitwise OR of elements of CreationOptionFlags * \param additionalParameters additional parameters * \return an object on which to run nearest neighbour queries */ static NearestNeighbourSearch* createKDTreeTreeHeap(const CloudType& cloud, const Index dim = std::numeric_limits::max(), const unsigned creationOptionFlags = 0, const Parameters& additionalParameters = Parameters()); //! Prevent creation of trees with the wrong matrix type. Currently only dynamic size matrices are supported. template static NearestNeighbourSearch* create(const WrongMatrixType& cloud, const Index dim = std::numeric_limits::max(), const SearchType preferedType = KDTREE_LINEAR_HEAP, const unsigned creationOptionFlags = 0, const Parameters& additionalParameters = Parameters()) { typedef int Please_make_sure_that_the_decltype_of_the_first_parameter_is_equal_to_the_Matrix_typedef[sizeof(WrongMatrixType) > 0 ? -1 : 1]; Please_make_sure_that_the_decltype_of_the_first_parameter_is_equal_to_the_Matrix_typedef dummy; return NULL; } //! Prevent creation of trees with the wrong matrix type. Currently only dynamic size matrices are supported. template static NearestNeighbourSearch* createBruteForce(const WrongMatrixType& cloud, const Index dim = std::numeric_limits::max(), const unsigned creationOptionFlags = 0) { typedef int Please_make_sure_that_the_decltype_of_the_first_parameter_is_equal_to_the_Matrix_typedef[sizeof(WrongMatrixType) > 0 ? -1 : 1]; Please_make_sure_that_the_decltype_of_the_first_parameter_is_equal_to_the_Matrix_typedef dummy; return NULL; } //! Prevent creation of trees with the wrong matrix type. Currently only dynamic size matrices are supported. template static NearestNeighbourSearch* createKDTreeLinearHeap(const WrongMatrixType& cloud, const Index dim = std::numeric_limits::max(), const unsigned creationOptionFlags = 0, const Parameters& additionalParameters = Parameters()) { typedef int Please_make_sure_that_the_decltype_of_the_first_parameter_is_equal_to_the_Matrix_typedef[sizeof(WrongMatrixType) > 0 ? -1 : 1]; Please_make_sure_that_the_decltype_of_the_first_parameter_is_equal_to_the_Matrix_typedef dummy; return NULL; } //! Prevent creation of trees with the wrong matrix type. Currently only dynamic size matrices are supported. template static NearestNeighbourSearch* createKDTreeTreeHeap(const WrongMatrixType&, const Index dim = std::numeric_limits::max(), const unsigned creationOptionFlags = 0, const Parameters& additionalParameters = Parameters()) { typedef int Please_make_sure_that_the_decltype_of_the_first_parameter_is_equal_to_the_Matrix_typedef[sizeof(WrongMatrixType) > 0 ? -1 : 1]; Please_make_sure_that_the_decltype_of_the_first_parameter_is_equal_to_the_Matrix_typedef dummy; return NULL; } //! virtual destructor virtual ~NearestNeighbourSearch() {} protected: //! constructor NearestNeighbourSearch(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags); //! Make sure that the output matrices have the right sizes. Throw an exception otherwise. /*! \param query query points * \param k number of nearest neighbour requested * \param indices indices of nearest neighbours, must be of size k x query.cols() * \param dists2 squared distances to nearest neighbours, must be of size k x query.cols() * \param optionFlags the options passed to knn() \param maxRadii if non 0, maximum radii, must be of size k */ void checkSizesKnn(const Matrix& query, const IndexMatrix& indices, const Matrix& dists2, const Index k, const unsigned optionFlags, const Vector* maxRadii = 0) const; }; // Convenience typedefs //! nearest neighbour search with scalars of type float typedef NearestNeighbourSearch NNSearchF; //! nearest neighbour search with scalars of type double typedef NearestNeighbourSearch NNSearchD; //@} } #endif // __NABO_H norlab-ulaval-libnabo-cd95c8b/nabo/nabo_private.h000066400000000000000000000465651462511457200221500ustar00rootroot00000000000000/* Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland You can contact the author at 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 the 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 ETH-ASL 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. */ #ifndef __NABO_PRIVATE_H #define __NABO_PRIVATE_H #include "nabo.h" #include using std::uint32_t; // OpenCL #ifdef HAVE_OPENCL #define __CL_ENABLE_EXCEPTIONS #include "CL/cl.hpp" #endif // HAVE_OPENCL // Unused macro, add support for your favorite compiler #if defined(__GNUC__) #define _UNUSED __attribute__ ((unused)) #else #define _UNUSED #endif /*! \file nabo_private.h \brief header for implementation \ingroup private */ namespace Nabo { //! \defgroup private private implementation //@{ //! Euclidean distance template inline T dist2(const A& v0, const B& v1) { return (v0 - v1).squaredNorm(); } //! Brute-force nearest neighbour template > struct BruteForceSearch : public NearestNeighbourSearch { typedef typename NearestNeighbourSearch::Vector Vector; typedef typename NearestNeighbourSearch::Matrix Matrix; typedef typename NearestNeighbourSearch::Index Index; typedef typename NearestNeighbourSearch::IndexVector IndexVector; typedef typename NearestNeighbourSearch::IndexMatrix IndexMatrix; using NearestNeighbourSearch::dim; using NearestNeighbourSearch::creationOptionFlags; using NearestNeighbourSearch::checkSizesKnn; using NearestNeighbourSearch::minBound; using NearestNeighbourSearch::maxBound; //! constructor, calls NearestNeighbourSearch(cloud) BruteForceSearch(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags); virtual unsigned long knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Index k, const T epsilon, const unsigned optionFlags, const T maxRadius) const; virtual unsigned long knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Vector& maxRadii, const Index k = 1, const T epsilon = 0, const unsigned optionFlags = 0) const; }; //! KDTree, unbalanced, points in leaves, stack, implicit bounds, ANN_KD_SL_MIDPT, optimised implementation template > struct KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt: public NearestNeighbourSearch { typedef typename NearestNeighbourSearch::Vector Vector; typedef typename NearestNeighbourSearch::Matrix Matrix; typedef typename NearestNeighbourSearch::Index Index; typedef typename NearestNeighbourSearch::IndexVector IndexVector; typedef typename NearestNeighbourSearch::IndexMatrix IndexMatrix; using NearestNeighbourSearch::dim; using NearestNeighbourSearch::cloud; using NearestNeighbourSearch::creationOptionFlags; using NearestNeighbourSearch::minBound; using NearestNeighbourSearch::maxBound; using NearestNeighbourSearch::checkSizesKnn; protected: //! indices of points during kd-tree construction typedef std::vector BuildPoints; //! iterator to indices of points during kd-tree construction typedef typename BuildPoints::iterator BuildPointsIt; //! const-iterator to indices of points during kd-tree construction typedef typename BuildPoints::const_iterator BuildPointsCstIt; //! size of bucket const unsigned bucketSize; //! number of bits required to store dimension index + number of dimensions const uint32_t dimBitCount; //! mask to access dim const uint32_t dimMask; //! create the compound index containing the dimension and the index of the child or the bucket size inline uint32_t createDimChildBucketSize(const uint32_t dim, const uint32_t childIndex) const { return dim | (childIndex << dimBitCount); } //! get the dimension out of the compound index inline uint32_t getDim(const uint32_t dimChildBucketSize) const { return dimChildBucketSize & dimMask; } //! get the child index or the bucket size out of the coumpount index inline uint32_t getChildBucketSize(const uint32_t dimChildBucketSize) const { return dimChildBucketSize >> dimBitCount; } struct BucketEntry; //! search node struct Node { uint32_t dimChildBucketSize; //!< cut dimension for split nodes (dimBitCount lsb), index of right node or number of bucket(rest). Note that left index is current+1 union { T cutVal; //!< for split node, split value uint32_t bucketIndex; //!< for leaf node, pointer to bucket }; //! construct a split node Node(const uint32_t dimChild, const T cutVal): dimChildBucketSize(dimChild), cutVal(cutVal) {} //! construct a leaf node Node(const uint32_t bucketSize, const uint32_t bucketIndex): dimChildBucketSize(bucketSize), bucketIndex(bucketIndex) {} }; //! dense vector of search nodes, provides better memory performances than many small objects typedef std::vector Nodes; //! entry in a bucket struct BucketEntry { const T* pt; //!< pointer to first value of point data, 0 if end of bucket Index index; //!< index of point //! create a new bucket entry for a point in the data /** \param pt pointer to first component of the point, components must be continuous * \param index index of the point in the data */ BucketEntry(const T* pt = 0, const Index index = 0): pt(pt), index(index) {} }; //! bucket data typedef std::vector Buckets; //! search nodes Nodes nodes; //! buckets Buckets buckets; //! return the bounds of points from [first..last[ on dimension dim std::pair getBounds(const BuildPointsIt first, const BuildPointsIt last, const unsigned dim); //! construct nodes for points [first..last[ inside the hyperrectangle [minValues..maxValues] unsigned buildNodes(const BuildPointsIt first, const BuildPointsIt last, const Vector minValues, const Vector maxValues); //! search one point, call recurseKnn with the correct template parameters /** \param query pointer to query coordinates * \param indices indices of nearest neighbours, must be of size k x query.cols() * \param dists2 squared distances to nearest neighbours, must be of size k x query.cols() * \param i index of point to search * \param heap reference to heap * \param off reference to array of offsets * \param maxError error factor (1 + epsilon) * \param maxRadius2 square of maximum radius * \param allowSelfMatch whether to allow self match * \param collectStatistics whether to collect statistics * \param sortResults wether to sort results */ unsigned long onePointKnn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, int i, Heap& heap, std::vector& off, const T maxError, const T maxRadius2, const bool allowSelfMatch, const bool collectStatistics, const bool sortResults) const; //! recursive search, strongly inspired by ANN and [Arya & Mount, Algorithms for fast vector quantization, 1993] /** \param query pointer to query coordinates * \param n index of node to visit * \param rd squared dist to this rect * \param heap reference to heap * \param off reference to array of offsets * \param maxError error factor (1 + epsilon) * \param maxRadius2 square of maximum radius */ template unsigned long recurseKnn(const T* query, const unsigned n, T rd, Heap& heap, std::vector& off, const T maxError, const T maxRadius2) const; public: //! constructor, calls NearestNeighbourSearch(cloud) KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags, const Parameters& additionalParameters); virtual unsigned long knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Index k, const T epsilon, const unsigned optionFlags, const T maxRadius) const; virtual unsigned long knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Vector& maxRadii, const Index k = 1, const T epsilon = 0, const unsigned optionFlags = 0) const; }; #ifdef HAVE_OPENCL //! OpenCL support for nearest neighbour search template > struct OpenCLSearch: public NearestNeighbourSearch { typedef typename NearestNeighbourSearch::Vector Vector; typedef typename NearestNeighbourSearch::Matrix Matrix; typedef typename NearestNeighbourSearch::Index Index; typedef typename NearestNeighbourSearch::IndexVector IndexVector; typedef typename NearestNeighbourSearch::IndexMatrix IndexMatrix; using NearestNeighbourSearch::dim; using NearestNeighbourSearch::cloud; using NearestNeighbourSearch::creationOptionFlags; using NearestNeighbourSearch::checkSizesKnn; protected: const cl_device_type deviceType; //!