add merge Mesh

go.mod

@@ -4,14 +4,15 @@ go 1.17
 
 require (
 	github.com/gorilla/mux v1.8.0
-	github.com/shirou/gopsutil/v3 v3.23.1
+	github.com/nfnt/resize v0.0.0-20180221191011-83c6a9932646
 )
 
 require (
 	github.com/NVIDIA/go-nvml v0.12.0-0 // indirect
 	github.com/go-ole/go-ole v1.2.6 // indirect
 	github.com/lufia/plan9stats v0.0.0-20211012122336-39d0f177ccd0 // indirect
 	github.com/power-devops/perfstat v0.0.0-20210106213030-5aafc221ea8c // indirect
+	github.com/shirou/gopsutil/v3 v3.23.1 // indirect
 	github.com/tklauser/go-sysconf v0.3.11 // indirect
 	github.com/tklauser/numcpus v0.6.0 // indirect
 	github.com/yusufpapurcu/wmi v1.2.2 // indirect

go.sum

@@ -10,6 +10,8 @@ github.com/gorilla/mux v1.8.0 h1:i40aqfkR1h2SlN9hojwV5ZA91wcXFOvkdNIeFDP5koI=
 github.com/gorilla/mux v1.8.0/go.mod h1:DVbg23sWSpFRCP0SfiEN6jmj59UnW/n46BH5rLB71So=
 github.com/lufia/plan9stats v0.0.0-20211012122336-39d0f177ccd0 h1:6E+4a0GO5zZEnZ81pIr0yLvtUWk2if982qA3F3QD6H4=
 github.com/lufia/plan9stats v0.0.0-20211012122336-39d0f177ccd0/go.mod h1:zJYVVT2jmtg6P3p1VtQj7WsuWi/y4VnjVBn7F8KPB3I=
+github.com/nfnt/resize v0.0.0-20180221191011-83c6a9932646 h1:zYyBkD/k9seD2A7fsi6Oo2LfFZAehjjQMERAvZLEDnQ=
+github.com/nfnt/resize v0.0.0-20180221191011-83c6a9932646/go.mod h1:jpp1/29i3P1S/RLdc7JQKbRpFeM1dOBd8T9ki5s+AY8=
 github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
 github.com/power-devops/perfstat v0.0.0-20210106213030-5aafc221ea8c h1:ncq/mPwQF4JjgDlrVEn3C11VoGHZN7m8qihwgMEtzYw=
 github.com/power-devops/perfstat v0.0.0-20210106213030-5aafc221ea8c/go.mod h1:OmDBASR4679mdNQnz2pUhc2G8CO2JrUAVFDRBDP/hJE=

handlers/chooseClient.go

@@ -10,6 +10,19 @@ func chooseSequentialClient() int {
 	return int(atomic.LoadInt32(&nowClient)) % clientCnt
 }
 
+func scoreMeshClient(id int) float64 {
+	// do not consider gpu in this cpu task
+	score := 0.0
+	resourceInfoLock.RLock()
+	resourceInfo := ClientResourceStats[id]
+	resourceInfoLock.RUnlock()
+	score += float64(resourceInfo.MemoryFree) / 1e9
+	for _, cpu := range resourceInfo.CpuUsage {
+		score += 1 - cpu
+	}
+	return score
+}
+
 func scoreRelocClient(id int) float64 {
 	score := 0.0
 	resourceInfoLock.RLock()
@@ -19,14 +32,14 @@ func scoreRelocClient(id int) float64 {
 		return -100.0
 	}
 	score += float64(resourceInfo.MemoryFree) / 1e9
-	score += float64(resourceInfo.GPUMemoryFree) / 1e9
+	score += float64(resourceInfo.GPUMemoryFree) / 1e7
 	for _, cpu := range resourceInfo.CpuUsage {
 		score += 1 - cpu
 	}
 	return score
 }
 
-func scoreClient(id int) float64 {
+func scoreRenderClient(id int) float64 {
 	score := 0.0
 	resourceInfoLock.RLock()
 	resourceInfo := ClientResourceStats[id]
@@ -35,7 +48,7 @@ func scoreClient(id int) float64 {
 		return -100.0
 	}
 	score += float64(resourceInfo.MemoryFree) / 1e9
-	score += float64(resourceInfo.GPUMemoryFree) / 1e9
+	score += float64(resourceInfo.GPUMemoryFree) / 1e7
 	for _, cpu := range resourceInfo.CpuUsage {
 		score += 1 - cpu
 	}
@@ -46,7 +59,7 @@ func chooseResourceClient() int {
 	maxScore := 0.0
 	maxIndex := -1
 	for i := 0; i < clientCnt; i++ {
-		score := scoreClient(i)
+		score := scoreRenderClient(i)
 		log.Println("[chooseResourceClient] this is ", i, " client score: ", score)
 		if score > maxScore {
 			maxIndex = i

handlers/clientResourceInfo.go → handlers/clientResourceInfoHandler.go

@@ -3,7 +3,6 @@ package handlers
 import (
 	"encoding/json"
 	"io/ioutil"
-	"log"
 	"net/http"
 	"strconv"
 
