Merge pull request #387 from pro3d-space/bugs/smallerkdtrees

Bugs/smallerkdtrees

Author: haraldsteinlechner

PRODUCT_RELEASE_NOTES.md

@@ -1,7 +1,12 @@
+## 4.23.1
+- tweaked kdtree split limit epsilon for smaller kdtrees
+
+## 4.23.0
+- tweaked kdtree split limit epsilon for smaller kdtrees
+
 ## 4.22.0
 - further improved kdtree loading on NTFS/macbook
 
-
 ## 4.21.0-prerelease3
 - further improved kdtree loading on NTFS/macbook
 

paket.dependencies

@@ -50,7 +50,7 @@ nuget Aardvark.GeoSpatial.Opc               ~> 5.10.8
 
 nuget Aardium                               ~> 2.0.10-prerelease0007
 
-nuget OPCViewer.Base                        ~> 1.5.2
+nuget OPCViewer.Base                        ~> 1.6.1
 
 nuget Uncodium.Eigensystems                 ~> 1.1.2
 nuget Chiron                                ~> 6.3.1

paket.lock

@@ -5,45 +5,45 @@ NUGET
     Aardium (2.0.10-prerelease0007)
       FSharp.Core (>= 4.7)
       FSys (>= 0.0.1 < 0.1)
-    Aardvark.Application (5.4.8)
+    Aardvark.Application (5.4.9)
       Aardvark.Base.Essentials (>= 5.2.27 < 5.3)
       Aardvark.Base.Incremental (>= 5.2.27 < 5.3)
-      Aardvark.Rendering (5.4.8)
+      Aardvark.Rendering (5.4.9)
       FShade.Core (>= 5.5.3 < 5.6)
       FShade.GLSL (>= 5.5.3)
       FSharp.Core (>= 5.0.1)
-    Aardvark.Application.Slim (5.4.8)
-      Aardvark.Application (5.4.8)
+    Aardvark.Application.Slim (5.4.9)
+      Aardvark.Application (5.4.9)
       Aardvark.Base.Essentials (>= 5.2.27 < 5.3)
       Aardvark.Base.Incremental (>= 5.2.27 < 5.3)
       Aardvark.Base.Runtime (>= 5.2.27 < 5.3)
-      Aardvark.Rendering (5.4.8)
+      Aardvark.Rendering (5.4.9)
       FShade (>= 5.5.3 < 5.6)
       FSharp.Core (>= 5.0.1)
       Silk.NET.GLFW (2.15)
       Unofficial.OpenTK (>= 3.0.21 < 3.1)
-    Aardvark.Application.Slim.GL (5.4.8)
-      Aardvark.Application (5.4.8)
-      Aardvark.Application.Slim (5.4.8)
+    Aardvark.Application.Slim.GL (5.4.9)
+      Aardvark.Application (5.4.9)
+      Aardvark.Application.Slim (5.4.9)
       Aardvark.Base.Essentials (>= 5.2.27 < 5.3)
       Aardvark.Base.Incremental (>= 5.2.27 < 5.3)
       Aardvark.Base.Runtime (>= 5.2.27 < 5.3)
       Aardvark.Base.Tensors (>= 5.2.27 < 5.3)
-      Aardvark.Rendering (5.4.8)
-      Aardvark.Rendering.GL (5.4.8)
+      Aardvark.Rendering (5.4.9)
+      Aardvark.Rendering.GL (5.4.9)
       FShade (>= 5.5.3 < 5.6)
       FSharp.Core (>= 5.0.1)
       Silk.NET.Core (2.15)
       Silk.NET.GLFW (2.15)
       Unofficial.OpenTK (>= 3.0.21 < 3.1)
-    Aardvark.Application.Slim.Vulkan (5.4.8)
-      Aardvark.Application (5.4.8)
-      Aardvark.Application.Slim (5.4.8)
+    Aardvark.Application.Slim.Vulkan (5.4.9)
+      Aardvark.Application (5.4.9)
+      Aardvark.Application.Slim (5.4.9)
       Aardvark.Base.Essentials (>= 5.2.27 < 5.3)
       Aardvark.Base.Incremental (>= 5.2.27 < 5.3)
       Aardvark.Base.Runtime (>= 5.2.27 < 5.3)
-      Aardvark.Rendering (5.4.8)
-      Aardvark.Rendering.Vulkan (5.4.8)
+      Aardvark.Rendering (5.4.9)
+      Aardvark.Rendering.Vulkan (5.4.9)
       FShade (>= 5.5.3 < 5.6)
       FSharp.Core (>= 5.0.1)
       GLSLangSharp (>= 0.4.14 < 0.5)
@@ -133,9 +133,9 @@ NUGET
       Aardvark.SceneGraph.Opc (>= 5.4 < 5.5)
       FSharp.Core (>= 5.0)