< the type of device to run CL code on (CL_DEVICE_TYPE_CPU or CL_DEVICE_TYPE_GPU) cl::Context& context; //!< the CL context mutable cl::Kernel knnKernel; //!< the kernel to perform knnSearch, mutable because it is stateful, but conceptually const cl::CommandQueue queue; //!< the command queue cl::Buffer cloudCL; //!< the buffer for the input data //! constructor, calls NearestNeighbourSearch(cloud) OpenCLSearch(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags, const cl_device_type deviceType); //! Initialize CL support /** \param clFileName name of file containing CL code * \param kernelName name of the CL kernel function * \param additionalDefines additional CL code to pass to compiler */ void initOpenCL(const char* clFileName, const char* kernelName, const std::string& additionalDefines = ""); public: virtual unsigned long knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Index k, const T epsilon, const unsigned optionFlags, const T maxRadius) const; virtual unsigned long knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Vector& maxRadii, const Index k = 1, const T epsilon = 0, const unsigned optionFlags = 0) const; }; //! KDTree, balanced, points in leaves, stack, implicit bounds, balance aspect ratio template > struct BruteForceSearchOpenCL: public OpenCLSearch { typedef typename NearestNeighbourSearch::Vector Vector; typedef typename NearestNeighbourSearch::Matrix Matrix; typedef typename NearestNeighbourSearch::Index Index; using OpenCLSearch::initOpenCL; //! constructor, calls OpenCLSearch(cloud, ...) BruteForceSearchOpenCL(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags, const cl_device_type deviceType); }; //! KDTree, balanced, points in leaves, stack, implicit bounds, balance aspect ratio template > struct KDTreeBalancedPtInLeavesStackOpenCL: public OpenCLSearch { typedef typename NearestNeighbourSearch::Vector Vector; typedef typename NearestNeighbourSearch::Matrix Matrix; typedef typename NearestNeighbourSearch::Index Index; typedef typename NearestNeighbourSearch::IndexVector IndexVector; typedef typename NearestNeighbourSearch::IndexMatrix IndexMatrix; using NearestNeighbourSearch::dim; using NearestNeighbourSearch::cloud; using NearestNeighbourSearch::creationOptionFlags; using NearestNeighbourSearch::minBound; using NearestNeighbourSearch::maxBound; using OpenCLSearch::context; using OpenCLSearch::knnKernel; using OpenCLSearch::initOpenCL; protected: //! Point during kd-tree construction struct BuildPoint { Vector pos; //!< point size_t index; //!< index of point in cloud //! Construct a build point, at a given pos with a specific index BuildPoint(const Vector& pos = Vector(), const size_t index = 0): pos(pos), index(index) {} }; //! points during kd-tree construction typedef std::vector BuildPoints; //! iterator to points during kd-tree construction typedef typename BuildPoints::iterator BuildPointsIt; //! const-iterator to points during kd-tree construction typedef typename BuildPoints::const_iterator BuildPointsCstIt; //! Functor to compare point values on a given dimension struct CompareDim { size_t dim; //!< dimension on which to compare //! Build the functor for a specific dimension CompareDim(const size_t dim):dim(dim){} //! Compare the values of p0 and p1 on dim, and return whether p0[dim] < p1[dim] bool operator() (const BuildPoint& p0, const BuildPoint& p1) { return p0.pos(dim) < p1.pos(dim); } }; //! Tree node for CL struct Node { int dim; //!< dimension of the cut, or, if negative, index of the point: -1 == invalid, <= -2 = index of pt T cutVal; //!< value of the cut //! Build a tree node, with a given dimension and value to cut on, or, if leaf and dim <= -2, the index of the point as (-dim-2) Node(const int dim = -1, const T cutVal = 0):dim(dim), cutVal(cutVal) {} }; //! dense vector of search nodes typedef std::vector Nodes; Nodes nodes; //!< search nodes cl::Buffer nodesCL; //!< CL buffer for search nodes inline size_t childLeft(size_t pos) const { return 2*pos + 1; } //!< Return the left child of pos inline size_t childRight(size_t pos) const { return 2*pos + 2; } //!< Return the right child of pos inline size_t parent(size_t pos) const { return (pos-1)/2; } //!< Return the parent of pos size_t getTreeDepth(size_t size) const; //!< Return the max depth of a tree of a given size size_t getTreeSize(size_t size) const; //!< Return the storage size of tree of a given size //! Recurse to build nodes void buildNodes(const BuildPointsIt first, const BuildPointsIt last, const size_t pos, const Vector minValues, const Vector maxValues); public: //! constructor, calls OpenCLSearch(cloud, ...) KDTreeBalancedPtInLeavesStackOpenCL(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags, const cl_device_type deviceType); }; //! KDTree, balanced, points in nodes, stack, implicit bounds, balance aspect ratio template > struct KDTreeBalancedPtInNodesStackOpenCL: public OpenCLSearch { typedef typename NearestNeighbourSearch::Vector Vector; typedef typename NearestNeighbourSearch::Matrix Matrix; typedef typename NearestNeighbourSearch::Index Index; typedef typename NearestNeighbourSearch::IndexVector IndexVector; typedef typename NearestNeighbourSearch::IndexMatrix IndexMatrix; using NearestNeighbourSearch::dim; using NearestNeighbourSearch::cloud; using NearestNeighbourSearch::creationOptionFlags; using NearestNeighbourSearch::minBound; using NearestNeighbourSearch::maxBound; using OpenCLSearch::context; using OpenCLSearch::knnKernel; using OpenCLSearch::initOpenCL; protected: //! a point during kd-tree construction is just its index typedef Index BuildPoint; //! points during kd-tree construction typedef std::vector BuildPoints; //! iterator to points during kd-tree construction typedef typename BuildPoints::iterator BuildPointsIt; //! const-iterator to points during kd-tree construction typedef typename BuildPoints::const_iterator BuildPointsCstIt; //! Functor to compare point values on a given dimension struct CompareDim { const CloudType& cloud; //!< reference to data points used to compare size_t dim; //!< dimension on which to compare //! Build the functor for a specific dimension on a specific cloud CompareDim(const CloudType& cloud, const size_t dim): cloud(cloud), dim(dim){} //! Compare the values of p0 and p1 on dim, and return whether p0[dim] < p1[dim] bool operator() (const BuildPoint& p0, const BuildPoint& p1) { return cloud.coeff(dim, p0) < cloud.coeff(dim, p1); } }; //! Tree node for CL struct Node { int dim; //!< dimension of the cut, or, if -1 == leaf, -2 == invalid Index index; //!< index of the point to cut //! Build a tree node, with a given index and a given dimension to cut on Node(const int dim = -2, const Index index = 0):dim(dim), index(index) {} }; //! dense vector of search nodes typedef std::vector Nodes; Nodes nodes; //!< search nodes cl::Buffer nodesCL; //!< CL buffer for search nodes inline size_t childLeft(size_t pos) const { return 2*pos + 1; } //!< Return the left child of pos inline size_t childRight(size_t pos) const { return 2*pos + 2; } //!< Return the right child of pos inline size_t parent(size_t pos) const { return (pos-1)/2; } //!< Return the parent of pos size_t getTreeDepth(size_t size) const; //!< Return the max depth of a tree of a given size size_t getTreeSize(size_t size) const; //!< Return the storage size of tree of a given size //! Recurse to build nodes void buildNodes(const BuildPointsIt first, const BuildPointsIt last, const size_t pos, const Vector minValues, const Vector maxValues); public: //! constructor, calls OpenCLSearch(cloud, ...) KDTreeBalancedPtInNodesStackOpenCL(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags, const cl_device_type deviceType); }; #endif // HAVE_OPENCL //@} } #endif // __NABO_H norlab-ulaval-libnabo-cd95c8b/nabo/opencl/000077500000000000000000000000001462511457200205665ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/nabo/opencl/heap.cl000066400000000000000000000012351462511457200220240ustar00rootroot00000000000000T heapHeadValue(const HeapEntry* heap) { return heap->value; } void heapHeadReplace(HeapEntry* heap, const int index, const T value, const uint K) { uint i = 0; for (; i < K - 1; ++i) { if (heap[i + 1].value > value) heap[i] = heap[i + 1]; else break; } heap[i].value = value; heap[i].index = index; } void heapInit(HeapEntry* heap, const uint K) { for (uint i = 0; i < K; ++i) heap[i].value = HUGE_VALF; } void heapCopy(global int* indices, global T* dists2, const HeapEntry* heap, const uint K) { for (uint i = 0; i < K; ++i) { *indices++ = heap[K-i-1].index; *dists2++ = heap[K-i-1].value; } } void heapSort(const HeapEntry* heap) { } norlab-ulaval-libnabo-cd95c8b/nabo/opencl/knn_bf.cl000066400000000000000000000022771462511457200223530ustar00rootroot00000000000000kernel void knnBruteForce(const global T* cloud, const global T* query, global int* indices, global T* dists2, const uint K, const T maxError, const T maxRadius2, const uint optionFlags, const uint indexStride, const uint dists2Stride, const uint pointCount #ifdef TOUCH_STATISTICS , global uint* touchStatistics #endif ) { HeapEntry heap[MAX_K]; heapInit(heap, K); const size_t queryId = get_global_id(0); const bool allowSelfMatch = optionFlags & ALLOW_SELF_MATCH; const bool doSort = optionFlags & SORT_RESULTS; const global T* q = &query[queryId * POINT_STRIDE]; for (uint index = 0; index < pointCount; ++index) { const global T* p = &cloud[index * POINT_STRIDE]; T dist = 0; for (uint i = 0; i < DIM_COUNT; ++i) { const T diff = q[i] - p[i]; dist += diff * diff; } if ((dist <= maxRadius2) && (dist < heapHeadValue(heap) && (allowSelfMatch || (dist > 0))) heapHeadReplace(heap, index, dist, K); } if (doSort) heapSort(heap); heapCopy(&indices[queryId * indexStride], &dists2[queryId * dists2Stride], heap, K); #ifdef TOUCH_STATISTICS touchStatistics[queryId] = pointCount; #endif } norlab-ulaval-libnabo-cd95c8b/nabo/opencl/knn_kdtree_pt_in_leaves.cl000066400000000000000000000062371462511457200257720ustar00rootroot00000000000000#define INVALID_NODE -1 #define OP_BEGIN_FUNCTION 0 #define OP_REC1 1 #define OP_REC2 2 typedef struct { int dim; // -1 == invalid, <= -2 = index of pt T cutVal; //!