@@ -12,12 +11,11 @@ import (
 
 func MakeClientResourceInfoHandler() http.HandlerFunc {
 	return func(w http.ResponseWriter, r *http.Request) {
-		log.Print("[MakeClientResourceInfoHandler] receive client resource")
 		defer r.Body.Close()
 		body, _ := ioutil.ReadAll(r.Body)
 
 		id, _ := strconv.Atoi(mux.Vars(r)["id"])
-		// log.Print("[MakeClientResourceInfoHandler]", id, "client resource: ", string(body))
+		// log.Println("[MakeClientResourceInfoHandler] receive", id, "client resource")
 		resourceInfo := ResourceInfo{}
 		err := json.Unmarshal(body, &resourceInfo)
 		if err != nil {

handlers/globalVariable.go

@@ -0,0 +1,53 @@
+package handlers
+
+import "sync"
+
+const clientCnt int = 2
+
+// client network info
+var Client1Ip, Client2Ip string
+var Client1Port, Client2Port string
+var ClientAddrs []string
+var ClientIpsMap map[string]int
+
+// client resource info
+var ClientResourceStats [clientCnt]ResourceInfo
+var resourceInfoLock sync.RWMutex
+
+// give info about which clients a specific scene locates (one scene can locate multiple client)
+var ClientScenes map[string]map[int]bool
+var ClientScenesLock sync.RWMutex
+
+// record failed scene pair in order to generate more possible candidate
+var FailedSceneList map[string]map[string]int
+
+// Scene prepare to relocalise
+var ProcessingScenesList []string
+var ProcessingScenesIndex map[string]int // help ProcessingScenesList to delete scene
+var ScenesListLock sync.RWMutex
+
+// prevent running the same scene pair at the same time
+var RunningScenePairs map[scenePair]bool
+var RunningScenePairsLock sync.RWMutex
+
+var sceneUnion UnionSet
+var sceneUnionLock sync.Mutex
+
+var sceneGraph map[string]map[string]Pose // does not have circle in graph
+var sceneGraphLock sync.RWMutex
+
+// find the corresponding mesh of a specific scene
+var sceneMesh map[string]*MeshInfo
+var sceneMeshLock sync.RWMutex
+
+var RunningMeshes map[*MeshInfo]bool
+var RunningMeshesLock sync.RWMutex
+
+// for random choose client usage
+var nowClient int32 = -1
+
+// generate scene pair candidates number
+const candidateNum int = 5
+
+var RelocaliseCntLock sync.Mutex
+var RelocaliseCnt = 0

handlers/init.go

@@ -2,74 +2,13 @@ package handlers
 
 import (
 	"math/rand"
-	"sync"
 	"time"
 )
 
-const clientCnt int = 2
-
-var Client1Ip, Client2Ip string
-var Client1Port, Client2Port string
-
-var ClientAddrs []string
-var ClientIpsMap map[string]int
-var ClientResourceStats [clientCnt]ResourceInfo
-
-var ClientScenes map[string]map[int]bool
-
-var globalPoses map[scenePair][2]pose
-
-var ProcessingScenesList []string
-var ProcessingScenesIndex map[string]int
-
-type scenePair struct {
-	scene1, scene2 string
-}
-
-var RunningScenePairs map[scenePair]bool
-
-var SucceedSceneList []string
-
-var FailedSceneList map[string]map[string]int
-
-var ScenesListLock sync.RWMutex
-var globalPoseLock sync.RWMutex
-var resourceInfoLock sync.RWMutex
-var ClientScenesLock sync.RWMutex
-var RunningScenePairsLock sync.RWMutex
-
-var nowClient int32 = -1
-
-const candidateNum int = 10
-
-type pose [4][2]float64
-
-type globalPose struct {
-	Scene1Name string `json:"scene1name"`
-	Scene1Ip   string `json:"scene1ip"`
-	Scene1Pose pose   `json:"scene1pose"`
-	Scene2Name string `json:"scene2name"`
-	Scene2Ip   string `json:"scene2ip"`
-	Scene2Pose pose   `json:"scene2pose"`
-}
-
-type relocaliseInfo struct {
-	Scene1Name string `json:"scene1name"`
-	Scene1IP   string `json:"scene1ip"`
-	Scene2Name string `json:"scene2name"`
-	Scene2IP   string `json:"scene2ip"`
-}
-
-type ResourceInfo struct {
-	GPUMemoryFree uint64    `json:"gpumemoryfree"`
-	MemoryFree    uint64    `json:"memoryfree"`
-	CpuUsage      []float64 `json:"cpuusage"`
-}
-
 func init() {
-	Client1Ip = "127.0.0.1"
+	Client1Ip = "210.28.134.72"
 	Client1Port = "23334"
-	Client2Ip = "127.0.0.1"
+	Client2Ip = "210.28.134.72"
 	Client2Port = "23335"
 