       FSharp.Data.Adaptive (>= 1.2.13 < 1.3)
-    Aardvark.GPGPU (5.4.8)
+    Aardvark.GPGPU (5.4.9)
       Aardvark.Base.Incremental (>= 5.2.27 < 5.3)
-      Aardvark.Rendering (5.4.8)
+      Aardvark.Rendering (5.4.9)
       FShade.Core (>= 5.5.3 < 5.6)
       FShade.GLSL (>= 5.5.3)
       FSharp.Core (>= 5.0.1)
@@ -147,67 +147,67 @@ NUGET
       Aardvark.Base.Tensors (>= 5.2.19 < 5.3)
       FSharp.Core (>= 5.0.1)
       Pfim (>= 0.11.2 < 0.12)
-    Aardvark.Rendering (5.4.8)
+    Aardvark.Rendering (5.4.9)
       Aardvark.Base.Essentials (>= 5.2.27 < 5.3)
       Aardvark.Base.Incremental (>= 5.2.27 < 5.3)
       Aardvark.Base.Tensors (>= 5.2.27 < 5.3)
       FShade.Core (>= 5.5.3 < 5.6)
       FShade.GLSL (>= 5.5.3)
       FSharp.Core (>= 5.0.1)
       FSharp.Data.Adaptive (>= 1.2.13 < 1.3)
-    Aardvark.Rendering.GL (5.4.8)
+    Aardvark.Rendering.GL (5.4.9)
       Aardvark.Assembler (>= 0.0.8 < 0.1)
       Aardvark.Base.Essentials (>= 5.2.27 < 5.3)
       Aardvark.Base.Incremental (>= 5.2.27 < 5.3)
       Aardvark.Base.Runtime (>= 5.2.27 < 5.3)
       Aardvark.Base.Tensors (>= 5.2.27 < 5.3)
       Aardvark.Geometry (>= 5.2.27 < 5.3)
-      Aardvark.Rendering (5.4.8)
+      Aardvark.Rendering (5.4.9)
       FShade (>= 5.5.3 < 5.6)
       FSharp.Core (>= 5.0.1)
       Unofficial.OpenTK (>= 3.0.21 < 3.1)
-    Aardvark.Rendering.Text (5.4.8)
+    Aardvark.Rendering.Text (5.4.9)
       Aardvark.Base.Incremental (>= 5.2.27 < 5.3)
-      Aardvark.Rendering (5.4.8)
-      Aardvark.SceneGraph (5.4.8)
+      Aardvark.Rendering (5.4.9)
+      Aardvark.SceneGraph (5.4.9)
       CommonMark.NET (>= 0.15.1 < 0.16)
       FShade.Core (>= 5.5.3 < 5.6)
       FShade.GLSL (>= 5.5.3)
       FSharp.Core (>= 5.0.1)
       Unofficial.LibTessDotNet (>= 2.0.2 < 2.1)
       Unofficial.Typography (>= 0.1 < 0.2)
-    Aardvark.Rendering.Vulkan (5.4.8)
+    Aardvark.Rendering.Vulkan (5.4.9)
       Aardvark.Base.FSharp (>= 5.2.27 < 5.3)
       Aardvark.Base.Incremental (>= 5.2.27 < 5.3)
       Aardvark.Base.Runtime (>= 5.2.27 < 5.3)
       Aardvark.Base.Tensors (>= 5.2.27 < 5.3)
-      Aardvark.Rendering (5.4.8)
+      Aardvark.Rendering (5.4.9)
       FShade (>= 5.5.3 < 5.6)
       FSharp.Core (>= 5.0.1)
       GLSLangSharp (>= 0.4.14 < 0.5)
-    Aardvark.SceneGraph (5.4.8)
+    Aardvark.SceneGraph (5.4.9)
       Aardvark.Base.Incremental (>= 5.2.27 < 5.3)
-      Aardvark.Rendering (5.4.8)
+      Aardvark.Rendering (5.4.9)
       FShade.Core (>= 5.5.3 < 5.6)
       FShade.GLSL (>= 5.5.3)
       FSharp.Core (>= 5.0.1)
-    Aardvark.SceneGraph.IO (5.4.8)
+    Aardvark.SceneGraph.IO (5.4.9)
       Aardvark.Base.Incremental (>= 5.2.27 < 5.3)
       Aardvark.Base.Tensors (>= 5.2.27 < 5.3)
-      Aardvark.Rendering (5.4.8)
-      Aardvark.SceneGraph (5.4.8)
+      Aardvark.Rendering (5.4.9)
+      Aardvark.SceneGraph (5.4.9)
       AssimpNet (>= 5.0.0-beta1 < 5.1.0-beta)
       FShade.Core (>= 5.5.3 < 5.6)
       FShade.GLSL (>= 5.5.3)
       FSharp.Core (>= 5.0.1)
-    Aardvark.SceneGraph.Opc (5.4.8)
+    Aardvark.SceneGraph.Opc (5.4.9)
       Aardvark.Base.Incremental (>= 5.2.27 < 5.3)
       Aardvark.Base.IO (>= 5.2.27 < 5.3)
-      Aardvark.Rendering (5.4.8)
-      Aardvark.SceneGraph (5.4.8)
+      Aardvark.Rendering (5.4.9)
