yggdrasil75/stupidsimcpp
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fixed overloading a variable

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yggdrasil75
2026-01-27 19:51:06 -05:00
parent c0d15a0b9f
commit d45df35101
1 changed files with 96 additions and 30 deletions
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126
util/grid/grid3eigen.hpp
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@@ -12,6 +12,8 @@
#include <limits> #include <limits>
#include <cmath> #include <cmath>
#include <functional> #include <functional>
#include <iostream>
#include <iomanip>
#ifdef SSE #ifdef SSE
#include <immintrin.h> #include <immintrin.h>
@@ -134,7 +136,7 @@ private:
return false; return false;
} }
void bitonic_sort_8(std::array<std::pair<int, float>, 8>& arr) noexcept { void bitonic_sort_8(std::array<std::pair<int, float>, 8>& arr) const noexcept {
#ifdef SSE #ifdef SSE
alignas(32) float values[8]; alignas(32) float values[8];
alignas(32) uint32_t indices[8]; alignas(32) uint32_t indices[8];
@@ -242,7 +244,7 @@ private:
float t1 = (box.first[i] - origin[i]) * invD; float t1 = (box.first[i] - origin[i]) * invD;
float t2 = (box.second[i] - origin[i]) * invD; float t2 = (box.second[i] - origin[i]) * invD;
if (t1>t2) std::swap(t1,t2); if (t1 > t2) std::swap(t1, t2);
tMin = std::max(tMin, t1); tMin = std::max(tMin, t1);
tMax = std::min(tMax, t2); tMax = std::min(tMax, t2);
if (tMin > tMax) return false; if (tMin > tMax) return false;
@@ -259,7 +261,7 @@ public:
bool set(const T& data, const PointType& pos, bool visible, Eigen::Vector3f color, float size, bool active) { bool set(const T& data, const PointType& pos, bool visible, Eigen::Vector3f color, float size, bool active) {
auto pointData = std::make_shared<NodeData>(data, pos, visible, color, size, active); auto pointData = std::make_shared<NodeData>(data, pos, visible, color, size, active);
if (insertRecursive(root_.get(), pointData, 0)) { if (insertRecursive(root_.get(), pointData, 0)) {
size++; this->size++;
return true; return true;
} }
return false; return false;
@@ -364,39 +366,32 @@ public:
std::vector<std::shared_ptr<NodeData>> hits = voxelTraverse( std::vector<std::shared_ptr<NodeData>> hits = voxelTraverse(
origin, rayDir, std::numeric_limits<float>::max(), true); origin, rayDir, std::numeric_limits<float>::max(), true);
Eigen::Vector3f color = hits.empty() ? defaultColor : hits[0]->color; Eigen::Vector3f color = hits.empty() ? defaultColor : hits[0]->color;
color = color.cwiseMax(0.0f).cwiseMin(1.0f); color = color.cwiseMax(0.0f).cwiseMin(1.0f);
int idx = (y * width + x) * channels; int idx = (y * width + x) * channels;
switch(colorformat) { if (colorformat == frame::colormap::B) {
case frame::colormap::B: colorBuffer[idx] = static_cast<uint8_t>(color.mean() * 255.0f);
colorBuffer[idx ] = static_cast<uint8_t>(color.mean() * 255.0f); } else if (colorformat == frame::colormap::RGB) {
break; colorBuffer[idx ] = static_cast<uint8_t>(color[0] * 255.0f);
case frame::colormap::RGB: colorBuffer[idx + 1] = static_cast<uint8_t>(color[1] * 255.0f);
colorBuffer[idx ] = static_cast<uint8_t>(color[0] * 255.0f); colorBuffer[idx + 2] = static_cast<uint8_t>(color[2] * 255.0f);
colorBuffer[idx + 1] = static_cast<uint8_t>(color[1] * 255.0f); } else if (colorformat == frame::colormap::BGR) {
colorBuffer[idx + 2] = static_cast<uint8_t>(color[2] * 255.0f); colorBuffer[idx ] = static_cast<uint8_t>(color[2] * 255.0f);
break; colorBuffer[idx + 1] = static_cast<uint8_t>(color[1] * 255.0f);
case frame::colormap::BGR: colorBuffer[idx + 2] = static_cast<uint8_t>(color[0] * 255.0f);
colorBuffer[idx ] = static_cast<uint8_t>(color[2] * 255.0f); } else if (colorformat == frame::colormap::RGBA) {
