day19: move beacons/distances from arrays to lists
This commit is contained in:
@@ -20,50 +20,37 @@
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#include "bits.h"
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#include "list.h"
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/*
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typedef struct beacon {
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int x, y, z;
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struct list_head list_beacons;
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} beacon_t;
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typedef struct scanner {
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struct list_head list_beacons;
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} scanner_t;
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*/
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// #define SQUARE(x) ((x) * (x))
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#define MAX_SCANNERS 32 /* I know, I know... */
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#define MAX_BEACONS 32
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#define MAX_DISTANCES ((MAX_BEACONS - 1) * MAX_BEACONS)
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typedef struct vector {
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int x, y, z; /* beacon coordinates */
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s64 x, y, z;
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} vector_t;
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typedef struct beacon {
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int x, y, z; /* beacon coordinates */
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int count;
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int scanner; /* original scanner for beacon */
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int num; /* original # in original scanner */
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int common; /* has common distance with 1st scanner */
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vector_t vec; /* beacon coordinates */
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struct list_head list_beacons;
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} beacon_t;
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typedef struct rotmatrix {
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vector_t a, b, c;
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} rotmatrix_t;
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typedef struct dist {
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uint dist; /* square distance */
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int beacon1, beacon2; /* beacons */
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u64 dist; /* square distance... */
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beacon_t *beacon1, *beacon2; /* ... between these beacons */
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struct list_head list_dists;
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} dist_t;
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typedef struct scanner {
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int nbeacons, ndists, adjusted;
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beacon_t beacons[MAX_BEACONS];
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uint beacons_count[MAX_BEACONS]; /* common scanner distance count */
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dist_t dists[MAX_DISTANCES]; /* sorted */
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int reference[3]; /* reference beacons */
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int nbeacons, ndists;
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int adjusted;
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struct list_head list_beacons;
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struct list_head list_dists;
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beacon_t *ref[3]; /* reference beacons */
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//vector_t ref[3];
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} scanner_t;
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static pool_t *pool_beacon;
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static pool_t *pool_dist;
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static scanner_t scanners[MAX_SCANNERS];
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static int nscanners;
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@@ -71,132 +58,104 @@ static int nscanners;
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static void scanners_print_dists()
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{
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dist_t *cur;
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beacon_t *beacon1, *beacon2;
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log_f(1, "nscanners: %d\n", nscanners);
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for (int i = 0; i < nscanners; ++i) {
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log(1, "scanner %d:\n", i);
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for (int j = 0; j < scanners[i].ndists; ++j) {
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cur = &scanners[i].dists[j];
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log(1, "\t%u : %d,%d\n", cur->dist, cur->beacon1, cur->beacon2);
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log(1, "scanner %d: %d dists\n", i, scanners[i].ndists);
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list_for_each_entry(cur, &scanners[i].list_dists, list_dists) {
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beacon1 = cur->beacon1;
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beacon2 = cur->beacon2;
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log_i(3, "%lu : %d-%d (%ld,%ld,%ld)-(%ld,%ld,%ld)\n", cur->dist,
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beacon1->num, beacon2->num,
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beacon1->vec.x, beacon1->vec.y, beacon1->vec.z,
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beacon2->vec.x, beacon2->vec.y, beacon2->vec.z);
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}
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// log(1, "zobi\n");
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}
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}
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static void scanners_print_refs(scanner_t *s1, scanner_t *s2)
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{
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log_f(1, "s1:%ld s2:%ld\n", s1 - scanners, s2 - scanners);
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log(1, "scanner %ld:", s1 - scanners);
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log_i(2, "scanner %ld:", s1 - scanners);
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for (int i = 0; i < 3; ++i) {
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beacon_t *beacon = s1->beacons + s1->reference[i];
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log(1, " (%d,%d,%d)", beacon->x, beacon->y, beacon->z);
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beacon_t *beacon = s1->ref[i];