< for split node, split value } Node; typedef struct { uint op; size_t n; size_t other_n; T rd; T old_off; T new_off; } StackEntry; size_t childLeft(const size_t pos) { return 2*pos + 1; } size_t childRight(const size_t pos) { return 2*pos + 2; } void offInit(T *off) { for (uint i = 0; i < DIM_COUNT; ++i) off[i] = 0; } // for cloud and result, use DirectAccessBit and stride // preconditions: // K < MAX_K // stack_ptr < MAX_STACK_DEPTH kernel void knnKDTree( const global T* cloud, const global T* query, global int* indices, global T* dists2, const uint K, const T maxError, const T maxRadius2, const uint optionFlags, const uint indexStride, const uint dists2Stride, const uint pointCount, #ifdef TOUCH_STATISTICS global uint* touchStatistics, #endif const global Node* nodes ) { StackEntry stack[MAX_STACK_DEPTH]; HeapEntry heap[MAX_K]; T off[DIM_COUNT]; #ifdef TOUCH_STATISTICS uint visitCount = 0; #endif const size_t queryId = get_global_id(0); const bool allowSelfMatch = optionFlags & ALLOW_SELF_MATCH; const bool doSort = optionFlags & SORT_RESULTS; const global T* q = &query[queryId * POINT_STRIDE]; heapInit(heap, K); offInit(off); uint stackPtr = 1; stack[0].op = OP_BEGIN_FUNCTION; stack[0].n = 0; stack[0].rd = 0; while (stackPtr != 0) { --stackPtr; StackEntry* s = stack + stackPtr; const size_t n = s->n; const global Node* node = nodes + n; const int cd = node->dim; switch (stack[stackPtr].op) { case OP_BEGIN_FUNCTION: if (cd < 0) { if (cd != -1) { const int index = -(cd + 2); const global T* p = &cloud[index * POINT_STRIDE]; T dist = 0; for (uint i = 0; i < DIM_COUNT; ++i) { const T diff = q[i] - p[i]; dist += diff * diff; } if ((dist <= maxRadius2) && (dist < heapHeadValue(heap) && (allowSelfMatch || (dist > (T)EPSILON)))) heapHeadReplace(heap, index, dist, K); #ifdef TOUCH_STATISTICS ++visitCount; #endif } } else { s->old_off = off[cd]; s->new_off = q[cd] - node->cutVal; (s+1)->op = OP_BEGIN_FUNCTION; s->op = OP_REC1; if (s->new_off > 0) { (s+1)->n = childRight(n); s->other_n = childLeft(n); } else { (s+1)->n = childLeft(n); s->other_n = childRight(n); } (s+1)->rd = s->rd; stackPtr+=2; } break; case OP_REC1: { T rdE; s->rd += - (s->old_off*s->old_off) + (s->new_off*s->new_off); if ((s->rd <= maxRadius2) && (s->rd * maxError < heapHeadValue(heap))) { off[cd] = s->new_off; (s+1)->op = OP_BEGIN_FUNCTION; (s+1)->n = s->other_n; (s+1)->rd = s->rd; s->op = OP_REC2; stackPtr+=2; } } break; case OP_REC2: off[cd] = s->old_off; break; } } if (doSort) heapSort(heap); heapCopy(&indices[queryId * indexStride], &dists2[queryId * dists2Stride], heap, K); #ifdef TOUCH_STATISTICS touchStatistics[queryId] = visitCount; #endif } norlab-ulaval-libnabo-cd95c8b/nabo/opencl/knn_kdtree_pt_in_nodes.cl000066400000000000000000000055041462511457200256170ustar00rootroot00000000000000typedef struct { int dim; // >=0 cut dim, -1 == leaf, -2 == invalid int index; } Node; #define OFFSIDE 0 #define ONSIDE 1 typedef struct { size_t n; uint state; } StackEntry; size_t childLeft(const size_t pos) { return 2*pos + 1; } size_t childRight(const size_t pos) { return 2*pos + 2; } // for cloud and result, use DirectAccessBit and stride // preconditions: // K < MAX_K // stack_ptr < MAX_STACK_DEPTH kernel void knnKDTree( const global T* cloud, const global T* query, global int* indices, global T* dists2, const uint K, const T maxError, const T maxRadius2, const uint optionFlags, const uint indexStride, const uint dists2Stride, const uint pointCount, #ifdef TOUCH_STATISTICS global uint* touchStatistics, #endif const global Node* nodes ) { StackEntry stack[MAX_STACK_DEPTH]; HeapEntry heap[MAX_K]; #ifdef TOUCH_STATISTICS uint visitCount = 0; #endif const size_t queryId = get_global_id(0); const bool allowSelfMatch = optionFlags & ALLOW_SELF_MATCH; const bool doSort = optionFlags & SORT_RESULTS; const global T* q = &query[queryId * POINT_STRIDE]; heapInit(heap, K); uint stackPtr = 1; stack[0].state = ONSIDE; stack[0].n = 0; while (stackPtr != 0) { --stackPtr; StackEntry* s = stack + stackPtr; const size_t n = s->n; const global Node* node = nodes + n; const int cd = node->dim; if (cd == -2) continue; const int index = node->index; const global T* p = &cloud[index * POINT_STRIDE]; // check whether we already have better dist if ((s->state == OFFSIDE) && (cd >= 0)) { const T diff = q[cd] - p[cd]; // TODO: use approximate dist // FIXME: bug in this early out //if (diff * diff > heapHeadValue(heap)) // continue; } // compute new distance and update if lower T dist = 0; for (uint i = 0; i < DIM_COUNT; ++i) { const T diff = q[i] - p[i]; dist += diff * diff; } if ((dist <= maxRadius2) && (dist < heapHeadValue(heap) && (allowSelfMatch || (dist > (T)EPSILON)))) heapHeadReplace(heap, index, dist, K); #ifdef TOUCH_STATISTICS ++visitCount; #endif // look for recursion if (cd >= 0) { const T side = q[cd] - p[cd]; const T side2 = side*side; // should we enqueue off side? if ((side2 <= maxRadius2) && (side2 * maxError < heapHeadValue(heap))) { // yes s->state = OFFSIDE; if (side >= 0) s->n = childLeft(n); else s->n = childRight(n); ++stackPtr; } // always enqueue on side s = stack + stackPtr; s->state = ONSIDE; if (side >= 0) s->n = childRight(n); else s->n = childLeft(n); ++stackPtr; } } if (doSort) heapSort(heap); heapCopy(&indices[queryId * indexStride], &dists2[queryId * dists2Stride], heap, K); #ifdef TOUCH_STATISTICS touchStatistics[queryId] = visitCount; #endif } norlab-ulaval-libnabo-cd95c8b/nabo/opencl/structure.cl000066400000000000000000000001461462511457200231470ustar00rootroot00000000000000#define ALLOW_SELF_MATCH 1 #define SORT_RESULTS 2 typedef struct { T value; int index; } HeapEntry;norlab-ulaval-libnabo-cd95c8b/nabo/third_party/000077500000000000000000000000001462511457200216375ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/nabo/third_party/any.hpp000066400000000000000000000353001462511457200231400ustar00rootroot00000000000000// // Implementation of N4562 std::experimental::any (merged into C++17) for C++11 compilers. // // See also: // + http://en.cppreference.com/w/cpp/any // + http://en.cppreference.com/w/cpp/experimental/any // + http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2015/n4562.html#any // + https://cplusplus.github.io/LWG/lwg-active.html#2509 // // // Copyright (c) 2016 Denilson das Merc�s Amorim // // Distributed under the Boost Software License, Version 1.0. (See accompanying // file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) // #ifndef LINB_ANY_HPP #define LINB_ANY_HPP #pragma once #include #include #include namespace linb { class bad_any_cast : public std::bad_cast { public: const char* what() const noexcept override { return "bad any cast"; } }; class any final { public: /// Constructs an object of type any with an empty state. any() : vtable(nullptr) { } /// Constructs an object of type any with an equivalent state as other. any(const any& rhs) : vtable(rhs.vtable) { if(!rhs.empty()) { rhs.vtable->copy(rhs.storage, this->storage); } } /// Constructs an object of type any with a state equivalent to the original state of other. /// rhs is left in a valid but otherwise unspecified state. any(any&& rhs) noexcept : vtable(rhs.vtable) { if(!rhs.empty()) { rhs.vtable->move(rhs.storage, this->storage); rhs.vtable = nullptr; } } /// Same effect as this->clear(). ~any() { this->clear(); } /// Constructs an object of type any that contains an object of type T direct-initialized with std::forward(value). /// /// T shall satisfy the CopyConstructible requirements, otherwise the program is ill-formed. /// This is because an `any` may be copy constructed into another `any` at any time, so a copy should always be allowed. template::type, any>::value>::type> any(ValueType&& value) { static_assert(std::is_copy_constructible::type>::value, "T shall satisfy the CopyConstructible requirements."); this->construct(std::forward(value)); } /// Has the same effect as any(rhs).swap(*this). No effects if an exception is thrown. any& operator=(const any& rhs) { any(rhs).swap(*this); return *this; } /// Has the same effect as any(std::move(rhs)).swap(*this). /// /// The state of *this is equivalent to the original state of rhs and rhs is left in a valid /// but otherwise unspecified state. any& operator=(any&& rhs) noexcept { any(std::move(rhs)).swap(*this); return *this; } /// Has the same effect as any(std::forward(value)).swap(*this). No effect if a exception is thrown. /// /// T shall satisfy the CopyConstructible requirements, otherwise the program is ill-formed. /// This is because an `any` may be copy constructed into another `any` at any time, so a copy should always be allowed. template::type, any>::value>::type> any& operator=(ValueType&& value) { static_assert(std::is_copy_constructible::type>::value, "T shall satisfy the CopyConstructible requirements."); any(std::forward(value)).swap(*this); return *this; } /// If not empty, destroys the contained object. void clear() noexcept { if(!empty()) { this->vtable->destroy(storage); this->vtable = nullptr; } } /// Returns true if *this has no contained object, otherwise false. bool empty() const noexcept { return this->vtable == nullptr; } /// If *this has a contained object of type T, typeid(T); otherwise typeid(void). const std::type_info& type() const noexcept { return empty()? typeid(void) : this->vtable->type(); } /// Exchange the states of *this and rhs. void swap(any& rhs) noexcept { if(this->vtable != rhs.vtable) { any tmp(std::move(rhs)); // move from *this to rhs. rhs.vtable = this->vtable; if(this->vtable != nullptr) { this->vtable->move(this->storage, rhs.storage); //this->vtable = nullptr; -- uneeded, see below } // move from tmp (previously rhs) to *this. this->vtable = tmp.vtable; if(tmp.vtable != nullptr) { tmp.vtable->move(tmp.storage, this->storage); tmp.vtable = nullptr; } } else // same types { if(this->vtable != nullptr) this->vtable->swap(this->storage, rhs.storage); } } private: // Storage and Virtual Method Table union storage_union { using stack_storage_t = typename std::aligned_storage<2 * sizeof(void*), std::alignment_of::value>::type; void* dynamic; stack_storage_t stack; // 2 words for e.g. shared_ptr }; /// Base VTable specification. struct vtable_type { // Note: The caller is responssible for doing .vtable = nullptr after destructful operations // such as destroy() and/or move(). /// The type of the object this vtable is for. const std::type_info& (*type)() noexcept; /// Destroys the object in the union. /// The state of the union after this call is unspecified, caller must ensure not to use src anymore. void(*destroy)(storage_union&) noexcept; /// Copies the **inner** content of the src union into the yet unitialized dest union. /// As such, both inner objects will have the same state, but on separate memory locations. void(*copy)(const storage_union& src, storage_union& dest); /// Moves the storage from src to the yet unitialized dest union. /// The state of src after this call is unspecified, caller must ensure not to use src anymore. void(*move)(storage_union& src, storage_union& dest) noexcept; /// Exchanges the storage between lhs and rhs. void(*swap)(storage_union& lhs, storage_union& rhs) noexcept; }; /// VTable for dynamically allocated storage. template struct vtable_dynamic { static const std::type_info& type() noexcept { return typeid(T); } static void destroy(storage_union& storage) noexcept { //assert(reinterpret_cast(storage.dynamic)); delete reinterpret_cast(storage.dynamic); } static void copy(const storage_union& src, storage_union& dest) { dest.dynamic = new T(*reinterpret_cast(src.dynamic)); } static void move(storage_union& src, storage_union& dest) noexcept { dest.dynamic = src.dynamic; src.dynamic = nullptr; } static void swap(storage_union& lhs, storage_union& rhs) noexcept { // just exchage the storage pointers. std::swap(lhs.dynamic, rhs.dynamic); } }; /// VTable for stack allocated storage. template struct vtable_stack { static const std::type_info& type() noexcept { return typeid(T); } static void destroy(storage_union& storage) noexcept { reinterpret_cast(&storage.stack)->~T(); } static void copy(const storage_union& src, storage_union& dest) { new (&dest.stack) T(reinterpret_cast(src.stack)); } static void move(storage_union& src, storage_union& dest) noexcept { // one of the conditions for using vtable_stack is a nothrow move constructor, // so this move constructor will never throw a exception. new (&dest.stack) T(std::move(reinterpret_cast(src.stack))); destroy(src); } static void swap(storage_union& lhs, storage_union& rhs) noexcept { std::swap(reinterpret_cast(lhs.stack), reinterpret_cast(rhs.stack)); } }; /// Whether the type T must be dynamically allocated