From d1d984f8a397955de23a92c3381f9ec79908b1bc Mon Sep 17 00:00:00 2001
From: "bocska.karina" <bocska.karina@hallgato.ppke.hu>
Date: Tue, 12 Nov 2024 14:06:47 +0100
Subject: [PATCH] use threading for point searching
---
Assets/Scenes/SampleScene.unity | 32 ++++----
.../Controllers/SelectPointsController.cs | 78 +++++++++++++------
Assets/Scrips/Events/SpawnBlockEvent.cs | 12 +--
Assets/mesh.obj | 62 +++++++--------
4 files changed, 106 insertions(+), 78 deletions(-)
diff --git a/Assets/Scenes/SampleScene.unity b/Assets/Scenes/SampleScene.unity
index 5e0d37a..d0ef86e 100644
--- a/Assets/Scenes/SampleScene.unity
+++ b/Assets/Scenes/SampleScene.unity
@@ -4190,7 +4190,7 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: 919132149155446097, guid: cbd9713bd330c064b8c327427eb068e1, type: 3}
propertyPath: m_IsActive
- value: 1
+ value: 0
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
@@ -13258,11 +13258,11 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: 4704240697808797663, guid: 048249d9a15aa3c459399751e860bde7, type: 3}
propertyPath: m_SizeDelta.x
- value: 0
+ value: 119.91
objectReference: {fileID: 0}
- target: {fileID: 4704240697808797663, guid: 048249d9a15aa3c459399751e860bde7, type: 3}
propertyPath: m_SizeDelta.y
- value: 0
+ value: 46
objectReference: {fileID: 0}
- target: {fileID: 4704240698125147208, guid: 048249d9a15aa3c459399751e860bde7, type: 3}
propertyPath: m_text
@@ -13270,23 +13270,23 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: 4704240698125147210, guid: 048249d9a15aa3c459399751e860bde7, type: 3}
propertyPath: m_AnchorMax.y
- value: 0
+ value: 1
objectReference: {fileID: 0}
- target: {fileID: 4704240698125147210, guid: 048249d9a15aa3c459399751e860bde7, type: 3}
propertyPath: m_AnchorMin.y
- value: 0
+ value: 1
objectReference: {fileID: 0}
- target: {fileID: 4704240698125147210, guid: 048249d9a15aa3c459399751e860bde7, type: 3}
propertyPath: m_SizeDelta.x
- value: 0
+ value: 91.91
objectReference: {fileID: 0}
- target: {fileID: 4704240698125147210, guid: 048249d9a15aa3c459399751e860bde7, type: 3}
propertyPath: m_AnchoredPosition.x
- value: 0
+ value: 59.955
objectReference: {fileID: 0}
- target: {fileID: 4704240698125147210, guid: 048249d9a15aa3c459399751e860bde7, type: 3}
propertyPath: m_AnchoredPosition.y
- value: 0
+ value: -23
objectReference: {fileID: 0}
- target: {fileID: 5043647495600119106, guid: 048249d9a15aa3c459399751e860bde7, type: 3}
propertyPath: m_Layer
@@ -13310,7 +13310,7 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: 7785151267686525225, guid: 048249d9a15aa3c459399751e860bde7, type: 3}
propertyPath: m_IsActive
- value: 1
+ value: 0
objectReference: {fileID: 0}
- target: {fileID: 7785151267686525226, guid: 048249d9a15aa3c459399751e860bde7, type: 3}
propertyPath: m_RootOrder
@@ -21778,7 +21778,7 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: 1984668758913251958, guid: 65eb6b98091a5734ba9d9ca871cef69a, type: 3}
propertyPath: m_AnchoredPosition.x
- value: 0
+ value: 44.7
objectReference: {fileID: 0}
- target: {fileID: 1984668758913251958, guid: 65eb6b98091a5734ba9d9ca871cef69a, type: 3}
propertyPath: m_AnchoredPosition.y
@@ -21810,7 +21810,7 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: 1984668759388320319, guid: 65eb6b98091a5734ba9d9ca871cef69a, type: 3}
propertyPath: m_AnchoredPosition.x
- value: 0
+ value: 40
objectReference: {fileID: 0}
