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Use reentrant interface of qhull (2015+) when available #2154

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38 changes: 29 additions & 9 deletions cmake/Modules/FindQhull.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -9,40 +9,49 @@
# If QHULL_USE_STATIC is specified then look for static libraries ONLY else
# look for shared ones

set(QHULL_MAJOR_VERSION 6)

if(QHULL_USE_STATIC)
set(QHULL_RELEASE_NAME qhullstatic)
set(QHULL_DEBUG_NAME qhullstatic_d)
set(QHULL_RELEASE_NAME qhullstatic_r qhullstatic)
set(QHULL_DEBUG_NAME qhullstatic_rd qhullstatic_d)
else(QHULL_USE_STATIC)
set(QHULL_RELEASE_NAME qhull_p qhull${QHULL_MAJOR_VERSION} qhull)
set(QHULL_DEBUG_NAME qhull_pd qhull${QHULL_MAJOR_VERSION}_d qhull_d${QHULL_MAJOR_VERSION} qhull_d)
set(QHULL_RELEASE_NAME qhull_r qhull_p qhull${QHULL_MAJOR_VERSION} qhull)
set(QHULL_DEBUG_NAME qhull_rd qhull_pd qhull${QHULL_MAJOR_VERSION}_d qhull_d${QHULL_MAJOR_VERSION} qhull_d)
endif(QHULL_USE_STATIC)

find_file(QHULL_HEADER
NAMES libqhull/libqhull.h qhull.h
NAMES libqhull_r/libqhull_r.h libqhull/libqhull.h qhull.h
HINTS "${QHULL_ROOT}" "$ENV{QHULL_ROOT}" "${QHULL_INCLUDE_DIR}"
PATHS "$ENV{PROGRAMFILES}/QHull" "$ENV{PROGRAMW6432}/QHull"
PATH_SUFFIXES qhull src/libqhull libqhull include)

set(QHULL_HEADER "${QHULL_HEADER}" CACHE INTERNAL "QHull header" FORCE )

set(HAVE_QHULL_2011 OFF)
set(HAVE_QHULL_2015 OFF)

if(QHULL_HEADER)
get_filename_component(qhull_header ${QHULL_HEADER} NAME_WE)
if("${qhull_header}" STREQUAL "qhull")
set(QHULL_MAJOR_VERSION 6)
set(HAVE_QHULL_2011 OFF)
set(HAVE_QHULL_2015 OFF)
get_filename_component(QHULL_INCLUDE_DIR ${QHULL_HEADER} PATH)
elseif("${qhull_header}" STREQUAL "libqhull")
set(QHULL_MAJOR_VERSION 6)
set(HAVE_QHULL_2011 ON)
set(HAVE_QHULL_2015 OFF)
get_filename_component(QHULL_INCLUDE_DIR ${QHULL_HEADER} PATH)
get_filename_component(QHULL_INCLUDE_DIR ${QHULL_INCLUDE_DIR} PATH)
elseif("${qhull_header}" STREQUAL "libqhull_r")
set(QHULL_MAJOR_VERSION 7)
set(HAVE_QHULL_2011 OFF)
set(HAVE_QHULL_2015 ON)
get_filename_component(QHULL_INCLUDE_DIR ${QHULL_HEADER} PATH)
get_filename_component(QHULL_INCLUDE_DIR ${QHULL_INCLUDE_DIR} PATH)
endif()
else(QHULL_HEADER)
set(QHULL_INCLUDE_DIR "QHULL_INCLUDE_DIR-NOTFOUND")
endif(QHULL_HEADER)

set(QHULL_INCLUDE_DIR "${QHULL_INCLUDE_DIR}" CACHE PATH "QHull include dir." FORCE)