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log(1, " (%ld,%ld,%ld)", beacon->vec.x, beacon->vec.y, beacon->vec.z);
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}
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log(1, "\nscanner %ld:", s2 - scanners);
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log(1, "\n");
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log_i(2, "\nscanner %ld:", s2 - scanners);
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for (int i = 0; i < 3; ++i) {
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beacon_t *beacon = s2->beacons + s2->reference[i];
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log(1, " (%d,%d,%d)", beacon->x, beacon->y, beacon->z);
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beacon_t *beacon = s2->ref[i];
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log(1, " (%ld,%ld,%ld)", beacon->vec.x, beacon->vec.y, beacon->vec.z);
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}
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log(1, "\n");
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}
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/*
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static void scanners_print()
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{
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beacon_t *cur;
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log_f(1, "nscanners: %d\n", nscanners);
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for (int i = 0; i < nscanners; ++i) {
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log(1, "scanner %d:\n\t", i);
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for (int j = 0; j < scanners[i].nbeacons; ++j) {
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cur = &scanners[i].beacons[j];
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log(1, " %d/%d/%d", cur->x, cur->y, cur->z);
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log(1, "scanner %d: %d beacons\n", i, scanners[i].nbeacons);
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log_i(3, " ");
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list_for_each_entry(cur, &scanners[i].list_beacons, list_beacons) {
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log(1, " %ld/%ld/%ld", cur->vec.x, cur->vec.y, cur->vec.z);
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}
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log(1, "\n");
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}
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}
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*/
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static void merge(array, left, mid, right)
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dist_t *array;
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int left, mid, right;
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{
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dist_t temp[right - left + 1];
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int pos = 0, lpos = left, rpos = mid + 1, iter;
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while(lpos <= mid && rpos <= right) {
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if(array[lpos].dist < array[rpos].dist) {
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temp[pos++] = array[lpos++];
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}
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else {
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temp[pos++] = array[rpos++];
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}
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}
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while(lpos <= mid)
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temp[pos++] = array[lpos++];
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while(rpos <= right)
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temp[pos++] = array[rpos++];
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for(iter = 0; iter < pos; iter++) {
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array[iter+left] = temp[iter];
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}
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return;
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}
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static void mergesort(array, left, right)
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dist_t *array;
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int left, right;
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{
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int mid = (left + right) / 2;
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if(left < right) {
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mergesort(array, left, mid);
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mergesort(array, mid + 1, right);
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merge(array, left, mid, right);
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}
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}
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/* Thanks to:
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* http://www.euclideanspace.com/maths/algebra/matrix/transforms/examples/index.htm
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*/
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rotmatrix_t rotations[24] = {
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{{ 1, 0, 0}, { 0, 1, 0}, { 0, 0, 1}},
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{{ 0, 0, 1}, { 0, 1, 0}, {-1, 0, 0}},
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{{-1, 0, 0}, { 0, 1, 0}, { 0, 0, -1}},
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{{ 0, 0, -1}, { 0, 1, 0}, { 1, 0, 0}},
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vector_t rotations[] = {
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{ 1, 0, 0}, { 0, 1, 0}, { 0, 0, 1},
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{ 0, 0, 1}, { 0, 1, 0}, {-1, 0, 0},
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{-1, 0, 0}, { 0, 1, 0}, { 0, 0, -1},
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{ 0, 0, -1}, { 0, 1, 0}, { 1, 0, 0},
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{{ 0, -1, 0}, { 1, 0, 0}, { 0, 0, 1}},
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{{ 0, 0, 1}, { 1, 0, 0}, { 0, 1, 0}},
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{{ 0, 1, 0}, { 1, 0, 0}, { 0, 0, -1}},
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{{ 0, 0, -1}, { 1, 0, 0}, { 0, -1, 0}},
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{ 0, -1, 0}, { 1, 0, 0}, { 0, 0, 1},
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{ 0, 0, 1}, { 1, 0, 0}, { 0, 1, 0},
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{ 0, 1, 0}, { 1, 0, 0}, { 0, 0, -1},
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{ 0, 0, -1}, { 1, 0, 0}, { 0, -1, 0},
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{{ 0, 1, 0}, {-1, 0, 0}, { 0, 0, 1}},
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{{ 0, 0, 1}, {-1, 0, 0}, { 0, -1, 0}},
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{{ 0, -1, 0}, {-1, 0, 0}, { 0, 0, -1}},
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{{ 0, 0, -1}, {-1, 0, 0}, { 0, 1, 0}},
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{ 0, 1, 0}, {-1, 0, 0}, { 0, 0, 1},