or can be stored on the stack. template struct requires_allocation : std::integral_constant::value // N4562 �6.3/3 [any.class] && sizeof(T) <= sizeof(storage_union::stack) && std::alignment_of::value <= std::alignment_of::value)> {}; /// Returns the pointer to the vtable of the type T. template static vtable_type* vtable_for_type() { using VTableType = typename std::conditional::value, vtable_dynamic, vtable_stack>::type; static vtable_type table = { VTableType::type, VTableType::destroy, VTableType::copy, VTableType::move, VTableType::swap, }; return &table; } protected: template friend const T* any_cast(const any* operand) noexcept; template friend T* any_cast(any* operand) noexcept; /// Same effect as is_same(this->type(), t); bool is_typed(const std::type_info& t) const { return is_same(this->type(), t); } /// Checks if two type infos are the same. /// /// If ANY_IMPL_FAST_TYPE_INFO_COMPARE is defined, checks only the address of the /// type infos, otherwise does an actual comparision. Checking addresses is /// only a valid approach when there's no interaction with outside sources /// (other shared libraries and such). static bool is_same(const std::type_info& a, const std::type_info& b) { #ifdef ANY_IMPL_FAST_TYPE_INFO_COMPARE return &a == &b; #else return a == b; #endif } /// Casts (with no type_info checks) the storage pointer as const T*. template const T* cast() const noexcept { return requires_allocation::type>::value? reinterpret_cast(storage.dynamic) : reinterpret_cast(&storage.stack); } /// Casts (with no type_info checks) the storage pointer as T*. template T* cast() noexcept { return requires_allocation::type>::value? reinterpret_cast(storage.dynamic) : reinterpret_cast(&storage.stack); } private: storage_union storage; // on offset(0) so no padding for align vtable_type* vtable; template typename std::enable_if::value>::type do_construct(ValueType&& value) { storage.dynamic = new T(std::forward(value)); } template typename std::enable_if::value>::type do_construct(ValueType&& value) { new (&storage.stack) T(std::forward(value)); } /// Chooses between stack and dynamic allocation for the type decay_t, /// assigns the correct vtable, and constructs the object on our storage. template void construct(ValueType&& value) { using T = typename std::decay::type; this->vtable = vtable_for_type(); do_construct(std::forward(value)); } }; namespace detail { template inline ValueType any_cast_move_if_true(typename std::remove_reference::type* p, std::true_type) { return std::move(*p); } template inline ValueType any_cast_move_if_true(typename std::remove_reference::type* p, std::false_type) { return *p; } } /// Performs *any_cast>>(&operand), or throws bad_any_cast on failure. template inline ValueType any_cast(const any& operand) { auto p = any_cast::type>::type>(&operand); if(p == nullptr) throw bad_any_cast(); return *p; } /// Performs *any_cast>(&operand), or throws bad_any_cast on failure. template inline ValueType any_cast(any& operand) { auto p = any_cast::type>(&operand); if(p == nullptr) throw bad_any_cast(); return *p; } /// /// If ANY_IMPL_ANYCAST_MOVEABLE is not defined, does as N4562 specifies: /// Performs *any_cast>(&operand), or throws bad_any_cast on failure. /// /// If ANY_IMPL_ANYCAST_MOVEABLE is defined, does as LWG Defect 2509 specifies: /// If ValueType is MoveConstructible and isn't a lvalue reference, performs /// std::move(*any_cast>(&operand)), otherwise /// *any_cast>(&operand). Throws bad_any_cast on failure. /// template inline ValueType any_cast(any&& operand) { #ifdef ANY_IMPL_ANY_CAST_MOVEABLE // https://cplusplus.github.io/LWG/lwg-active.html#2509 using can_move = std::integral_constant::value && !std::is_lvalue_reference::value>; #else using can_move = std::false_type; #endif auto p = any_cast::type>(&operand); if(p == nullptr) throw bad_any_cast(); return detail::any_cast_move_if_true(p, can_move()); } /// If operand != nullptr && operand->type() == typeid(ValueType), a pointer to the object /// contained by operand, otherwise nullptr. template inline const T* any_cast(const any* operand) noexcept { if(operand == nullptr || !operand->is_typed(typeid(T))) return nullptr; else return operand->cast(); } /// If operand != nullptr && operand->type() == typeid(ValueType), a pointer to the object /// contained by operand, otherwise nullptr. template inline T* any_cast(any* operand) noexcept { if(operand == nullptr || !operand->is_typed(typeid(T))) return nullptr; else return operand->cast(); } } namespace std { inline void swap(linb::any& lhs, linb::any& rhs) noexcept { lhs.swap(rhs); } } #endif norlab-ulaval-libnabo-cd95c8b/package.xml000066400000000000000000000015641462511457200205120ustar00rootroot00000000000000 libnabo 1.1.2 libnabo is a fast K Nearest Neighbour library for low-dimensional spaces. Stéphane Magnenat BSD https://github.com/ethz-asl/libnabo Stéphane Magnenat cmake eigen boost eigen boost catkin cmake norlab-ulaval-libnabo-cd95c8b/python/000077500000000000000000000000001462511457200177105ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/python/CMakeLists.txt000066400000000000000000000072041462511457200224530ustar00rootroot00000000000000 # Find Python, make sure we use the same version for interpreter and libraries # First, allow add the user-specified version of python to our build set(Python_ADDITIONAL_VERSIONS ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}) find_package(PythonInterp) message("Python version from interpreter is ${PYTHON_VERSION_STRING}") find_package(PythonLibs) # Helper function to search for a module function(find_python_module module) string(TOUPPER ${module} module_upper) if(NOT PY_${module_upper}) if(ARGC GREATER 1 AND ARGV1 STREQUAL "REQUIRED") set(${module}_FIND_REQUIRED TRUE) endif() # A module's location is usually a directory, but for binary modules # it's a .so file. execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c" "import re, ${module}; print(re.compile('/__init__.py.*').sub('',${module}.__file__))" RESULT_VARIABLE _${module}_status OUTPUT_VARIABLE _${module}_location ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE) if(NOT _${module}_status) set(PY_${module_upper} ${_${module}_location} CACHE STRING "Location of Python module ${module}") endif(NOT _${module}_status) endif(NOT PY_${module_upper}) endfunction(find_python_module) # Make sure we have the right modules if (PYTHONLIBS_FOUND AND PYTHONINTERP_FOUND) message("Python libs and executable found, looking for numpy and boost::python") if (PYTHON_DEB_INSTALL_TARGET) set(BOOST_PYTHON_COMPONENT "python-py${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR}") else (PYTHON_DEB_INSTALL_TARGET) if (PYTHON_VERSION_MAJOR GREATER 2) set(BOOST_PYTHON_COMPONENT "python${PYTHON_VERSION_MAJOR}") else (PYTHON_VERSION_MAJOR GREATER 2) set(BOOST_PYTHON_COMPONENT "python") endif(PYTHON_VERSION_MAJOR GREATER 2) endif (PYTHON_DEB_INSTALL_TARGET) find_package(Boost COMPONENTS ${BOOST_PYTHON_COMPONENT}) find_python_module(numpy) find_package_handle_standard_args(numpy DEFAULT_MSG PY_NUMPY) if (Boost_FOUND AND NUMPY_FOUND) message("numpy and boost::python found, generating python bindings") include_directories(${PYTHON_INCLUDE_DIRS} ${PY_NUMPY}/core/include) if (SHARED_LIBS) python_add_module(pynabo SHARED nabo.cpp) target_link_libraries(pynabo ${LIB_NAME} ${Boost_LIBRARIES} ${PYTHON_LIBRARIES}) else () set(PYTHON_SRC "nabo.cpp") foreach(file ${NABO_SRC}) set(PYTHON_SRC ${PYTHON_SRC} "../${file}") endforeach(file) python_add_module(pynabo ${PYTHON_SRC}) target_link_libraries(pynabo ${Boost_LIBRARIES} ${PYTHON_LIBRARIES}) target_include_directories(pynabo PRIVATE ${EIGEN_INCLUDE_DIR}) endif () # fix for old python_add_module set_target_properties(pynabo PROPERTIES PREFIX "") if (PYTHON_CUSTOM_TARGET) install(TARGETS pynabo LIBRARY DESTINATION ${PYTHON_CUSTOM_TARGET}) else (PYTHON_CUSTOM_TARGET) if (PYTHON_DEB_INSTALL_TARGET) set(PYTHON_COMMAND "import sys; print('/usr/lib/python'+str(sys.version_info[0])+'.'+str(sys.version_info[1])+'/dist-packages')") else (PYTHON_DEB_INSTALL_TARGET) set(PYTHON_COMMAND "from distutils.sysconfig import get_python_lib; print(get_python_lib(prefix='${CMAKE_INSTALL_PREFIX}'))") endif (PYTHON_DEB_INSTALL_TARGET) execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c" "${PYTHON_COMMAND}" OUTPUT_VARIABLE PYTHON_SITE_MODULES OUTPUT_STRIP_TRAILING_WHITESPACE) install(TARGETS pynabo LIBRARY DESTINATION ${PYTHON_SITE_MODULES}) endif (PYTHON_CUSTOM_TARGET) elseif (Boost_FOUND AND NUMPY_FOUND) message("You need numpy and boost::python to generate python bindings") endif (Boost_FOUND AND NUMPY_FOUND) else (PYTHONLIBS_FOUND AND PYTHONINTERP_FOUND) message("Python libs or executable not found, skipping Python bindings") endif (PYTHONLIBS_FOUND AND PYTHONINTERP_FOUND) norlab-ulaval-libnabo-cd95c8b/python/nabo.cpp000066400000000000000000000163451462511457200213440ustar00rootroot00000000000000#include #include #include #include "../nabo/nabo.h" #include #include using namespace boost::python; typedef Nabo::NNSearchD NNSNabo; typedef NNSNabo::Index Index; typedef NNSNabo::SearchType SearchType; typedef NNSNabo::SearchOptionFlags SearchOptionFlags; typedef Eigen::Map MappedEigenDoubleMatrix; typedef Eigen::Map MappedEigenIndexMatrix; static const double infD = std::numeric_limits::infinity(); static const Index maxI = std::numeric_limits::max(); #if PY_MAJOR_VERSION >= 3 int init_numpy() { import_array(); return 0; } #else void init_numpy() { import_array(); } #endif void matrixSizeFromPythonArray(const PyObject* cloudObj, int& rowCount, int& colCount) { assert(PyArray_CHKFLAGS(cloudObj, NPY_C_CONTIGUOUS) || PyArray_CHKFLAGS(cloudObj, NPY_F_CONTIGUOUS)); assert(PyArray_NDIM(cloudObj) == 2); const npy_intp *shape = PyArray_DIMS(cloudObj); if (PyArray_CHKFLAGS(cloudObj, NPY_F_CONTIGUOUS)) { colCount = shape[1]; rowCount = shape[0]; } else { colCount = shape[0]; rowCount = shape[1]; } } void checkPythonArray(const PyObject* cloudObj, const char *paramName) { std::string startMsg("Argument \""); startMsg += paramName; startMsg += "\" "; if (!PyArray_Check(cloudObj)) throw std::runtime_error(startMsg + "must be a multi-dimensional array"); const int nDim = PyArray_NDIM(cloudObj); if (nDim != 2) throw std::runtime_error(startMsg + "must be a two-dimensional array"); if (PyArray_TYPE(cloudObj) != NPY_FLOAT64) throw std::runtime_error(startMsg + "must hold doubles"); if (!PyArray_CHKFLAGS(cloudObj, NPY_C_CONTIGUOUS) && !PyArray_CHKFLAGS(cloudObj, NPY_F_CONTIGUOUS)) throw std::runtime_error(startMsg + "must be a continuous array"); } MappedEigenDoubleMatrix* eigenFromBoostPython(const object cloudIn, const char *paramName) { int dimCount, pointCount; const PyObject *cloudObj(cloudIn.ptr()); checkPythonArray(cloudObj, paramName); matrixSizeFromPythonArray(cloudObj, dimCount, pointCount); double* cloudData(reinterpret_cast(PyArray_DATA(cloudObj))); return new MappedEigenDoubleMatrix(cloudData, dimCount, pointCount); } void eigenFromBoostPython(NNSNabo::Matrix& cloudOut, const object cloudIn, const char *paramName) { int dimCount, pointCount; const PyObject *cloudObj(cloudIn.ptr()); checkPythonArray(cloudObj, paramName); matrixSizeFromPythonArray(cloudObj, dimCount, pointCount); cloudOut.resize(dimCount, pointCount); memcpy(cloudOut.data(), PyArray_DATA(cloudObj), pointCount*dimCount*sizeof(double)); } class NearestNeighbourSearch { public: NearestNeighbourSearch(const object pycloud, const SearchType searchType = NNSNabo::KDTREE_LINEAR_HEAP, const Index dim = maxI, const dict params = dict()) { // build cloud