+      Aardvark.SceneGraph (5.4.9)
       FSharp.Core (>= 5.0.1)
       SharpZipLib (>= 1.4.1 < 1.5)
-    Aardvark.Service (5.4.2)
+    Aardvark.Service (5.4.4)
       Aardvark.Application (>= 5.4.1)
       Aardvark.Base (>= 5.2.28 < 5.3)
       Aardvark.Base.FSharp (>= 5.2.28 < 5.3)
@@ -220,54 +220,54 @@ NUGET
       FsPickler (>= 5.3.2 < 5.4)
       FsPickler.Json (>= 5.3.2 < 5.4)
       Suave (>= 2.5.6 < 2.6)
-    Aardvark.Service.Giraffe (5.4.2)
+    Aardvark.Service.Giraffe (5.4.4)
       Aardvark.Application (>= 5.4.1)
       Aardvark.Base (>= 5.2.28 < 5.3)
       Aardvark.Base.FSharp (>= 5.2.28 < 5.3)
       Aardvark.GPGPU (>= 5.4.1 < 5.5)
       Aardvark.Rendering (>= 5.4.1 < 5.5)
       Aardvark.Rendering.GL (>= 5.4.1)
       Aardvark.Rendering.Vulkan (>= 5.4.1 < 5.5)
-      Aardvark.Service (5.4.2)
-      Aardvark.UI (5.4.2)
+      Aardvark.Service (5.4.4)
+      Aardvark.UI (5.4.4)
       FSharp.Core (>= 5.0.1)
       FSharp.Data.Adaptive (>= 1.2.13 < 1.3)
       FsPickler (>= 5.3.2 < 5.4)
       FsPickler.Json (>= 5.3.2 < 5.4)
       Giraffe (>= 5.0 < 5.1)
       Suave (>= 2.5.6 < 2.6)
-    Aardvark.UI (5.4.2)
+    Aardvark.UI (5.4.4)
       Aardvark.Application (>= 5.4.1)
       Aardvark.Base (>= 5.2.28 < 5.3)
       Aardvark.Base.FSharp (>= 5.2.28 < 5.3)
       Aardvark.Base.Incremental (>= 5.2.28 < 5.3)
       Aardvark.Rendering (>= 5.4.1 < 5.5)
       Aardvark.SceneGraph (>= 5.4.1 < 5.5)
-      Aardvark.Service (5.4.2)
+      Aardvark.Service (5.4.4)
       FSharp.Core (>= 5.0.1)
       FSharp.Data.Adaptive (>= 1.2.13 < 1.3)
       FsPickler (>= 5.3.2 < 5.4)
       FsPickler.Json (>= 5.3.2 < 5.4)
       Suave (>= 2.5.6 < 2.6)
-    Aardvark.UI.Primitives (5.4.2)
+    Aardvark.UI.Primitives (5.4.4)
       Aardvark.Application (>= 5.4.1)
       Aardvark.Base (>= 5.2.28 < 5.3)
       Aardvark.Base.FSharp (>= 5.2.28 < 5.3)
       Aardvark.Base.Incremental (>= 5.2.28 < 5.3)
       Aardvark.Rendering (>= 5.4.1 < 5.5)
       Aardvark.SceneGraph (>= 5.4.1 < 5.5)
-      Aardvark.Service (5.4.2)
-      Aardvark.UI (5.4.2)
-      Adaptify.Core (>= 1.1.9 < 1.2)
+      Aardvark.Service (5.4.4)
+      Aardvark.UI (5.4.4)
+      Adaptify.Core (>= 1.1.13 < 1.2)
       Aether (>= 8.3.1 < 8.4)
       FSharp.Core (>= 5.0.1)
       FSharp.Data.Adaptive (>= 1.2.13 < 1.3)
       FsPickler (>= 5.3.2 < 5.4)
       FsPickler.Json (>= 5.3.2 < 5.4)
-    Adaptify.Core (1.1.9)
+    Adaptify.Core (1.1.13)
       FSharp.Data.Adaptive (>= 1.2.13 < 1.3)
-    Adaptify.MSBuild (1.1.9)
-      Adaptify.Core (1.1.9)
+    Adaptify.MSBuild (1.1.13)
+      Adaptify.Core (1.1.13)
     Aether (8.3.1)
       FSharp.Core (>= 4.3.4)
     AssimpNet (5.0.0-beta1)
@@ -324,7 +324,7 @@ NUGET
     FSharp.Core (6.0.2)
     FSharp.Data (3.1.1)
       FSharp.Core (>= 4.3.4)
-    FSharp.Data.Adaptive (1.2.14)
+    FSharp.Data.Adaptive (1.2.15)
       FSharp.Core (>= 4.7)
       System.Reflection.Emit.Lightweight (>= 4.6)
     FsPickler (5.3.2)
@@ -418,7 +418,7 @@ NUGET
     NETStandard.Library (2.0.3)
       Microsoft.NETCore.Platforms (>= 1.1)
     Newtonsoft.Json (13.0.2)
-    OPCViewer.Base (1.5.2)
+    OPCViewer.Base (1.6.1)
       Aardvark.Base (>= 5.2.14 < 5.3)
       Aardvark.Base.FSharp (>= 5.2.14 < 5.3)
       Aardvark.Geometry.Intersection (>= 5.2.13 < 5.3)