- target: {fileID: 1984668759388320319, guid: 65eb6b98091a5734ba9d9ca871cef69a, type: 3}
propertyPath: m_AnchoredPosition.y
@@ -21846,7 +21846,7 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: 1984668759906836222, guid: 65eb6b98091a5734ba9d9ca871cef69a, type: 3}
propertyPath: m_AnchoredPosition.x
- value: 0
+ value: 40
objectReference: {fileID: 0}
- target: {fileID: 1984668759906836222, guid: 65eb6b98091a5734ba9d9ca871cef69a, type: 3}
propertyPath: m_AnchoredPosition.y
@@ -21870,7 +21870,7 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: 1984668759991436502, guid: 65eb6b98091a5734ba9d9ca871cef69a, type: 3}
propertyPath: m_AnchoredPosition.x
- value: 0
+ value: 40
objectReference: {fileID: 0}
- target: {fileID: 1984668759991436502, guid: 65eb6b98091a5734ba9d9ca871cef69a, type: 3}
propertyPath: m_AnchoredPosition.y
@@ -21906,7 +21906,7 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: 1984668760453204319, guid: 65eb6b98091a5734ba9d9ca871cef69a, type: 3}
propertyPath: m_AnchoredPosition.x
- value: 0
+ value: 44.7
objectReference: {fileID: 0}
- target: {fileID: 1984668760453204319, guid: 65eb6b98091a5734ba9d9ca871cef69a, type: 3}
propertyPath: m_AnchoredPosition.y
@@ -21930,7 +21930,7 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: 1984668760497519799, guid: 65eb6b98091a5734ba9d9ca871cef69a, type: 3}
propertyPath: m_AnchoredPosition.x
- value: 0
+ value: 42.510002
objectReference: {fileID: 0}
- target: {fileID: 1984668760497519799, guid: 65eb6b98091a5734ba9d9ca871cef69a, type: 3}
propertyPath: m_AnchoredPosition.y
@@ -21958,7 +21958,7 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: 1984668760711245992, guid: 65eb6b98091a5734ba9d9ca871cef69a, type: 3}
propertyPath: m_AnchoredPosition.x
- value: 0
+ value: 40
objectReference: {fileID: 0}
- target: {fileID: 1984668760711245992, guid: 65eb6b98091a5734ba9d9ca871cef69a, type: 3}
propertyPath: m_AnchoredPosition.y
diff --git a/Assets/Scrips/Controllers/SelectPointsController.cs b/Assets/Scrips/Controllers/SelectPointsController.cs
index 32344d4..fc839d2 100644
--- a/Assets/Scrips/Controllers/SelectPointsController.cs
+++ b/Assets/Scrips/Controllers/SelectPointsController.cs
@@ -7,6 +7,7 @@ using MathNet.Numerics.LinearAlgebra.Factorization;
using MathNet.Numerics.LinearAlgebra;
using Unity.Mathematics;
using static PointCloudDataReader;
+using System.Threading.Tasks;
public class SelectPointsController : MonoBehaviour
{
@@ -44,32 +45,64 @@ public class SelectPointsController : MonoBehaviour
private void SelectPointsHandler(InputAction.CallbackContext context)
{
- List<Vector3> selectedPoints = new();
- foreach (GameObject cloud in pointClouds)
+ Vector3[] cloudPositions = new Vector3[pointClouds.Count];
+ Quaternion[] cloudRotations = new Quaternion[pointClouds.Count];
+ List<Point[]> points = new();
+ for (int i = 0; i < pointClouds.Count; i++)
{
- Transform cloudTransform = cloud.transform;
- Point[] points = cloud.GetComponent<PointCloudDataReader>().PointData;
- for (int i = 0; i < points.Length; i++)
+ cloudPositions[i] = pointClouds[i].transform.position;
+ cloudRotations[i] = pointClouds[i].transform.rotation;
+ points.Add(pointClouds[i].GetComponent<PointCloudDataReader>().PointData);
+ }
+ Bounds[] selectionBounds = new Bounds[_blockSelections.Count];
+ for (int i = 0; i < _blockSelections.Count; i++)
+ {