eigenFromBoostPython(cloud, pycloud, "cloud"); // build params Nabo::Parameters _params; #if PY_MAJOR_VERSION >=3 object it = params.items(); #else object it = params.iteritems(); #endif for(int i = 0; i < len(params); ++i) { const tuple item(it.attr("next")()); const std::string key = extract(item[0]); const object val(item[1]); const std::string valType(val.ptr()->ob_type->tp_name); if (valType == "int") { const int iVal = extract(val); if (iVal >= 0) _params[key] = (unsigned)iVal; else _params[key] = iVal; } } // create search nns = NNSNabo ::create(cloud, dim, searchType, 0, _params); } ~NearestNeighbourSearch() { delete nns; } tuple knn(const object query, const Index k = 1, const double epsilon = 0, const unsigned optionFlags = 0, const double maxRadius = infD) { // map query and create output matrices MappedEigenDoubleMatrix* mappedQuery(eigenFromBoostPython(query, "query")); NNSNabo::IndexMatrix indexMatrix(k, mappedQuery->cols()); NNSNabo::Matrix dists2Matrix(k, mappedQuery->cols()); // do the search nns->knn(*mappedQuery, indexMatrix, dists2Matrix, k, epsilon, optionFlags, maxRadius); // build resulting python types npy_intp retDims[2] = { mappedQuery->cols(), k }; const int dataCount(k * mappedQuery->cols()); PyObject* dists2 = PyArray_EMPTY(2, retDims, PyArray_DOUBLE, PyArray_ISFORTRAN(query.ptr())); memcpy(PyArray_DATA(dists2), dists2Matrix.data(), dataCount*sizeof(double)); PyObject* indices = PyArray_EMPTY(2, retDims, PyArray_INT, PyArray_ISFORTRAN(query.ptr())); memcpy(PyArray_DATA(indices), indexMatrix.data(), dataCount*sizeof(int)); delete mappedQuery; // return results return make_tuple(object(handle<>(indices)), object(handle<>(dists2))); } protected: NNSNabo *nns; NNSNabo::Matrix cloud; }; BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(knn_overloads, knn, 1, 5) BOOST_PYTHON_MODULE(pynabo) { init_numpy(); enum_("SearchType", "Type of algorithm used for search.") .value("BRUTE_FORCE", NNSNabo::BRUTE_FORCE) .value("KDTREE_LINEAR_HEAP", NNSNabo::KDTREE_LINEAR_HEAP) .value("KDTREE_TREE_HEAP", NNSNabo::KDTREE_TREE_HEAP) ; enum_("SearchOptionFlags", "Flags you can OR when creating search.") .value("ALLOW_SELF_MATCH", NNSNabo::ALLOW_SELF_MATCH) .value("SORT_RESULTS", NNSNabo::SORT_RESULTS) ; class_( "NearestNeighbourSearch", "Nearest-neighbour search object, containing the data, on which you can do the knn(...) query.\n\n" "The data and query must be continuous numpy arrays.\n" "As numpy proposes both C and Fortran data orders, pynabo\n" "will always consider the contiguous dimension to be coordinates\n" "of points, regardless of order, as this provides the fastest\n" "possible execution. The return values of knn(...) will have\n" "the same order as the query and will have the different results\n" "of each point in the contiguous dimension." , init >( "Create a nearest-neighbour search.\n\n" "Arguments:\n" " data -- data-point cloud in which to search, must be a numpy array\n" " searchType -- type of search, default: KDTREE_LINEAR_HEAP\n" " dim -- number of dimensions to consider, must be lower or equal to cloud.rows(), default: dim of data\n" " creationOptionFlags -- creation options, a bitwise OR of elements of CreationOptionFlags", args("self", "data", "searchType", "dim", "creationOptionFlags, default: 0") ) ) .def("knn", &NearestNeighbourSearch::knn, knn_overloads( args("self", "query", "k", "epsilon", "optionFlags", "maxRadius"), "Find the k nearest neighbours of query in data.\n\n" "Arguments:\n" " query -- query points, must be a numpy array\n" " k -- number of nearest neighbour requested, default: 1\n" " epsilon -- maximal ratio of error for approximate search, 0 for exact search; has no effect if the number of neighbour found is smaller than the number requested; default: 0.\n" " optionFlags -- search options, a bitwise OR of elements of SearchOptionFlags, default: 0\n" " maxRadius -- maximum radius in which to search, can be used to prune search, is not affected by epsilon, default: inf\n\n" "Returns:\n" " A tuple of two 2D numpy arrays, the first containing indices to points in data, the other containing squared distances." ) ) ; } norlab-ulaval-libnabo-cd95c8b/python/test.py000066400000000000000000000003641462511457200212440ustar00rootroot00000000000000from pynabo import * import numpy as np x = np.array([[0.,3.], [1,2], [4,5]]) print(x) nns = NearestNeighbourSearch(x) q = np.array([[1.1, 2.]]) print(q) res = nns.knn(q, 2, 0, SearchOptionFlags.ALLOW_SELF_MATCH) print(res[0]) print(res[1]) norlab-ulaval-libnabo-cd95c8b/tests/000077500000000000000000000000001462511457200175315ustar00rootroot00000000000000norlab-ulaval-libnabo-cd95c8b/tests/CMakeLists.txt000066400000000000000000000137131462511457200222760ustar00rootroot00000000000000include (CheckSymbolExists) include_directories(..) add_executable(knnvalidate knnvalidate.cpp) target_link_libraries(knnvalidate ${LIB_NAME} ${EXTRA_LIBS}) # disable as experimental is broken target_link_libraries(knnvalidate naboexperimental nabo ${EXTRA_LIBS}) add_test(validation-2D-exhaustive ${EXECUTABLE_OUTPUT_PATH}/knnvalidate ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.2d.txt 10 2 -1) add_test(validation-2D-random ${EXECUTABLE_OUTPUT_PATH}/knnvalidate ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.2d.txt 10 2 10000) add_test(validation-3D-exhaustive ${EXECUTABLE_OUTPUT_PATH}/knnvalidate ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.3d.txt 10 3 -1) add_test(validation-3D-random ${EXECUTABLE_OUTPUT_PATH}/knnvalidate ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.3d.txt 10 3 10000) add_test(validation-3D-large-random ${EXECUTABLE_OUTPUT_PATH}/knnvalidate ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.3d.large.txt 10 3 1000) add_test(validation-3D-large-random-radius ${EXECUTABLE_OUTPUT_PATH}/knnvalidate ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.3d.large.txt 10 3 1000 0.5) find_path(ANN_INCLUDE_DIR ANN.h /usr/local/include/ANN /usr/include/ANN ) find_library(ANN_LIBRARY NAMES ANN ann PATHS /usr/local/lib /usr/lib ) if (ANN_INCLUDE_DIR AND ANN_LIBRARY) include_directories(${ANN_INCLUDE_DIR}) set(EXTRA_LIBS ${ANN_LIBRARY} ${EXTRA_LIBS}) add_definitions(-DHAVE_ANN) message("ANN found, enabling it in benchmarks") else (ANN_INCLUDE_DIR AND ANN_LIBRARY) message("ANN not found, disabling it in benchmarks") endif (ANN_INCLUDE_DIR AND ANN_LIBRARY) find_path(FLANN_INCLUDE_DIR flann/flann.hpp /usr/local/include/ /usr/include ) find_library(FLANN_LIBRARY flann_cpp PATHS /usr/local/lib /usr/lib ) if (FLANN_INCLUDE_DIR AND FLANN_LIBRARY) include_directories(${FLANN_INCLUDE_DIR}) set(EXTRA_LIBS ${FLANN_LIBRARY} ${EXTRA_LIBS}) add_definitions(-DHAVE_FLANN) message("FLANN found, enabling it in benchmarks") else (FLANN_INCLUDE_DIR AND FLANN_LIBRARY) message("FLANN not found, disabling it in benchmarks") endif (FLANN_INCLUDE_DIR AND FLANN_LIBRARY) include_directories(..) add_executable(knnbench knnbench.cpp) target_link_libraries(knnbench ${LIB_NAME} ${EXTRA_LIBS}) # disable as experimental is broken target_link_libraries(knnbench naboexperimental nabo ${EXTRA_LIBS}) add_test(bench-3D-large-exhaustive-10000-K1 ${EXECUTABLE_OUTPUT_PATH}/knnbench ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.3d.large.txt 1 -10000 3 5) add_test(bench-3D-large-exhaustive-1000-K1 ${EXECUTABLE_OUTPUT_PATH}/knnbench ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.3d.large.txt 1 -1000 3 5) add_test(bench-3D-large-exhaustive-100-K1 ${EXECUTABLE_OUTPUT_PATH}/knnbench ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.3d.large.txt 1 -100 3 5) add_test(bench-3D-large-random-K1 ${EXECUTABLE_OUTPUT_PATH}/knnbench ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.3d.large.txt 1 40000 3 5) add_test(bench-3D-large-exhaustive-10000-K10 ${EXECUTABLE_OUTPUT_PATH}/knnbench ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.3d.large.txt 10 -10000 3 5) add_test(bench-3D-large-exhaustive-1000-K10 ${EXECUTABLE_OUTPUT_PATH}/knnbench ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.3d.large.txt 10 -1000 3 5) add_test(bench-3D-large-exhaustive-100-K10 ${EXECUTABLE_OUTPUT_PATH}/knnbench ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.3d.large.txt 10 -100 3 5) add_test(bench-3D-large-random-K20 ${EXECUTABLE_OUTPUT_PATH}/knnbench ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.3d.large.txt 10 40000 3 5) add_test(bench-3D-large-exhaustive-10000-K30 ${EXECUTABLE_OUTPUT_PATH}/knnbench ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.3d.large.txt 30 -10000 3 5) add_test(bench-3D-large-exhaustive-1000-K30 ${EXECUTABLE_OUTPUT_PATH}/knnbench ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.3d.large.txt 30 -1000 3 5) add_test(bench-3D-large-exhaustive-100-K30 ${EXECUTABLE_OUTPUT_PATH}/knnbench ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.3d.large.txt 30 -100 3 5) add_test(bench-3D-large-random-K30 ${EXECUTABLE_OUTPUT_PATH}/knnbench ${CMAKE_CURRENT_SOURCE_DIR}/data/scan.3d.large.txt 30 40000 3 5) add_executable(knnepsilon knnepsilon.cpp) target_link_libraries(knnepsilon ${LIB_NAME} ${EXTRA_LIBS}) add_executable(knnbucketsize knnbucketsize.cpp) target_link_libraries(knnbucketsize ${LIB_NAME} ${EXTRA_LIBS}) # Ensure that users cannot instantiate a tree with wrong matrix types. macro(try_compile_cloud_types MAT_TYPE TREE_TYPE EXPECT) try_compile(COMPILE_SUCCEEDED "${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/invalid_matrix_types.cpp" COMPILE_DEFINITIONS "-std=c++11 -D${MAT_TYPE} -D${TREE_TYPE} -I${CMAKE_CURRENT_SOURCE_DIR}/../ -I${CMAKE_CURRENT_SOURCE_DIR}/../third_party/ -I${EIGEN_INCLUDE_DIR} -l${LIB_NAME}" CMAKE_FLAGS "-DCMAKE_CXX_LINK_EXECUTABLE='echo not linking now...'" OUTPUT_VARIABLE OUTPUT) if (${EXPECT} STREQUAL "TRUE") if (NOT COMPILE_SUCCEEDED) message( FATAL_ERROR "Compiling a test executable failed. This is an error. Message ${OUTPUT}." ) endif () else () if (COMPILE_SUCCEEDED) message( FATAL_ERROR "Tried to instantiate nabo-search trees with non-allowed types and succeeded. This is an error. Message ${OUTPUT}" ) endif () endif () endmacro(try_compile_cloud_types) set(RUN_COMPILATION_TESTS false CACHE BOOL "Set to true to test the compilation of libnabo with different matrix types. Will only work with GCC and Clang.") if (RUN_COMPILATION_TESTS AND (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")) try_compile_cloud_types(NABO_EIGEN_DYNAMIC_TYPE NABO_TYPE_CREATE TRUE) try_compile_cloud_types(NABO_EIGEN_DYNAMIC_TYPE NABO_TYPE_BRUTE_FORCE TRUE) try_compile_cloud_types(NABO_EIGEN_DYNAMIC_TYPE NABO_TYPE_LINEAR_HEAP TRUE) try_compile_cloud_types(NABO_EIGEN_DYNAMIC_TYPE NABO_TYPE_TREE_HEAP TRUE) try_compile_cloud_types(NABO_EIGEN_SEMI_DYNAMIC_TYPE NABO_TYPE_CREATE FALSE) try_compile_cloud_types(NABO_EIGEN_SEMI_DYNAMIC_TYPE NABO_TYPE_BRUTE_FORCE FALSE) try_compile_cloud_types(NABO_EIGEN_SEMI_DYNAMIC_TYPE NABO_TYPE_LINEAR_HEAP FALSE) try_compile_cloud_types(NABO_EIGEN_SEMI_DYNAMIC_TYPE NABO_TYPE_TREE_HEAP FALSE) endif () 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95.8197 24.9038 66.3854 95.1175 25.1755 67.1094 95.2024 25.6585 68.397 95.1129 26.1007 69.5757 95.9478 26.8066 71.4576 95.2004 27.0776 72.1799 95.1413 27.5471 73.4314 95.1427 28.0409 74.7476 95.1268 28.5367 76.0695 95.0934 29.0346 77.3966 95.0425 29.5344 78.729 95.5684 30.2242 80.5676 94.6664 30.4685 81.2189 95.3685 31.2366 83.2663 95.2417 31.7453 84.6225 95.0967 32.2556 85.9827 94.363 32.5705 86.8221 94.823 33.3055 88.7814 95.2536 34.0458 90.7549 94.4041 34.3365 91.5297 94.6488 35.0322 93.3842 94.3886 35.552 94.7699 94.1773 36.0989 96.2277 94.4143 36.8302 98.1771 94.0258 37.3286 99.5057 94.2757 38.0925 101.542 