colorBuffer[idx + 1] = static_cast<uint8_t>(color[1] * 255.0f); colorBuffer[idx ] = static_cast<uint8_t>(color[0] * 255.0f);
colorBuffer[idx + 2] = static_cast<uint8_t>(color[0] * 255.0f); colorBuffer[idx + 1] = static_cast<uint8_t>(color[1] * 255.0f);
break; colorBuffer[idx + 2] = static_cast<uint8_t>(color[2] * 255.0f);
case frame::colormap::RGBA: colorBuffer[idx + 3] = 255;
colorBuffer[idx ] = static_cast<uint8_t>(color[0] * 255.0f); } else if (colorformat == frame::colormap::BGRA) {
colorBuffer[idx + 1] = static_cast<uint8_t>(color[1] * 255.0f); colorBuffer[idx ] = static_cast<uint8_t>(color[2] * 255.0f);
colorBuffer[idx + 2] = static_cast<uint8_t>(color[2] * 255.0f); colorBuffer[idx + 1] = static_cast<uint8_t>(color[1] * 255.0f);
colorBuffer[idx + 3] = 255; colorBuffer[idx + 2] = static_cast<uint8_t>(color[0] * 255.0f);
break; colorBuffer[idx + 3] = 255;
case frame::colormap::BGRA:
colorBuffer[idx ] = static_cast<uint8_t>(color[2] * 255.0f);
colorBuffer[idx + 1] = static_cast<uint8_t>(color[1] * 255.0f);
colorBuffer[idx + 2] = static_cast<uint8_t>(color[0] * 255.0f);
colorBuffer[idx + 3] = 255;
break;
} }
} }
} }
@@ -405,6 +400,77 @@ public:
return outFrame; return outFrame;
} }
void printStats(std::ostream& os = std::cout) const {
if (!root_) {
os << "[Octree Stats] Tree is null/empty." << std::endl;
return;
}
size_t totalNodes = 0;
size_t leafNodes = 0;
size_t actualPoints = 0;
size_t maxTreeDepth = 0;
size_t maxPointsInLeaf = 0;
size_t minPointsInLeaf = std::numeric_limits<size_t>::max();
// Recursive lambda to gather stats
std::function<void(const OctreeNode*, size_t)> traverse =
[&](const OctreeNode* node, size_t depth) {
if (!node) return;
totalNodes++;
maxTreeDepth = std::max(maxTreeDepth, depth);
if (node->isLeaf) {
leafNodes++;
size_t pts = node->points.size();
actualPoints += pts;
maxPointsInLeaf = std::max(maxPointsInLeaf, pts);
minPointsInLeaf = std::min(minPointsInLeaf, pts);
} else {
for (const auto& child : node->children) {
traverse(child.get(), depth + 1);
}
}
};
traverse(root_.get(), 0);
if (leafNodes == 0) minPointsInLeaf = 0;
double avgPointsPerLeaf = leafNodes > 0 ? (double)actualPoints / leafNodes : 0.0;
// Approximate memory usage (overhead of nodes + data payload)
// OctreeNode: bounds(24) + vector(24) + children array(8*8=64) + center(12) + bool(1) + padding ~ 128 bytes
// NodeData: T + Vec3f(12) + bool(1) + bool(1) + float(4) + Vec3f(12) + padding ~ 32+sizeof(T)
// SharedPtr overhead: ~16 bytes
size_t nodeMem = totalNodes * sizeof(OctreeNode);
size_t dataMem = actualPoints * (sizeof(NodeData) + 16);
os << "========================================\n";
os << " OCTREE STATS \n";
os << "========================================\n";
os << "Config:\n";
os << " Max Depth Allowed : " << maxDepth << "\n";
os << " Max Pts Per Node : " << maxPointsPerNode << "\n";
os << "Structure:\n";
os << " Total Nodes : " << totalNodes << "\n";
os << " Leaf Nodes : " << leafNodes << "\n";
os << " Non-Leaf Nodes : " << (totalNodes - leafNodes) << "\n";
os << " Tree Height : " << maxTreeDepth << "\n";
os << "Data:\n";
os << " Total Points : " << size << " (Tracked) / " << actualPoints << " (Counted)\n";
os << " Points/Leaf (Avg) : " << std::fixed << std::setprecision(2) << avgPointsPerLeaf << "\n";
os << " Points/Leaf (Min) : " << minPointsInLeaf << "\n";
os << " Points/Leaf (Max) : " << maxPointsInLeaf << "\n";
os << "Bounds:\n";
os << " Min : [" << root_->bounds.first.transpose() << "]\n";
os << " Max : [" << root_->bounds.second.transpose() << "]\n";
os << "Memory (Approx):\n";
os << " Node Structure : " << (nodeMem / 1024.0) << " KB\n";
os << " Point Data : " << (dataMem / 1024.0) << " KB\n";
os << "========================================\n" << std::defaultfloat;
}
bool empty() const { return size == 0; } bool empty() const { return size == 0; }
}; };