find_library(QHULL_LIBRARY
NAMES ${QHULL_RELEASE_NAME}
HINTS "${QHULL_ROOT}" "$ENV{QHULL_ROOT}"
Expand All @@ -57,6 +66,17 @@ find_library(QHULL_LIBRARY_DEBUG
PATHS "$ENV{PROGRAMFILES}/QHull" "$ENV{PROGRAMW6432}/QHull"
PATH_SUFFIXES project build bin lib debug/lib)

if (QHULL_MAJOR_VERSION STREQUAL 7)
string(REGEX MATCH ".*r[d]?\\.so$" QHULLR_LIB_FOUND "${QHULL_LIBRARY_DEBUG}")
if("${QHULLR_LIB_FOUND}" STREQUAL "")
# Reentrant libraries cannot be found although headers are available.
# Use non-reentrant interface instead
set(QHULL_MAJOR_VERSION 6)
set(HAVE_QHULL_2011 ON)
set(HAVE_QHULL_2015 OFF)
endif()
endif()

if(NOT QHULL_LIBRARY_DEBUG)
set(QHULL_LIBRARY_DEBUG ${QHULL_LIBRARY})
endif(NOT QHULL_LIBRARY_DEBUG)
Expand Down
2 changes: 2 additions & 0 deletions pcl_config.h.in
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,8 @@

#cmakedefine HAVE_QHULL_2011 1

#cmakedefine HAVE_QHULL_2015 1

#cmakedefine HAVE_CUDA 1

#cmakedefine HAVE_FZAPI 1
Expand Down
80 changes: 76 additions & 4 deletions surface/include/pcl/surface/impl/concave_hull.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -196,7 +196,14 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
}

// Compute concave hull
#ifdef HAVE_QHULL_2015
qhT qh_qh;
qhT *qh= &qh_qh;
qh->qhmem.ferr = NULL;
exitcode = qh_new_qhull (qh, dim_, static_cast<int> (cloud_transformed.points.size ()), points, ismalloc, flags, outfile, errfile);
#else
exitcode = qh_new_qhull (dim_, static_cast<int> (cloud_transformed.points.size ()), points, ismalloc, flags, outfile, errfile);
#endif

if (exitcode != 0)
{
Expand Down Expand Up @@ -225,16 +232,25 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
alpha_shape.width = alpha_shape.height = 0;
polygons.resize (0);

qh_freeqhull (!qh_ALL);
int curlong, totlong;
#ifdef HAVE_QHULL_2015
qh_freeqhull (qh, !qh_ALL);
qh_memfreeshort (qh, &curlong, &totlong);
#else
qh_freeqhull (!qh_ALL);
qh_memfreeshort (&curlong, &totlong);
#endif

return;
}

#ifdef HAVE_QHULL_2015
qh_setvoronoi_all (qh);
int num_vertices = qh->num_vertices;
#else
qh_setvoronoi_all ();

int num_vertices = qh num_vertices;
#endif
alpha_shape.points.resize (num_vertices);

vertexT *vertex;
Expand All @@ -251,12 +267,20 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
++max_vertex_id;
std::vector<int> qhid_to_pcidx (max_vertex_id);

#ifdef HAVE_QHULL_2015
int num_facets = qh->num_facets;
#else
int num_facets = qh num_facets;
#endif
int dd = 0;

if (dim_ == 3)
{
#ifdef HAVE_QHULL_2015
setT *triangles_set = qh_settemp (qh, 4 * num_facets);
#else
setT *triangles_set = qh_settemp (4 * num_facets);
#endif
if (voronoi_centers_)
voronoi_centers_->points.resize (num_facets);