93.9102 38.6205 102.949 93.7827 39.2565 104.645 93.8851 40.0033 106.635 94.1463 40.8354 108.854 93.5639 41.3148 110.132 93.6421 42.0981 112.219 93.6275 42.8574 114.244 93.1008 43.3952 115.677 93.0303 44.1588 117.713 93.6342 45.2662 120.665 93.6093 46.0948 122.873 93.5503 46.9269 125.092 92.3242 47.183 125.774 96.7963 50.4049 134.363 115.52 61.3024 163.412 115.355 62.3905 166.312 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147.484 393.145 85.0054 153.602 409.452 84.5391 160.211 427.07 84.1152 167.555 446.647 82.0617 172.241 459.137 81.7214 181.228 483.094 82.0342 192.796 513.931 77.2828 193.145 514.86 72.3376 192.991 514.451 67.5644 193.275 515.208 62.3863 192.323 512.67 57.6684 192.717 513.719 52.6768 192.152 512.214 47.9531 192.516 513.184 43.0113 191.955 511.69 38.3242 192.501 513.143 33.4485 192.085 512.034 28.7063 192.39 512.849 23.8467 191.84 511.381 19.1214 192.326 512.678 14.2952 191.746 511.131 9.54472 192.063 511.977 4.76207 191.664 510.912 3.34501e-14 191.882 511.493 -4.75945 191.558 510.631 -9.53949 191.958 511.696 -14.2612 191.289 509.913 -19.0656 191.765 511.181 -23.7638 191.173 509.603 -28.5911 191.619 510.792 -33.2592 190.998 509.137 -38.0661 191.204 509.687 -42.8387 191.185 509.636 -47.7178 191.572 510.666 -52.3318 190.893 508.858 -57.2293 191.25 509.809 -61.9108 190.858 508.763 -66.8697 191.288 509.911 -71.5022 190.762 508.509 -76.4478 191.058 509.296 -81.103 190.608 508.097 -86.0702 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96.999 13.3921 34.7426 96.5773 13.6829 35.4969 96.3344 13.999 36.3169 96.8226 14.4247 37.4213 97.3894 14.8686 38.5729 96.2913 15.059 39.0668 96.7445 15.4923 40.1909 96.5469 15.8252 41.0545 95.978 16.0972 41.7602 96.5766 16.5681 42.982 96.7102 16.9652 44.0121 96.2054 17.2521 44.7564 95.8723 17.5697 45.5804 96.152 18.0028 46.7039 96.5062 18.4559 47.8793 96.0547 18.7581 48.6633 96.2956 19.1983 49.8054 95.9132 19.5176 50.6336 95.3494 19.7999 51.366 96.4163 20.427 52.9928 95.8313 20.7103 53.7279 96.0925 21.1794 54.9449 96.1687 21.6136 56.0713 95.6406 21.9147 56.8523 95.7762 22.3708 58.0355 95.9803 22.8492 59.2766 95.9196 23.2702 60.3689 95.3514 23.5704 61.1477 95.677 24.0957 62.5104 95.6586 24.5413 63.6664 95.7067 25.0097 64.8817 95.7394 25.4803 66.1025 95.1175 25.7799 66.8796 95.2024 26.2745 68.1627 95.9797 26.9709 69.9694 95.2434 27.2487 70.6901 95.2004 27.7277 71.9327 95.1413 28.2084 73.1799 95.1427 28.7141 74.4916 95.1268 29.2218 75.8089 95.7726 29.944 77.6825 95.6416 30.4341 78.954 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-5.777508 -1.043806 7.920514 -5.985589 -1.078248 8.669918 -1.178274 -0.278657 3.375156 -1.344727 -0.305833 4.159889 -0.206092 -0.115038 4.478362 -3.285428 -0.518969 -0.953252 -3.638039 -0.567945 -0.954467 -6.241399 -0.924641 -0.962152 -8.617513 -1.250989 -0.971036 -9.505502 -1.372308 -0.979595 -10.210740 -1.466259 6.484989 -2.947650 -0.470598 4.466868 -3.875720 -0.596657 6.433325 -0.716789 -0.165067 3.618014 -5.662335 -0.659810 -0.964273 -6.057619 -0.702139 -0.964350 -7.007477 -0.803276 -0.964912 -19.358847 -2.126326 -0.254604 -7.980658 -0.905778 4.003966 -8.097831 -0.918001 4.564182 -5.978697 -0.690689 5.981566 -2.786044 -0.349820 4.469724 -4.038494 -0.482951 6.323491 -1.128066 -0.172789 3.285720 -0.735078 -0.130281 4.134250 -0.680899 -0.123719 4.977933 -0.013302 -0.051888 6.245642 -3.477068 -0.308743 -0.952327 -7.256730 -0.602042 -0.952574 -6.416618 -0.534315 5.487653 -2.785033 -0.253080 4.520314 -4.201212 -0.361793 6.404025 -0.948628 -0.110997 3.717803 -0.835843 -0.102114 3.730886 -0.651700 -0.087436 3.705096 -0.252531 -0.056441 4.511102 -3.969234 -0.213833 -0.952669 -6.477083 -0.333977 -0.948583 -8.265545 -0.419102 -0.959977 -10.966218 -0.547876 -0.940058 -5.656957 -0.292643 5.380330 -2.298129 -0.132345 5.058929 -1.001842 -0.070478 3.540015norlab-ulaval-libnabo-cd95c8b/tests/data/sources.txt000066400000000000000000000003421462511457200226650ustar00rootroot00000000000000scan.2d.txt scan.3d.txt François Pomerleau, ETHZ, Switzerland scan.3d.large.txt Andreas Nüchter and Kai Lingemann, University of Osnabrück, Germany http://kos.informatik.uni-osnabrueck.de/3Dscans/dagstuhl/scan000.3d norlab-ulaval-libnabo-cd95c8b/tests/helpers.h000066400000000000000000000105421462511457200213460ustar00rootroot00000000000000/* Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland You can contact the author at 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 the 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 ETH-ASL 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. */ #ifndef __NABE_TEST_HELPERS_H #define __NABE_TEST_HELPERS_H #include "nabo/nabo.h" #include #include #include #include #include using namespace std; using namespace Nabo; template typename NearestNeighbourSearch::Matrix load(const char *fileName) { typedef typename NearestNeighbourSearch::Matrix Matrix; ifstream ifs(fileName); if (!ifs.good()) { cerr << "Cannot open file "<< fileName << endl; exit(1); } vector data; int dim(0); bool firstLine(true); while (!ifs.eof()) { char line[1024]; ifs.getline(line, sizeof(line)); line[sizeof(line)-1] = 0; char *token = strtok(line, " \t,;"); while (token) { if (firstLine) ++dim; data.push_back(atof(token)); token = strtok(NULL, " \t,;"); // FIXME: non reentrant, use strtok_r } firstLine = false; } return Matrix::Map(&data[0], dim, data.size() / dim); } template typename NearestNeighbourSearch::Vector createQuery(const typename NearestNeighbourSearch::Matrix& d, const NearestNeighbourSearch& kdt, const int i, const int method) { typedef typename NearestNeighbourSearch::Vector VectorT; if (method < 0) { VectorT q = d.col(i % d.cols()); T absBound = 0; for (int j = 0; j < q.size(); ++j) absBound += kdt.maxBound(j) - kdt.minBound(j); absBound /= (-method); // divided by -method #ifdef EIGEN3_API if (i < d.cols()) q.array() += absBound; else q.array() -= absBound; #else // EIGEN3_API if (i < d.cols()) q.cwise() += absBound; else q.cwise() -= absBound; #endif // EIGEN3_API return q; } else { VectorT q(kdt.minBound.size()); for (int j = 0; j < q.size(); ++j) q(j) = kdt.minBound(j) + T(rand()) * (kdt.maxBound(j) - kdt.minBound(j)) / T(RAND_MAX); return q; } } template typename NearestNeighbourSearch::Matrix createQuery(const typename NearestNeighbourSearch::Matrix& d, const int itCount, const int method) { typedef typename NearestNeighbourSearch::Matrix MatrixT; typedef Nabo::NearestNeighbourSearch NNS; NNS* nns = NNS::create(d, d.rows(), typename NNS::SearchType(0)); MatrixT q(d.rows(), itCount); for (int i = 0; i < itCount; ++i) q.col(i) = createQuery(d, *nns, i, method); delete nns; return q; } struct timer { using Clock = std::chrono::high_resolution_clock; using Time = Clock::time_point; timer():_start_time(curTime()){ } void restart() { _start_time = curTime(); } double elapsed() const // return elapsed time in seconds { using namespace std::chrono; return duration_cast>(curTime() - _start_time).count(); } private: Time curTime() const { return Clock::now(); } Time _start_time; }; #endif // __NABE_TEST_HELPERS_H /* vim: set ts=8 sw=8 tw=0 noexpandtab cindent softtabstop=8 :*/ norlab-ulaval-libnabo-cd95c8b/tests/invalid_matrix_types.cpp000066400000000000000000000052361462511457200245010ustar00rootroot00000000000000/* Copyright (c) 2015, Simon Lynen, Google Inc. You can contact the author at 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 the 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 ETH-ASL 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. */ #include "nabo/nabo.h" /* * These tests ensure that the instantiation of Nabo Trees with non-matching * matrix types is not allowed. */ template int testFunction() { MatrixType M = MatrixType::Random(3, 100); MatrixType q = MatrixType::Random(3, 5); #ifdef NABO_TYPE_CREATE Nabo::NNSearchF* nns = Nabo::NNSearchF::create(M); #endif // NABO_TYPE_CREATE #ifdef NABO_TYPE_BRUTE_FORCE Nabo::NNSearchF* nns = Nabo::NNSearchF::createBruteForce(M); #endif // NABO_TYPE_BRUTE_FORCE #ifdef NABO_TYPE_LINEAR_HEAP Nabo::NNSearchF* nns = Nabo::NNSearchF::createKDTreeLinearHeap(M); #endif // NABO_TYPE_TREE_HEAP #ifdef NABO_TYPE_TREE_HEAP Nabo::NNSearchF* nns = Nabo::NNSearchF::createKDTreeTreeHeap(M); #endif // NABO_TYPE_TREE_HEAP delete nns; return 0; } int main(int /*argc*/, char** /*argv*/) { // Ensure that the test as such compiles. #ifdef NABO_EIGEN_DYNAMIC_TYPE int value = testFunction(); #endif // NABO_EIGEN_DYNAMIC_TYPE #ifdef NABO_EIGEN_SEMI_DYNAMIC_TYPE int value = testFunction >(); #endif // NABO_EIGEN_SEMI_DYNAMIC_TYPE return value; } norlab-ulaval-libnabo-cd95c8b/tests/knnbench.cpp000066400000000000000000000340541462511457200220310ustar00rootroot00000000000000/* Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland You can contact the author at 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 the 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 ETH-ASL 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. */ // currently disable FLANN #undef HAVE_FLANN #include "nabo/nabo.h" #include "experimental/nabo_experimental.h" #include "helpers.h" #ifdef HAVE_ANN #include "ANN.h" #endif // HAVE_ANN #ifdef HAVE_FLANN #include "flann/flann.hpp" #endif // HAVE_FLANN #include #include #include using namespace std; using namespace Nabo; typedef Nabo::NearestNeighbourSearch::Matrix MatrixD; typedef Nabo::NearestNeighbourSearch::Vector VectorD; typedef Nabo::NearestNeighbourSearch::Index IndexD; typedef Nabo::NearestNeighbourSearch::IndexVector IndexVectorD; typedef Nabo::NearestNeighbourSearch::Matrix MatrixF; typedef Nabo::NearestNeighbourSearch::Vector VectorF; typedef Nabo::NearestNeighbourSearch::Index IndexF; typedef Nabo::NearestNeighbourSearch::IndexVector IndexVectorF; typedef Nabo::BruteForceSearch BFSD; typedef Nabo::BruteForceSearch BFSF; // typedef Nabo::KDTreeBalancedPtInNodesPQ KDTD1; // typedef Nabo::KDTreeBalancedPtInNodesStack KDTD2; // struct KDTD3: public Nabo::KDTreeBalancedPtInLeavesStack // { // KDTD3(const Matrix& cloud): // Nabo::KDTreeBalancedPtInLeavesStack(cloud, true) // {} // }; // struct KDTD4: public Nabo::KDTreeBalancedPtInLeavesStack // { // KDTD4(const Matrix& cloud): // Nabo::KDTreeBalancedPtInLeavesStack(cloud, false) // {} // }; // typedef Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStack> KDTD5A; // typedef Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStack> KDTD5B; // typedef Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt> KDTD5OB; // typedef Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt> KDTD5OA; // typedef Nabo::KDTreeUnbalancedPtInLeavesExplicitBoundsStack KDTD6; struct BenchResult { double creationDuration; double executionDuration; double visitCount; double totalCount; BenchResult(): creationDuration(0), executionDuration(0), visitCount(0), totalCount(0) {} void operator +=(const BenchResult& that) { creationDuration += that.creationDuration; executionDuration += that.executionDuration; visitCount += that.visitCount; totalCount += that.totalCount; } void operator /=(const double factor) { creationDuration /= factor; executionDuration /= factor; visitCount /= factor; totalCount /= factor; } }; typedef vector BenchResults; // template // BenchResult doBench(const Matrix& d, const Matrix& q, const Index K, const int itCount) // { // BenchResult result; // timer t; // T nns(d); // result.creationDuration = t.elapsed(); // // t.restart(); // nns.knnM(q, K, 0, 0); // result.executionDuration = t.elapsed(); // // result.visitCount = double(nns.getStatistics().totalVisitCount); // result.totalCount = double(itCount) * double(d.cols()); // // return result; // } template