src/PRo3D.Core/Surface.fs

@@ -149,6 +149,8 @@ module DebugKdTreesX =
     let intersectKdTrees bb (hitObject : Surface) (cache : HashMap<string, ConcreteKdIntersectionTree>) (ray : FastRay3d) (kdTreeMap: HashMap<Box3d, KdTrees.Level0KdTree>) = 
 
         let kdtree, c = kdTreeMap |> HashMap.find bb |> loadObjectSet cache
+        if isNull kdtree.KdIntersectionTree.ObjectSet then
+            Log.warn "object set null"
 
         let kdi = kdtree.KdIntersectionTree 
         let mutable hit = ObjectRayHit.MaxRange
@@ -228,7 +230,7 @@ module SurfaceIntersection =
                         let closestHit =
                             hitBoxes
                             |> List.choose(fun key -> 
-                                //Log.line "intersection: %s; pr: %f" surf.name surf.priority.value                                                             
+                                Log.startTimed "intersection: %s; pr: %f" surf.name surf.priority.value                                                             
                                 //let ray = r.Ray.Transformed(surf.preTransform.Backward) |> FastRay3d  //combine pre and current transform         
                                 let backward = 
                                     if surf.transformation.flipZ then
@@ -241,6 +243,7 @@ module SurfaceIntersection =
                                 let ray = r.Ray.Transformed(backward) |> FastRay3d
                                 let hit, c = 
                                   kd |> DebugKdTreesX.intersectKdTrees key surf cache ray
+                                Log.stop()
                                 cache <- c
                                 hit
                             )