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{ 0, 0, 1}, {-1, 0, 0}, { 0, -1, 0},
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{ 0, -1, 0}, {-1, 0, 0}, { 0, 0, -1},
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{ 0, 0, -1}, {-1, 0, 0}, { 0, 1, 0},
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{{ 1, 0, 0}, { 0, 0, -1}, { 0, 1, 0}},
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{{ 0, 1, 0}, { 0, 0, -1}, {-1, 0, 0}},
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{{-1, 0, 0}, { 0, 0, -1}, { 0, -1, 0}},
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{{ 0, -1, 0}, { 0, 0, -1}, { 1, 0, 0}},
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{ 1, 0, 0}, { 0, 0, -1}, { 0, 1, 0},
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{ 0, 1, 0}, { 0, 0, -1}, {-1, 0, 0},
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{-1, 0, 0}, { 0, 0, -1}, { 0, -1, 0},
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{ 0, -1, 0}, { 0, 0, -1}, { 1, 0, 0},
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{{ 1, 0, 0}, { 0, -1, 0}, { 0, 0, -1}},
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{{ 0, 0, -1}, { 0, -1, 0}, {-1, 0, 0}},
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{{-1, 0, 0}, { 0, -1, 0}, { 0, 0, 1}},
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{{ 0, 0, 1}, { 0, -1, 0}, { 1, 0, 0}},
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{ 1, 0, 0}, { 0, -1, 0}, { 0, 0, -1},
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{ 0, 0, -1}, { 0, -1, 0}, {-1, 0, 0},
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{-1, 0, 0}, { 0, -1, 0}, { 0, 0, 1},
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{ 0, 0, 1}, { 0, -1, 0}, { 1, 0, 0},
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{{ 1, 0, 0}, { 0, 0, 1}, { 0, -1, 0}},
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{{ 0, -1, 0}, { 0, 0, 1}, {-1, 0, 0}},
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{{-1, 0, 0}, { 0, 0, 1}, { 0, 1, 0}},
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{{ 0, 1, 0}, { 0, 0, 1}, { 1, 0, 0}},
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{ 1, 0, 0}, { 0, 0, 1}, { 0, -1, 0},
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{ 0, -1, 0}, { 0, 0, 1}, {-1, 0, 0},
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{-1, 0, 0}, { 0, 0, 1}, { 0, 1, 0},
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{ 0, 1, 0}, { 0, 0, 1}, { 1, 0, 0},
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};
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#define NROTATIONS (sizeof(rotations) / sizeof(*rotations))
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#define NROTATIONS (sizeof(rotations) / sizeof(*rotations) / 3)
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/* beacon_rotate: rotate beacon "in" with "nrot"th rotations matrix
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*/
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static beacon_t *beacon_rotate(const beacon_t *in, beacon_t *res, rotmatrix_t *rot)
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static beacon_t *beacon_rotate(const beacon_t *in, beacon_t *res, int nrot)
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{
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res->x = in->x * rot->a.x + in->y * rot->a.y + in->z * rot->a.z;
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res->y = in->x * rot->b.x + in->y * rot->b.y + in->z * rot->b.z;
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res->z = in->x * rot->c.x + in->y * rot->c.y + in->z * rot->c.z;
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vector_t *rot = &rotations[nrot*3];
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//log_f(1, "rot0[%d]=%d,%d,%d\n", nrot, rot[0].x, rot[0].y , rot[0].z);
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//log_f(1, "rot1[%d]=%d,%d,%d\n", nrot, rot[1].x, rot[1].y , rot[1].z);
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//log_f(1, "rot2[%d]=%d,%d,%d\n", nrot, rot[2].x, rot[2].y , rot[2].z);
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res->vec.x = in->vec.x * rot[0].x + in->vec.y * rot[0].y + in->vec.z * rot[0].z;
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res->vec.y = in->vec.x * rot[1].x + in->vec.y * rot[1].y + in->vec.z * rot[1].z;
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res->vec.z = in->vec.x * rot[2].x + in->vec.y * rot[2].y + in->vec.z * rot[2].z;
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return res;
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}
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@@ -204,22 +163,54 @@ static beacon_t *beacon_rotate(const beacon_t *in, beacon_t *res, rotmatrix_t *r
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*/
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static beacon_t *beacon_diff(const beacon_t *b1, beacon_t *b2, beacon_t *res)
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{
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res->x = b1->x - b2->x;
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res->y = b1->y - b2->y;
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res->z = b1->z - b2->z;
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res->vec.x = b1->vec.x - b2->vec.x;
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res->vec.y = b1->vec.y - b2->vec.y;
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res->vec.z = b1->vec.z - b2->vec.z;
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return res;
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}
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/* insert a new distance in scanner's (sorted) distances list
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*/
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static int insert_dist(scanner_t *scanner, dist_t *dist)
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{
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dist_t *cur;
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uint newdist = dist->dist;
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log_f(7, "dist=%u\n", newdist);
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cur = list_first_entry_or_null(&scanner->list_dists, dist_t, list_dists);
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/* special case: first distance or new dist lower than first dist */
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if (!cur || newdist < cur->dist) {
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list_add(&dist->list_dists, &scanner->list_dists);
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log_i(7, "first entry\n");
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goto end;
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}
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/* normal case: insert before current when new dist is lower than current dist */
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list_for_each_entry(cur, &scanner->list_dists, list_dists) {
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log_i(7, "comp=%lu\n", cur->dist);
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if (newdist < cur->dist) {
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list_add_tail(&dist->list_dists, &cur->list_dists);
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log_i(7, "add before\n");