BenchResult doBenchType(const typename NearestNeighbourSearch::SearchType type, const unsigned creationOptionFlags, const typename NearestNeighbourSearch::Matrix& d, const typename NearestNeighbourSearch::Matrix& q, const int K, const int /*itCount*/, const int searchCount) { typedef NearestNeighbourSearch nnsT; typedef typename NearestNeighbourSearch::Matrix Matrix; typedef typename NearestNeighbourSearch::IndexMatrix IndexMatrix; BenchResult result; timer t; nnsT* nns(nnsT::create(d, d.rows(), type, creationOptionFlags)); result.creationDuration = t.elapsed(); for (int s = 0; s < searchCount; ++s) { t.restart(); IndexMatrix indices(K, q.cols()); Matrix dists2(K, q.cols()); const unsigned long visitCount = nns->knn(q, indices, dists2, K, 0, 0); result.executionDuration += t.elapsed(); result.visitCount += double(visitCount); } result.executionDuration /= double(searchCount); result.visitCount /= double(searchCount); delete nns; result.totalCount = double(q.cols()) * double(d.cols()); return result; } #ifdef HAVE_ANN BenchResult doBenchANNStack(const MatrixD& d, const MatrixD& q, const int K, const int itCount, const int searchCount) { BenchResult result; timer t; const int ptCount(d.cols()); const double **pa = new const double *[d.cols()]; for (int i = 0; i < ptCount; ++i) pa[i] = &d.coeff(0, i); ANNkd_tree* ann_kdt = new ANNkd_tree(const_cast(pa), ptCount, d.rows(), 8); result.creationDuration = t.elapsed(); for (int s = 0; s < searchCount; ++s) { t.restart(); ANNidx nnIdx[K]; ANNdist dists[K]; for (int i = 0; i < itCount; ++i) { const VectorD& tq(q.col(i)); ANNpoint queryPt(const_cast(&tq.coeff(0))); ann_kdt->annkSearch( // search queryPt, // query point K, // number of near neighbours nnIdx, // nearest neighbours (returned) dists, // distance (returned) 0); // error bound } result.executionDuration += t.elapsed(); } result.executionDuration /= double(searchCount); return result; } BenchResult doBenchANNPriority(const MatrixD& d, const MatrixD& q, const int K, const int itCount, const int searchCount) { BenchResult result; timer t; const int ptCount(d.cols()); const double **pa = new const double *[d.cols()]; for (int i = 0; i < ptCount; ++i) pa[i] = &d.coeff(0, i); ANNkd_tree* ann_kdt = new ANNkd_tree(const_cast(pa), ptCount, d.rows(), 8); result.creationDuration = t.elapsed(); for (int s = 0; s < searchCount; ++s) { t.restart(); ANNidx nnIdx[K]; ANNdist dists[K]; for (int i = 0; i < itCount; ++i) { const VectorD& tq(q.col(i)); ANNpoint queryPt(const_cast(&tq.coeff(0))); ann_kdt->annkPriSearch( // search queryPt, // query point K, // number of near neighbours nnIdx, // nearest neighbours (returned) dists, // distance (returned) 0); // error bound } result.executionDuration += t.elapsed(); } result.executionDuration /= double(searchCount); return result; } #endif // HAVE_ANN #ifdef HAVE_FLANN template BenchResult doBenchFLANN(const Matrix& d, const Matrix& q, const Index K, const int itCount) { BenchResult result; const int dimCount(d.rows()); const int dPtCount(d.cols()); const int qPtCount(itCount); flann::Matrix dataset(new T[dPtCount*dimCount], dPtCount, dimCount); for (int point = 0; point < dPtCount; ++point) for (int dim = 0; dim < dimCount; ++dim) dataset[point][dim] = d(dim, point); flann::Matrix query(new T[qPtCount*dimCount], qPtCount, dimCount); for (int point = 0; point < qPtCount; ++point) for (int dim = 0; dim < dimCount; ++dim) query[point][dim] = q(dim, point); flann::Matrix indices(new int[query.rows*K], query.rows, K); flann::Matrix dists(new float[query.rows*K], query.rows, K); // construct an randomized kd-tree index using 4 kd-trees timer t; flann::Index index(dataset, flann::KDTreeIndexParams(4) /*flann::AutotunedIndexParams(0.9)*/); // exact search index.buildIndex(); result.creationDuration = t.elapsed(); t.restart(); // do a knn search, using 128 checks index.knnSearch(query, indices, dists, int(K), flann::SearchParams(128)); // last parameter ignored because of autotuned result.executionDuration = t.elapsed(); dataset.free(); query.free(); indices.free(); dists.free(); return result; } #endif // HAVE_FLANN int main(int argc, char* argv[]) { if (argc != 6) { cerr << "Usage " << argv[0] << " DATA K METHOD RUN_COUNT SEARCH_COUNT" << endl; return 1; } const MatrixD dD(load(argv[1])); const MatrixF dF(load(argv[1])); const int K(atoi(argv[2])); const int method(atoi(argv[3])); const int itCount(method >= 0 ? method : dD.cols() * 2); const int runCount(atoi(argv[4])); const int searchCount(atoi(argv[5])); // compare KDTree with brute force search if (K >= dD.cols()) { cerr << "Requested more nearest neighbour than points in the data set" << endl; return 2; } // create queries MatrixD qD(createQuery(dD, itCount, method)); MatrixF qF(createQuery(dF, itCount, method)); const char* benchLabels[] = { //doBench("Nabo, pt in nodes, priority, balance variance", //doBench("Nabo, pt in nodes, stack, balance variance", //doBench("Nabo, balanced, stack, pt in leaves only, balance variance", //"Nabo, balanced, stack, pt in leaves only, balance cell aspect ratio", //"Nabo, unbalanced, stack, pt in leaves only, implicit bounds, ANN_KD_SL_MIDPT, STL heap", //"Nabo, unbalanced, stack, pt in leaves only, implicit bounds, ANN_KD_SL_MIDPT, brute-force vector heap", "Nabo, double, unbalanced, stack, pt in leaves only, implicit bounds, ANN_KD_SL_MIDPT, brute-force vector heap, opt", "Nabo, double, unbalanced, stack, pt in leaves only, implicit bounds, ANN_KD_SL_MIDPT, STL heap, opt", "Nabo, float, unbalanced, stack, pt in leaves only, implicit bounds, ANN_KD_SL_MIDPT, brute-force vector heap, opt", "Nabo, float, unbalanced, stack, pt in leaves only, implicit bounds, ANN_KD_SL_MIDPT, STL heap, opt", "Nabo, float, unbalanced, stack, pt in leaves only, implicit bounds, ANN_KD_SL_MIDPT, STL heap, opt, stats", #ifdef HAVE_OPENCL "Nabo, float, OpenCL, GPU, balanced, points in nodes, stack, implicit bounds, balance aspect ratio, stats", "Nabo, float, OpenCL, GPU, balanced, points in leaves, stack, implicit bounds, balance aspect ratio, stats", //"Nabo, float, OpenCL, GPU, brute force", #endif // HAVE_OPENCL //"Nabo, unbalanced, points in leaves, stack, explicit bounds, ANN_KD_SL_MIDPT", #ifdef HAVE_ANN "ANN stack, double", //"ANN priority", #endif // HAVE_ANN #ifdef HAVE_FLANN "FLANN, double", "FLANN, float", #endif // HAVE_FLANN }; // do bench themselves, accumulate over several times size_t benchCount(sizeof(benchLabels) / sizeof(const char *)); cout << "Doing " << benchCount << " different benches " << runCount << " times, with " << searchCount << " query per run" << endl; BenchResults results(benchCount); for (int run = 0; run < runCount; ++run) { size_t i = 0; //results.at(i++) += doBench(d, q, K, itCount, searchCount); //results.at(i++) += doBench(d, q, K, itCount, searchCount); //results.at(i++) += doBench(d, q, K, itCount, searchCount); //results.at(i++) += doBench(d, q, K, itCount, searchCount); //results.at(i++) += doBench(d, q, K, itCount, searchCount); //results.at(i++) += doBench(d, q, K, itCount, searchCount); results.at(i++) += doBenchType(NNSearchD::KDTREE_LINEAR_HEAP, 0, dD, qD, K, itCount, searchCount); results.at(i++) += doBenchType(NNSearchD::KDTREE_TREE_HEAP, 0, dD, qD, K, itCount, searchCount); results.at(i++) += doBenchType(NNSearchF::KDTREE_LINEAR_HEAP, 0, dF, qF, K, itCount, searchCount); results.at(i++) += doBenchType(NNSearchF::KDTREE_TREE_HEAP, 0, dF, qF, K, itCount, searchCount); results.at(i++) += doBenchType(NNSearchF::KDTREE_TREE_HEAP, NNSearchF::TOUCH_STATISTICS, dF, qF, K, itCount, searchCount); #ifdef HAVE_OPENCL results.at(i++) += doBenchType(NNSearchF::KDTREE_CL_PT_IN_NODES, NNSearchF::TOUCH_STATISTICS, dF, qF, K, itCount, searchCount); results.at(i++) += doBenchType(NNSearchF::KDTREE_CL_PT_IN_LEAVES, NNSearchF::TOUCH_STATISTICS, dF, qF, K, itCount, searchCount); //results.at(i++) += doBenchType(NNSearchF::BRUTE_FORCE_CL, dF, qF, K, itCount, searchCount); #endif // HAVE_OPENCL #ifdef HAVE_ANN results.at(i++) += doBenchANNStack(dD, qD, K, itCount, searchCount); //results.at(i++) += doBenchANNPriority(d, q, K, itCount); #endif // HAVE_ANN #ifdef HAVE_FLANN results.at(i++) += doBenchFLANN(dD, qD, K, itCount, searchCount); results.at(i++) += doBenchFLANN(dF, qF, K, itCount, searchCount); #endif // HAVE_FLANN } // print results cout << "Showing average over " << runCount << " runs\n\n"; for (size_t i = 0; i < benchCount; ++i) { results[i] /= double(runCount); cout << "Method " << benchLabels[i] << ":\n"; cout << " creation duration: " << results[i].creationDuration << "\n"; cout << " execution duration: " << results[i].executionDuration << "\n"; if (results[i].totalCount != 0) { cout << " visit count: " << results[i].visitCount << "\n"; cout << " total count: " << results[i].totalCount << "\n"; cout << " precentage visit: " << (results[i].visitCount * 100.) / results[i].totalCount << "\n"; } else cout << " no stats for visits\n"; cout << endl; } return 0; } norlab-ulaval-libnabo-cd95c8b/tests/knnbucketsize.cpp000066400000000000000000000063411462511457200231200ustar00rootroot00000000000000/* Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland You can contact the author at 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 the 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 ETH-ASL 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. */ #include "nabo/nabo.h" #include "helpers.h" #include #include #include using namespace std; using namespace Nabo; template void doTestEpsilon(const char *fileName, const int K, const int method, const int searchCount) { typedef Nabo::NearestNeighbourSearch NNS; typedef typename NNS::Matrix Matrix; typedef typename NNS::IndexMatrix IndexMatrix; // check if file is ok const Matrix d(load(fileName)); if (K >= d.cols()) { cerr << "Requested more nearest neighbour than points in the data set" << endl; exit(2); } // check methods together const int itCount(method >= 0 ? method : d.cols() * 2); // create big query const Matrix q(createQuery(d, itCount, method)); IndexMatrix indexes_bf(K, q.cols()); Matrix dists2_bf(K, q.cols()); for (unsigned bucketSize = 2; bucketSize < 40; ++bucketSize) { Parameters additionalParameters("bucketSize", unsigned(bucketSize)); NNS* nns = NNS::createKDTreeLinearHeap(d, std::numeric_limits::max(), 0, additionalParameters); double duration(0); for (int s = 0; s < searchCount; ++s) { timer t; nns->knn(q, indexes_bf, dists2_bf, K, 0, NNS::ALLOW_SELF_MATCH); duration += t.elapsed(); } cout << bucketSize << " " << duration/double(searchCount) << endl; delete nns; } } int main(int argc, char* argv[]) { if (argc != 5) { cerr << "Usage " << argv[0] << " DATA K METHOD SEARCH_COUNT" << endl; return 1; } const int K(atoi(argv[2])); const int method(atoi(argv[3])); const int searchCount(atoi(argv[4])); cout << "bucketSize average_duration\n"; doTestEpsilon(argv[1], K, method, searchCount); return 0; } norlab-ulaval-libnabo-cd95c8b/tests/knnepsilon.cpp000066400000000000000000000065171462511457200224260ustar00rootroot00000000000000/* Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland You can contact the author at 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 the 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 ETH-ASL 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. */ #include "nabo/nabo.h" #include "helpers.h" #include #include #include using namespace std; using namespace Nabo; template void doTestEpsilon(const char *fileName, const int K, const int method, const int searchCount) { typedef Nabo::NearestNeighbourSearch NNS; typedef typename NNS::Matrix Matrix; typedef