+ selectionBounds[i] = _blockSelections[i].GetComponent<MeshCollider>().bounds;
+ }
+ _ = FitPlaneToSelectedPointsAsync(cloudPositions, cloudRotations, points, selectionBounds);
+ }
+
+ private async Task FitPlaneToSelectedPointsAsync(Vector3[] cloudPositions, Quaternion[] cloudRotations, List<Point[]> cloudPoints, Bounds[] selectionBounds)
+ {
+ Debug.Log("task");
+ Task<List<Vector3>> task = Task.Run(() =>
+ {
+ Debug.Log("running task");
+ List<Vector3> selectedPoints = new();
+ for (int i1 = 0; i1 < cloudPoints.Count; i1++)
{
- Vector3 point = points[i].position;
- point.x *= -1f;
- foreach (GameObject blockSelection in _blockSelections)
+ // GameObject cloud = pointClouds[i1];
+ // Transform cloudTransform = cloud.transform;
+ // Point[] points = cloud.GetComponent<PointCloudDataReader>().PointData;
+ Point[] points = cloudPoints[i1];
+ for (int i = 0; i < points.Length; i++)
{
- MeshCollider collider = blockSelection.GetComponent<MeshCollider>();
- Vector3 ptGlobal = cloudTransform.rotation * point + cloudTransform.position;
- if (collider.bounds.Contains(ptGlobal))
+ Vector3 point = points[i].position;
+ point.x *= -1f;
+ // foreach (GameObject blockSelection in _blockSelections)
+ foreach (Bounds bound in selectionBounds)
{
- selectedPoints.Add(ptGlobal);
+ // MeshCollider collider = blockSelection.GetComponent<MeshCollider>();
+ // Vector3 ptGlobal = cloudTransform.rotation * point + cloudTransform.position;
+ Vector3 ptGlobal = cloudRotations[i1] * point + cloudPositions[i1];
+ // if (collider.bounds.Contains(ptGlobal))
+ if (bound.Contains(ptGlobal))
+ {
+ selectedPoints.Add(ptGlobal);
+ }
}
}
}
- }
- CalculatePlane(selectedPoints);
+ Debug.Log("finished collecting points");
+ return selectedPoints;
+ });
+ CalculatePlane(await task);
}
// source: https://stackoverflow.com/questions/10900141/fast-plane-fitting-to-many-points
private void CalculatePlane(List<Vector3> points)
{
+ Debug.Log("calculating plane");
if (points.Count < 3)
{
Debug.Log("not enough points to calculate plane");
@@ -116,17 +149,18 @@ public class SelectPointsController : MonoBehaviour
Plane plane = new(planeNormal, -d);
Debug.Log(plane);
- _debugPoints.Clear();
- for (int i = 0; i < 200; i++)
- {
- Vector3 randomPoint = new(UnityEngine.Random.Range(-8f, 8f), UnityEngine.Random.Range(-8f, 8f), UnityEngine.Random.Range(-8f, 8f));
- _debugPoints.Add(ProjectPointOntoPlane(plane, randomPoint));
- }
+ // _debugPoints.Clear();
+ // for (int i = 0; i < 200; i++)
+ // {
+ // Vector3 randomPoint = new(UnityEngine.Random.Range(-8f, 8f), UnityEngine.Random.Range(-8f, 8f), UnityEngine.Random.Range(-8f, 8f));
+ // _debugPoints.Add(ProjectPointOntoPlane(plane, randomPoint));
+ // }
Vector<float> colAvg = G.ColumnSums();
colAvg /= G.RowCount;
Vector3 pointAvg = new(colAvg[0], colAvg[1], colAvg[2]);
SpawnPlane(ProjectPointOntoPlane(plane, pointAvg), planeNormal);
+ UIController.Instance.NewStatusMessage("Plane calculation completed.");
}
public GameObject SpawnPlane(Vector3 pos, Vector3 normal)
@@ -193,8 +227,8 @@ public class SelectPointsController : MonoBehaviour
{
// CalculateRealPoints();
EditState.Instance.RegisterListener(EditChangeHandler);
- SpawnPlane(new Vector3(0, 0, 0), Vector3.left);
- SpawnPlane(new Vector3(-1, 0, 0), Vector3.up);
+ // SpawnPlane(new Vector3(0, 0, 0), Vector3.left);
+ // SpawnPlane(new Vector3(-1, 0, 0), Vector3.up);
}
private void EditChangeHandler()