src/PRo3D.Core/Surface/Surface.Sg.fs

@@ -171,24 +171,24 @@ module Sg =
             [| 
                 for h in patchHierarchies do
                     if createKdTrees then   
-                        yield KdTrees.loadKdTrees h Trafo3d.Identity ViewerModality.XYZ Serialization.binarySerializer false false DebugKdTreesX.loadTriangles' true              
+                        Log.startTimed "[KdTrees] Loading kdtrees: %s" h.opcPaths.Patches_DirAbsPath
+                        let m = Aardvark.VRVis.Opc.KdTrees.loadKdTrees h Trafo3d.Identity ViewerModality.XYZ Serialization.binarySerializer false true DebugKdTreesX.loadTriangles' true    
+                        Log.stop()
+                        if HashMap.isEmpty m then
+                            Log.warn "[KdTrees], KdTree map for %s is empty." h.opcPaths.Patches_DirAbsPath
+                            yield m
+                        else
+                            yield m
                     else 
                         yield HashMap.empty
             |]
 
         let totalKdTrees = kdTreesPerHierarchy.Length
-        Log.line "creating %d kdTrees" totalKdTrees
+        Log.line "fusing %d kdTrees" totalKdTrees
 
         let kdTrees = 
             kdTreesPerHierarchy                     
-            |> Array.Parallel.mapi (fun i e ->
-                Log.start "creating kdtree #%d of %d" i totalKdTrees
-                let r = e
-                Log.stop()
-                r
-            )
-            |> Array.fold (fun a b -> HashMap.union a b) HashMap.empty
-        
+            |> Array.fold HashMap.union HashMap.empty
 
 
         let createShadowContext (f : Aardvark.GeoSpatial.Opc.PatchLod.PatchNode) (scope : Scope) =

src/PRo3D.Core/Surface/SurfaceApp.fs

@@ -879,12 +879,13 @@ module SurfaceApp =
                         )
                     Log.stop()
                     Log.startTimed "[RebuildKdTrees] creating kdtrees"
-                    let kdTrees =
-                        hs |> Array.mapi (fun i h -> 
-                            KdTrees.loadKdTrees' h Trafo3d.Identity true ViewerModality.XYZ Serialization.binarySerializer true true PRo3D.Core.Surface.DebugKdTreesX.loadTriangles' false    
+                    let cnt = 
+                        hs |> Array.sumBy (fun h -> 
+                            let m = KdTrees.loadKdTrees' h Trafo3d.Identity true ViewerModality.XYZ Serialization.binarySerializer true true PRo3D.Core.Surface.DebugKdTreesX.loadTriangles' false Aardvark.VRVis.Opc.KdTrees.KdTreeParameters.legacyDefault   
+                            HashMap.count m
                         )
                     Log.stop()
-                    Log.line "[RebuildKdTrees] created/validated KdTrees for %d opcs." kdTrees.Length
+                    Log.line "[RebuildKdTrees] created/validated KdTrees for %d opcs." cnt
                     model
                 | None -> model                         
             | _ -> model

src/opc-tool/Program.fs

@@ -120,7 +120,7 @@ let generateKdTrees (degreeOfParallelism : Option<int>) (forceKdTreeRebuild : bo
 
 
         let kdTrees =
-            KdTrees.loadKdTrees' h Trafo3d.Identity true ViewerModality.XYZ serializer forceKdTreeRebuild ignoreMasterKdTree PRo3D.Core.Surface.DebugKdTreesX.loadTriangles' false
+            KdTrees.loadKdTrees' h Trafo3d.Identity true ViewerModality.XYZ serializer forceKdTreeRebuild ignoreMasterKdTree PRo3D.Core.Surface.DebugKdTreesX.loadTriangles' false Aardvark.VRVis.Opc.KdTrees.KdTreeParameters.legacyDefault
 
         for (bb,kdTree) in kdTrees do
             match kdTree with

src/opc-tool/Properties/launchSettings.json

@@ -2,7 +2,7 @@
   "profiles": {
     "opc-tool": {
       "commandName": "Project",
-      "commandLineArgs": "--ignoremasterkdtree \"F:\\pro3d\\data\\20200220_DinosaurQuarry2\\Dinosaur_Quarry_2\" --forcekdtreerebuild"
+      "commandLineArgs": "--ignoremasterkdtree \"I:\\OPC\\GardenCity\\MSL_Mastcam_Sol_926_id_48427\" --forcekdtreerebuild"
     }
   }
 }