typename NNS::IndexMatrix IndexMatrix; // check if file is ok const Matrix d(load(fileName)); if (K >= d.cols()) { cerr << "Requested more nearest neighbour than points in the data set" << endl; exit(2); } // check methods together const int itCount(method >= 0 ? method : d.cols() * 2); // create big query const Matrix q(createQuery(d, itCount, method)); IndexMatrix indexes_bf(K, q.cols()); Matrix dists2_bf(K, q.cols()); NNS* nns = NNS::createKDTreeLinearHeap(d, std::numeric_limits::max(), NNS::TOUCH_STATISTICS); for (T epsilon = 0; epsilon < 2; epsilon += 0.01) { double duration(0); double touchStats(0); for (int s = 0; s < searchCount; ++s) { timer t; touchStats += nns->knn(q, indexes_bf, dists2_bf, K, epsilon, NNS::ALLOW_SELF_MATCH); duration += t.elapsed(); } cout << epsilon << " " << duration/double(searchCount) << " " << touchStats/double(searchCount) << endl; } delete nns; } int main(int argc, char* argv[]) { if (argc != 5) { cerr << "Usage " << argv[0] << " DATA K METHOD SEARCH_COUNT" << endl; return 1; } const int K(atoi(argv[2])); const int method(atoi(argv[3])); const int searchCount(atoi(argv[4])); //cout << "Float: (epsilon, average duration)\n"; //doTestEpsilon(argv[1], K, method, searchCount); cout << "epsilon average_duration search_count\n"; doTestEpsilon(argv[1], K, method, searchCount); return 0; } norlab-ulaval-libnabo-cd95c8b/tests/knnshow.cpp000066400000000000000000000134431462511457200217310ustar00rootroot00000000000000/* Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland You can contact the author at 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 the 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 ETH-ASL 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. */ #include "nabo/nabo.h" #include #include #include using namespace std; using namespace Nabo; template typename NearestNeighbourSearch::Matrix load(const char *fileName) { typedef typename NearestNeighbourSearch::Matrix Matrix; ifstream ifs(fileName); if (!ifs.good()) throw runtime_error(string("Cannot open file ") + fileName); vector data; int dim(0); bool firstLine(true); while (!ifs.eof()) { char line[1024]; ifs.getline(line, sizeof(line)); line[sizeof(line)-1] = 0; char *token = strtok(line, " \t,;"); while (token) { if (firstLine) ++dim; data.push_back(atof(token)); //cout << atof(token) << " "; token = strtok(NULL, " \t,;"); // FIXME: non reentrant, use strtok_r } firstLine = false; } return Matrix::Map(&data[0], dim, data.size() / dim); } template void dumpCoordinateForSVG(const typename NearestNeighbourSearch::Vector coord, const float zoom = 1, const float ptSize = 1, const char* style = "stroke=\"black\" fill=\"red\"") { if (coord.size() == 2) cout << "" << endl; else assert(false); } int main(int argc, char* argv[]) { typedef Nabo::NearestNeighbourSearch::Matrix Matrix; typedef Nabo::NearestNeighbourSearch::Vector Vector; typedef Nabo::NearestNeighbourSearch::Index Index; typedef Nabo::NearestNeighbourSearch::Indexes Indexes; typedef Nabo::BruteForceSearch BFSF; typedef Nabo::KDTree KDTF; if (argc != 2) { cerr << "Usage " << argv[0] << " DATA" << endl; return 1; } Matrix d(load(argv[1])); BFSF bfs(d); KDTF kdt(d); const Index K(10); // uncomment to compare KDTree with brute force search if (K >= d.size()) return 2; const int itCount(100); for (int i = 0; i < itCount; ++i) { //Vector q(bfs.minBound.size()); //for (int i = 0; i < q.size(); ++i) // q(i) = bfs.minBound(i) + float(rand()) * (bfs.maxBound(i) - bfs.minBound(i)) / float(RAND_MAX); Vector q(d.col(rand() % d.cols())); q.cwise() += 0.01; //cerr << "bfs:\n"; Indexes indexes_bf(bfs.knn(q, K, false)); //cerr << "kdt:\n"; Indexes indexes_kdtree(kdt.knn(q, K, false)); //cout << indexes_bf.size() << " " << indexes_kdtree.size() << " " << K << endl; if (ndexes_bf.size() != indexes_kdtree.size()) return 2; assert(indexes_bf.size() == indexes_kdtree.size()); assert(indexes_bf.size() == K); //cerr << "\nquery:\n" << q << "\n\n"; for (size_t j = 0; j < K; ++j) { Vector pbf(d.col(indexes_bf[j])); Vector pkdtree(d.col(indexes_kdtree[j])); //cerr << "index " << j << ": " << indexes_bf[j] << ", " << indexes_kdtree[j] << "\n"; //cerr << "point " << j << ": " << "\nbf:\n" << pbf << "\nkdtree:\n" << pkdtree << "\n\n"; assert(indexes_bf[j] == indexes_kdtree[j]); assert(dist2(pbf, pkdtree) < numeric_limits::epsilon()); } } cerr << "stats kdtree: " << kdt.getStatistics().totalVisitCount << " on " << itCount * d.cols() << " (" << double(100 * kdt.getStatistics().totalVisitCount) / double(itCount * d.cols()) << " %" << ")" << endl; /* // uncomment to randomly get a point and find its minimum cout << "" << endl; cout << "" << endl; cout << "" << endl; srand(time(0)); for (int i = 0; i < d.cols(); ++i) dumpCoordinateForSVG(d.col(i), 100, 1); Vector q(bfs.minBound.size()); for (int i = 0; i < q.size(); ++i) q(i) = bfs.minBound(i) + float(rand()) * (bfs.maxBound(i) - bfs.minBound(i)) / float(RAND_MAX); Indexes indexes_bf(bfs.knn(q, K, false)); for (size_t i = 0; i < K; ++i) dumpCoordinateForSVG(d.col(indexes_bf[i]), 100, 1, "stroke=\"black\" fill=\"green\""); dumpCoordinateForSVG(q, 100, 1, "stroke=\"black\" fill=\"blue\""); cout << "" << endl; */ //cout << "Average KDTree visit count: " << double(totKDTreeVisitCount) * 100. / double(itCount * d.cols()) << " %" << endl; return 0; }norlab-ulaval-libnabo-cd95c8b/tests/knnvalidate.cpp000066400000000000000000000210241462511457200225340ustar00rootroot00000000000000/* Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland You can contact the author at 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 the 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 ETH-ASL 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. */ #include "nabo/nabo.h" #include "helpers.h" //#include "experimental/nabo_experimental.h" #include #include #include using namespace std; using namespace Nabo; template struct Loader { void loadMatrix(const char *fileName) { data = load(fileName); } CloudType getValue() const { return data; } private: CloudType data; }; template struct Loader, Eigen::Aligned> > { void loadMatrix(const char *fileName) { data = load(fileName); } Eigen::Map, Eigen::Aligned> getValue() const { return Eigen::Map, Eigen::Aligned>(data.data(), 3, data.cols()); } private: Eigen::Matrix data; }; template void validate(const char *fileName, const int K, const int dim, const int method, const T maxRadius) { typedef Nabo::NearestNeighbourSearch NNS; typedef vector NNSV; typedef typename NNS::Matrix Matrix; typedef typename NNS::Vector Vector; typedef typename NNS::IndexMatrix IndexMatrix; Loader loader; loader.loadMatrix(fileName); // check if file is ok const CloudType d = loader.getValue(); if (d.rows() != dim) { cerr << "Provided data has " << d.rows() << " dimensions, but the requested dimensions were " << dim << endl; exit(2); } if (K >= d.cols()) { cerr << "Requested more nearest neighbour than points in the data set" << endl; exit(2); } // create different methods NNSV nnss; unsigned searchTypeCount(NNS::SEARCH_TYPE_COUNT); #ifndef HAVE_OPENCL searchTypeCount -= 3; #endif // HAVE_OPENCL for (unsigned i = 0; i < searchTypeCount; ++i) nnss.push_back(NNS::create(d, d.rows(), typename NNS::SearchType(i))); //nnss.push_back(new KDTreeBalancedPtInLeavesStack(d, false)); // check methods together const int itCount(method != -1 ? method : d.cols() * 2); /* // element-by-element search typedef typename NNS::IndexVector IndexVector; for (int i = 0; i < itCount; ++i) { const Vector q(createQuery(d, *nnss[0], i, method)); const IndexVector indexes_bf(nnss[0]->knn(q, K, 0, NNS::SORT_RESULTS)); for (size_t j = 1; j < nnss.size(); ++j) { const IndexVector indexes_kdtree(nnss[j]->knn(q, K, 0, NNS::SORT_RESULTS)); if (indexes_bf.size() != K) { cerr << "Different number of points found between brute force and request" << endl; exit(3); } if (indexes_bf.size() != indexes_kdtree.size()) { cerr << "Different number of points found between brute force and NNS type "<< j << endl; exit(3); } for (size_t k = 0; k < size_t(K); ++k) { Vector pbf(d.col(indexes_bf[k])); //cerr << indexes_kdtree[k] << endl; Vector pkdtree(d.col(indexes_kdtree[k])); if (fabsf((pbf-q).squaredNorm() - (pkdtree-q).squaredNorm()) >= numeric_limits::epsilon()) { cerr << "Method " << j << ", cloud point " << i << ", neighbour " << k << " of " << K << " is different between bf and kdtree (dist " << (pbf-pkdtree).norm() << ")\n"; cerr << "* query:\n"; cerr << q << "\n"; cerr << "* indexes " << indexes_bf[k] << " (bf) vs " << indexes_kdtree[k] << " (kdtree)\n"; cerr << "* coordinates:\n"; cerr << "bf: (dist " << (pbf-q).norm() << ")\n"; cerr << pbf << "\n"; cerr << "kdtree (dist " << (pkdtree-q).norm() << ")\n"; cerr << pkdtree << endl; exit(4); } } } } */ // create big query // check all-in-one query Matrix q(createQuery(d, itCount, method)); IndexMatrix indexes_bf(K, q.cols()); Matrix dists2_bf(K, q.cols()); nnss[0]->knn(q, indexes_bf, dists2_bf, K, 0, NNS::SORT_RESULTS, maxRadius); assert(indexes_bf.cols() == q.cols()); for (size_t j = 1; j < nnss.size(); ++j) { IndexMatrix indexes_kdtree(K, q.cols()); Matrix dists2_kdtree(K, q.cols()); nnss[j]->knn(q, indexes_kdtree, dists2_kdtree, K, 0, NNS::SORT_RESULTS, maxRadius); if (indexes_bf.rows() != K) { cerr << "Different number of points found between brute force and request" << endl; exit(3); } if (indexes_bf.cols() != indexes_kdtree.cols()) { cerr << "Different number of points found between brute force and NNS type "<< j << endl; exit(3); } for (int i = 0; i < q.cols(); ++i) { for (size_t k = 0; k < size_t(K); ++k) { if (dists2_bf(k,i) == NNS::InvalidValue) continue; const int pbfi(indexes_bf(k,i)); const Vector pbf(d.col(pbfi)); const int pkdt(indexes_kdtree(k,i)); if (pkdt < 0 || pkdt >= d.cols()) { cerr << "Method " << j << ", query point " << i << ", neighbour " << k << " of " << K << " has invalid index " << pkdt << " out of range [0:" << d.cols() << "[" << endl; exit(4); } const Vector pkdtree(d.col(pkdt)); const Vector pq(q.col(i)); const T distDiff(fabsf((pbf-pq).squaredNorm() - (pkdtree-pq).squaredNorm())); if (distDiff > numeric_limits::epsilon()) { cerr << "Method " << j << ", query point " << i << ", neighbour " << k << " of " << K << " is different between bf and kdtree (dist2 " << distDiff << ")\n"; cerr << "* query point:\n"; cerr << pq << "\n"; cerr << "* indexes " << pbfi << " (bf) vs " << pkdt << " (kdtree)\n"; cerr << "* coordinates:\n"; cerr << "bf: (dist " << (pbf-pq).norm() << ")\n"; cerr << pbf << "\n"; cerr << "kdtree (dist " << (pkdtree-pq).norm() << ")\n"; cerr << pkdtree << endl; cerr << "* bf neighbours:\n"; for (int l = 0; l < K; ++l) cerr << indexes_bf(l,i) << " (dist " << (d.col(indexes_bf(l,i))-pq).norm() << ")\n"; cerr << "* kdtree neighbours:\n"; for (int l = 0; l < K; ++l) cerr << indexes_kdtree(l,i) << " (dist " << (d.col(indexes_kdtree(l,i))-pq).norm() << ")\n"; exit(4); } } } } // cout << "\tstats kdtree: " // << kdt.getStatistics().totalVisitCount << " on " // << (long long)(itCount) * (long long)(d.cols()) << " (" // << (100. * double(kdt.getStatistics().totalVisitCount)) / (double(itCount) * double(d.cols())) << " %" // << ")\n" << endl; // delete searches for (typename NNSV::iterator it(nnss.begin()); it != nnss.end(); ++it) delete (*it); } int main(int argc, char* argv[]) { if (argc < 4) { cerr << "Usage " << argv[0] << " DATA K DIM METHOD [MAX_RADIUS]" << endl; return 1; } const int K(atoi(argv[2])); const int dim(atoi(argv[3])); const int method(atoi(argv[4])); const float maxRadius(argc >= 6 ? 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