Merge branch 'dev' into meshsdk

Author: alpinebuster

.github/workflows/build-test-emscripten.yml

@@ -16,7 +16,7 @@ on:
 jobs:
   emscripten-build:
     timeout-minutes: 40
-    runs-on: [ self-hosted, linux-arm64, spot ]
+    runs-on: ubuntu-24.04-arm
     container:
       image: meshsdk/meshsdk-emscripten-arm64:${{ inputs.docker_image_tag }}
     strategy:

.vscode/extensions.json

@@ -5,12 +5,12 @@
         "ryu1kn.partial-diff",
         "ms-vscode.makefile-tools",
         "llvm-vs-code-extensions.lldb-dap",
-        "tatsy.vscode-3d-preview",
         "bierner.emojisense",
         "ms-vscode.cpptools-extension-pack",
         "huizhou.githd",
         "streetsidesoftware.code-spell-checker",
         "streetsidesoftware.code-spell-checker-british-english",
-        "streetsidesoftware.code-spell-checker-scientific-terms"
+        "streetsidesoftware.code-spell-checker-scientific-terms",
+        "kleinicke.ply-visualizer"
     ]
 }

docker/emscriptenDockerfile

@@ -72,8 +72,10 @@ RUN curl "https://awscli.amazonaws.com/awscli-exe-linux-x86_64.zip" -o "awscliv2
 WORKDIR /home/
 RUN rm -rf meshsdk
 
-# Add a new user "actions-runner" with user id 8877
-RUN useradd -u 8877 -m user && \
+# Setup non-root user (use 1001 to play nicely with actions/checkout@v4)
+# https://github.com/actions/checkout/issues/1014
+RUN groupadd -g 1001 user && \
+    useradd -m -u 1001 -g user -s /bin/bash user && \
     sudo chmod -R 777 /emsdk/upstream/emscripten/
 
 # Change to non-root privilege

source/MRDotNetTest/ICPTests.cs

@@ -41,7 +41,7 @@ public void TestMultiwayICP()
             var xfs = icp.CalculateTransformations();
             Assert.That(icp.GetNumActivePairs(), Is.EqualTo(1748));
             Assert.That(icp.GetNumSamples(), Is.EqualTo(1748));
-            Assert.That(icp.GetMeanSqDistToPoint(), Is.EqualTo(0.00226).Within(1e-5));
+            Assert.That(icp.GetMeanSqDistToPoint(), Is.EqualTo(0).Within(1e-5));
         }
 
         [Test]

source/MRMesh/MRConvexHull.cpp

@@ -285,11 +285,12 @@ Contour2f makeConvexHull( Contour2f points )
     if ( points.size() < 2 )
         return points;
 
-    auto minPointIt = std::min_element( points.begin(), points.end(), [] ( auto&& a, auto&& b )
+    // sort points by coordinates to find a start point and to remove duplicates
+    std::sort( points.begin(), points.end(), [] ( auto&& a, auto&& b )
     {
         return std::tie( a.y, a.x ) < std::tie( b.y, b.x );
     } );
-    std::swap( *points.begin(), *minPointIt );
+    points.erase( std::unique( points.begin(), points.end() ), points.end() );
     const auto& minPoint = points.front();
 
     // sort points by polar angle and distance to the start point

source/MRMesh/MRMeshOrPoints.cpp

@@ -49,7 +49,9 @@ void MeshOrPoints::accumulate( PointAccumulator& accum, const AffineXf3f* xf ) c
 
 std::optional<VertBitSet> MeshOrPoints::pointsGridSampling( float voxelSize, size_t maxVoxels, const ProgressCallback & cb ) const
 {
-    assert( voxelSize > 0 );
+    assert( voxelSize >= 0 );
+    if ( voxelSize == 0 )
+        return validPoints();
     assert( maxVoxels > 0 );
     auto box = computeBoundingBox();
     if ( !box.valid() )

source/MRMesh/MRMeshOrPoints.h

@@ -47,6 +47,7 @@ class MeshOrPoints
     /// performs sampling of vertices or points;
     /// subdivides bounding box of the object on voxels of approximately given size and returns at most one vertex per voxel;
     /// voxelSize is automatically increased to avoid more voxels than \param maxVoxels;
+    /// if voxelSize == 0 then all valid points are returned;
     /// returns std::nullopt if it was terminated by the callback
     [[nodiscard]] MRMESH_API std::optional<VertBitSet> pointsGridSampling( float voxelSize, size_t maxVoxels = 500000,
         const ProgressCallback & cb = {} ) const;

source/MRMesh/MRMultiwayICP.cpp

@@ -943,7 +943,7 @@ bool MultiwayICP::multiwayIter_( bool p2pl )
             {
                 const auto& data = pairs[i][j].vec[idx];
                 if ( p2pl )
-                    mat.add( int( i ), data.srcPoint, int( j ), data.tgtPoint, ( data.tgtNorm + data.srcNorm ).normalized(), data.weight );
+                    mat.add( int( i ), data.srcPoint, int( j ), data.tgtPoint, data.tgtNorm, data.weight );
                 else
                     mat.add( int( i ), data.srcPoint, int( j ), data.tgtPoint, data.weight );
             }

source/MRMesh/MRMultiwayICP.h

@@ -59,8 +59,8 @@ class IICPTreeIndexer
 /// Parameters that are used for sampling of the MultiwayICP objects
 struct MultiwayICPSamplingParameters
 {
-    /// sampling size of each object
-    float samplingVoxelSize = 0.0f;
+    /// sampling size of each object, 0 has special meaning "take all valid points"
+    float samplingVoxelSize = 0;
 
     /// size of maximum icp group to work with
     /// if number of objects exceeds this value, icp is applied in cascade mode

source/MRTest/MRMultiwayICPTests.cpp

@@ -0,0 +1,41 @@
+#include <MRMesh/MRMultiwayICP.h>
+#include <MRMesh/MRTorus.h>
+#include <MRMesh/MRMesh.h>
+#include <MRMesh/MRAffineXf3.h>
+#include <MRMesh/MRGTest.h>
+#include <iostream>
+
+namespace MR
+{
+
+TEST( MRMesh, MultiwayICPTorus )
+{
+    auto torusRef = makeTorus( 2.5f, 0.7f, 48, 48 );
+    auto torusMove = torusRef;
+
+    auto axis = Vector3f( 1, 0, 0 );
+    auto trans = Vector3f( 0, 0.2f, 0.105f );
+
+    auto xf = AffineXf3f( Matrix3f::rotation( axis, 0.2f ), trans );
+
+    ICPObjects objs;
+    objs.push_back( { torusMove, xf } );
+    objs.push_back( { torusRef, AffineXf3f{} } );
+    MultiwayICP icp( objs, MultiwayICPSamplingParameters{} );
+
+    ICPProperties props
+    {
+        .iterLimit = 20
+    };
+    icp.setParams( props );
+    auto newXfs = icp.calculateTransformations();
+    EXPECT_EQ( newXfs[ObjId( 1 )], AffineXf3f{} );
+    std::cout << icp.getStatusInfo() << '\n';
+
+    auto newXf = newXfs[ObjId( 0 )];
+    constexpr float eps = 1e-6f;
+    EXPECT_NEAR( ( newXf.A - Matrix3f::identity() ).norm(), 0., eps );
+    EXPECT_NEAR( newXf.b.length(), 0., eps );
+}
+
+} //namespace MR