Expand All @@ -283,29 +307,48 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
if (r <= alpha_)
{
// all triangles in tetrahedron are good, add them all to the alpha shape (triangles_set)
#ifdef HAVE_QHULL_2015
qh_makeridges (qh, facet);
facet->visitid = qh->visit_id;
#else
qh_makeridges (facet);
facet->good = true;
facet->visitid = qh visit_id;
#endif
facet->good = true;
ridgeT *ridge, **ridgep;
FOREACHridge_ (facet->ridges)
{
neighb = otherfacet_ (ridge, facet);
#ifdef HAVE_QHULL_2015
if ((neighb->visitid != qh->visit_id))
qh_setappend (qh, &triangles_set, ridge);
#else
if ((neighb->visitid != qh visit_id))
qh_setappend (&triangles_set, ridge);
#endif
}
}
else
{
// consider individual triangles from the tetrahedron...
facet->good = false;
#ifdef HAVE_QHULL_2015
facet->visitid = qh->visit_id;
qh_makeridges (qh, facet);
#else
facet->visitid = qh visit_id;
qh_makeridges (facet);
#endif
ridgeT *ridge, **ridgep;
FOREACHridge_ (facet->ridges)
{
facetT *neighb;
neighb = otherfacet_ (ridge, facet);
#ifdef HAVE_QHULL_2015
if ((neighb->visitid != qh->visit_id))
#else
if ((neighb->visitid != qh visit_id))
#endif
{
// check if individual triangle is good and add it to triangles_set

Expand All @@ -322,7 +365,11 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:

double r = pcl::getCircumcircleRadius (a, b, c);
if (r <= alpha_)
#ifdef HAVE_QHULL_2015
qh_setappend (qh, &triangles_set, ridge);
#else
qh_setappend (&triangles_set, ridge);
#endif
}
}
}
Expand Down Expand Up @@ -354,7 +401,11 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
{
polygons[triangles].vertices.resize (3);
int vertex_n, vertex_i;
#ifdef HAVE_QHULL_2015
FOREACHvertex_i_ (qh, (*ridge).vertices) //3 vertices per ridge!
#else
FOREACHvertex_i_ ((*ridge).vertices) //3 vertices per ridge!
#endif
{
if (!added_vertices[vertex->id])
{
Expand Down Expand Up @@ -383,7 +434,11 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
{
// Compute the alpha complex for the set of points
// Filters the delaunay triangles
#ifdef HAVE_QHULL_2015
setT *edges_set = qh_settemp (qh, 3 * num_facets);
#else
setT *edges_set = qh_settemp (3 * num_facets);
#endif
if (voronoi_centers_)
voronoi_centers_->points.resize (num_facets);

Expand All @@ -402,12 +457,20 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
if (r <= alpha_)
{
pcl::Vertices facet_vertices; //TODO: is not used!!
#ifdef HAVE_QHULL_2015
qh_makeridges (qh, facet);
#else
qh_makeridges (facet);
#endif
facet->good = true;

ridgeT *ridge, **ridgep;
FOREACHridge_ (facet->ridges)
#ifdef HAVE_QHULL_2015
qh_setappend (qh, &edges_set, ridge);
#else
qh_setappend (&edges_set, ridge);
#endif

if (voronoi_centers_)
{
Expand Down Expand Up @@ -437,7 +500,11 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
std::vector<int> pcd_indices;
pcd_indices.resize (2);

#ifdef HAVE_QHULL_2015
FOREACHvertex_i_ (qh, (*ridge).vertices) //in 2-dim, 2 vertices per ridge!
#else
FOREACHvertex_i_ ((*ridge).vertices) //in 2-dim, 2 vertices per ridge!
#endif
{
if (!added_vertices[vertex->id])
{
Expand Down Expand Up @@ -540,9 +607,14 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
voronoi_centers_->points.resize (dd);
}

qh_freeqhull (!qh_ALL);
int curlong, totlong;
#ifdef HAVE_QHULL_2015
qh_freeqhull (qh, !qh_ALL);
qh_memfreeshort (qh, &curlong, &totlong);
#else
qh_freeqhull (!qh_ALL);
qh_memfreeshort (&curlong, &totlong);
#endif

Eigen::Affine3d transInverse = transform1.inverse ();
pcl::transformPointCloud (alpha_shape, alpha_shape, transInverse);
Expand Down
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