diff --git a/Assets/Scrips/Events/SpawnBlockEvent.cs b/Assets/Scrips/Events/SpawnBlockEvent.cs
index c73b21c..498d4b7 100644
--- a/Assets/Scrips/Events/SpawnBlockEvent.cs
+++ b/Assets/Scrips/Events/SpawnBlockEvent.cs
@@ -77,15 +77,15 @@ public class SpawnBlockEvent : MonoBehaviour
// Start is called before the first frame update
void Start()
{
- GameObject spawnedObject = Instantiate(spawnPrefab, new Vector3(-1.65f, 0.46f, -4.93f), Quaternion.identity);
- Collider objectCollider = spawnedObject.GetComponent<Collider>();
- Vector3 adjustment = Vector3.Scale(this.transform.up, objectCollider.bounds.size / 2);
- spawnedObject.transform.position += adjustment;
- spawnedObject.transform.parent = this.transform;
+ // GameObject spawnedObject = Instantiate(spawnPrefab, new Vector3(-1.65f, 0.46f, -4.93f), Quaternion.identity);
+ // Collider objectCollider = spawnedObject.GetComponent<Collider>();
+ // Vector3 adjustment = Vector3.Scale(this.transform.up, objectCollider.bounds.size / 2);
+ // spawnedObject.transform.position += adjustment;
+ // spawnedObject.transform.parent = this.transform;
// _selectPointsController.AddSelection(spawnedObject);
// spawnedObject.GetComponent<BlockSelect>().selectPointsController = _selectPointsController;
- ProgramController.Instance.RegisterBlock(spawnedObject);
+ // ProgramController.Instance.RegisterBlock(spawnedObject);
}
}
diff --git a/Assets/mesh.obj b/Assets/mesh.obj
index c8b90c0..a2ebe60 100644
--- a/Assets/mesh.obj
+++ b/Assets/mesh.obj
@@ -1,27 +1,27 @@
-v -1.15 0.46 -4.43
-v -2.15 0.46 -4.43
-v -1.15 1.46 -4.43
-v -2.15 1.46 -4.43
-v -1.15 1.46 -5.43
-v -2.15 1.46 -5.43
-v -1.15 0.46 -5.43
-v -2.15 0.46 -5.43
-v -1.15 1.46 -4.43
-v -2.15 1.46 -4.43
-v -1.15 1.46 -5.43
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-v -1.15 0.46 -5.43
-v -1.15 0.46 -4.43
-v -2.15 0.46 -4.43
-v -2.15 0.46 -5.43
-v -2.15 0.46 -4.43
-v -2.15 1.46 -4.43
-v -2.15 1.46 -5.43
-v -2.15 0.46 -5.43
-v -1.15 0.46 -5.43
-v -1.15 1.46 -5.43
-v -1.15 1.46 -4.43
-v -1.15 0.46 -4.43
+v 4.790933 0.0005001426 3.249483
+v 4.190578 0.0005001426 3.249483
+v 4.790933 5.129273 3.249483
+v 4.190578 5.129273 3.249483
+v 4.790933 5.129273 2.379545
+v 4.190578 5.129273 2.379545
+v 4.790933 0.0005001426 2.379545
+v 4.190578 0.0005001426 2.379545
+v 4.790933 5.129273 3.249483
+v 4.190578 5.129273 3.249483
+v 4.790933 5.129273 2.379545
+v 4.190578 5.129273 2.379545
+v 4.790933 0.0005001426 2.379545
+v 4.790933 0.0005001426 3.249483
+v 4.190578 0.0005001426 3.249483
+v 4.190578 0.0005001426 2.379545
+v 4.190578 0.0005001426 3.249483
+v 4.190578 5.129273 3.249483
+v 4.190578 5.129273 2.379545
+v 4.190578 0.0005001426 2.379545
+v 4.790933 0.0005001426 2.379545
+v 4.790933 5.129273 2.379545
+v 4.790933 5.129273 3.249483
+v 4.790933 0.0005001426 3.249483
f 1 3 4
f 1 4 2
f 9 5 6
@@ -34,15 +34,9 @@ f 17 18 19
f 17 19 20
f 21 22 23
f 21 23 24
-v 5.960464E-08 -0.5 -0.5000001
-v -5.960464E-08 -0.5 0.5000001
-v 5.960464E-08 0.5 -0.5000001
-v -5.960464E-08 0.5 0.5000001
+v 5.100156 -0.02601445 14.33806
+v 7.014131 0.03212595 14.30453
+v 5.094431 2.09043 14.34149
+v 6.875519 2.140711 14.31028
f 25 28 26
f 28 25 27
-v -1.5 5.960464E-08 0.5000001
-v -0.5 5.960464E-08 0.5000001
-v -1.5 -5.960464E-08 -0.5000001
-v -0.5 -5.960464E-08 -0.5000001
-f 29 32 30
-f 32 29 31
--
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