 	ClientAddrs = []string{}
@@ -84,16 +23,19 @@ func init() {
 
 	ClientScenes = make(map[string]map[int]bool) // save where the scene locate
 
-	RunningScenePairs = make(map[scenePair]bool)
+	FailedSceneList = make(map[string]map[string]int)
 
 	ProcessingScenesList = []string{}
 	ProcessingScenesIndex = make(map[string]int)
 
-	SucceedSceneList = []string{}
+	RunningScenePairs = make(map[scenePair]bool)
 
-	FailedSceneList = make(map[string]map[string]int)
-	globalPoses = make(map[scenePair][2]pose)
+	sceneUnion = NewUnionSet()
+	sceneGraph = make(map[string]map[string]Pose)
 
-	rand.Seed(time.Now().Unix())
+	sceneMesh = make(map[string]*MeshInfo)
+
+	RunningMeshes = make(map[*MeshInfo]bool)
 
+	rand.Seed(time.Now().Unix())
 }

handlers/matrix.go

@@ -0,0 +1,109 @@
+package handlers
+
+import (
+	"math"
+)
+
+type Matrix struct {
+	//矩阵结构
+	N, M int //m是列数,n是⾏数
+	Data [][]float64
+}
+
+func Mul(a [4][4]float64, b [4][4]float64) [4][4]float64 {
+	res := [4][4]float64{}
+	for i := 0; i < 4; i++ {
+		t := [4]float64{}
+		for j := 0; j < 4; j++ {
+			r := float64(0)
+			for k := 0; k < 4; k++ {
+				r += a[i][k] * b[k][j]
+			}
+			t[j] = r
+		}
+		res[i] = t
+	}
+	return res
+}
+
+func Det(Matrix [4][4]float64, N int) float64 {
+	var T0, T1, T2, Cha int
+	var Num float64
+	var B [4][4]float64
+
+	if N > 0 {
+		Cha = 0
+		for i := 0; i < N; i++ {
+			var tmpArr [4]float64
+			for j := 0; j < N; j++ {
+				tmpArr[j] = 0
+			}
+			B[i] = tmpArr
+		}
+		Num = 0
+		for T0 = 0; T0 <= N; T0++ { //T0循环
+			for T1 = 1; T1 <= N; T1++ { //T1循环
+				for T2 = 0; T2 <= N-1; T2++ { //T2循环
+					if T2 == T0 {
+						Cha = 1
+					}
+					B[T1-1][T2] = Matrix[T1][T2+Cha]
+				} //T2循环
+				Cha = 0
+			} //T1循环
+			Num = Num + Matrix[0][T0]*Det(B, N-1)*math.Pow(-1, float64(T0))
+		} //T0循环
+		return Num
+	} else if N == 0 {
+		return Matrix[0][0]
+	}
+	return 0
+}
+
+func Inverse(S1 [4][4]float64) (MatrixC [4][4]float64) {
+	N := 4 - 1
+	Matrix := S1
+	var T0, T1, T2, T3 int
+	var B [4][4]float64
+	for i := 0; i < N; i++ {
+		var tmpArr [4]float64
+		for j := 0; j < N; j++ {
+			tmpArr[j] = 0
+		}
+		B[i] = tmpArr
+	}
+
+	for i := 0; i < N+1; i++ {
+		var tmpArr [4]float64
+		for j := 0; j < N+1; j++ {
+			tmpArr[j] = 0
+		}
+		MatrixC[i] = tmpArr
+	}
+
+	Chay := 0
+	Chax := 0
+	add := 1 / Det(Matrix, N)
+	for T0 = 0; T0 <= N; T0++ {
+		for T3 = 0; T3 <= N; T3++ {
+			for T1 = 0; T1 <= N-1; T1++ {
+				if T1 < T0 {
+					Chax = 0
+				} else {
+					Chax = 1
+				}
+				for T2 = 0; T2 <= N-1; T2++ {
+					if T2 < T3 {
+						Chay = 0
+					} else {
+						Chay = 1
+					}
+					B[T1][T2] = Matrix[T1+Chax][T2+Chay]
+				} //T2循环
+			} //T1循环
+			Det(B, N-1)
+			MatrixC[T3][T0] = Det(B, N-1) * add * (math.Pow(-1, float64(T0+T3)))
+		}
+	}
+	return MatrixC
+}