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goto end;
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}
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}
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/* special case: we went to end, insert at list's tail */
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list_add_tail(&dist->list_dists, &scanner->list_dists);
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log_i(7, "add end\n");
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end:
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return ++scanner->ndists;
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}
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/* using scanner's reference points, find the correct rotation and translation
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*/
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static int adjust_scanner(scanner_t *ref, scanner_t *s)
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{
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beacon_t *beacon_ref[3], *beacon[3];
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beacon_t *beacon_ref[3], *beacon[3], *cur;
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//log_f(1, "sizeof(rotations)=%lu\n", NROTATIONS);
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for (uint i = 0; i < 3; ++i) {
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beacon_ref[i] = ref->beacons + ref->reference[i];
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beacon[i] = s->beacons + s->reference[i];
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beacon_ref[i] = ref->ref[i];
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beacon[i] = s->ref[i];
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}
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for (uint i = 0; i < NROTATIONS; ++i) {
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@@ -228,53 +219,129 @@ static int adjust_scanner(scanner_t *ref, scanner_t *s)
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/* rotate the first beacon and translate to match ref's (x, y, z)
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*/
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for (int bref = 0; bref < 3; ++bref) {
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beacon_rotate(beacon[bref], &rot[bref], rotations + i);
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beacon_rotate(beacon[bref], &rot[bref], i);
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beacon_diff(beacon_ref[bref], &rot[bref], &diff[bref]);
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log(2, "ref %d diff=(%d,%d,%d)\n", bref, diff[bref].x, diff[bref].y,
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diff[bref].z);
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log(2, "ref %d diff=(%ld,%ld,%ld)\n", bref,
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diff[bref].vec.x, diff[bref].vec.y, diff[bref].vec.z);
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/* check that rotation/translation works for the 3 reference points
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*/
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if (bref > 0 && (diff[bref].x != diff[0].x ||
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diff[bref].y != diff[0].y ||
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diff[bref].z != diff[0].z)) {
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if (bref > 0 && (diff[bref].vec.x != diff[0].vec.x ||
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diff[bref].vec.y != diff[0].vec.y ||
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diff[bref].vec.z != diff[0].vec.z)) {
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log(2, "skipping this translation\n");
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goto next_rot;
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}
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}
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log(2, "Got it: scanner %lu is (%d,%d,%d) from reference\n",
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s - scanners, diff[0].x, diff[0].y, diff[0].z);
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log(2, "Got it: scanner %lu is (%ld,%ld,%ld) from reference\n",
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s - scanners, diff[0].vec.x, diff[0].vec.y, diff[0].vec.z);
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/* adjust all beacons */
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for (int b = 0; b < s->nbeacons; ++ b) {
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beacon_rotate(s->beacons + b, rot, rotations + i);
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s->beacons[b] = *rot;
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s->beacons[b].x += (*diff).x;
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s->beacons[b].y += (*diff).y;
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s->beacons[b].z += (*diff).z;
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log(2, "translated beacon: (%d,%d,%d)\n", s->beacons[b].x,
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s->beacons[b].y, s->beacons[b].z);
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//beacon_diff(beacon_ref[bref], &rot[bref], &diff[bref]);
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list_for_each_entry(cur, &s->list_beacons, list_beacons) {
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log(2, "translating beacon: (%ld,%ld,%ld) ->", cur->vec.x,
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cur->vec.y, cur->vec.z);
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beacon_rotate(cur, cur, i);
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cur->vec.x += (*diff).vec.x;
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cur->vec.y += (*diff).vec.y;
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cur->vec.z += (*diff).vec.z;
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log(2, " (%ld,%ld,%ld)\n", cur->vec.x,
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cur->vec.y, cur->vec.z);
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}
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break;
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next_rot:
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next_rot:
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log(2, "\n");
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}
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return 1;
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}
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/* add distances between b1 and all following beacons in scanner's list
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*/
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static int add_beacon_dists(scanner_t *scanner, beacon_t *b1)
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{
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beacon_t *b2 = b1;
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||||
dist_t *dist;
|
||||
int count = 0;
|
||||
|
||||
list_for_each_entry_continue(b2, &scanner->list_beacons, list_beacons) {
|
||||
dist = pool_get(pool_dist);
|
||||
dist->dist =
|
||||
(b1->vec.x - b2->vec.x) * (b1->vec.x - b2->vec.x) +
|
||||
(b1->vec.y - b2->vec.y) * (b1->vec.y - b2->vec.y) +
|
||||
(b1->vec.z - b2->vec.z) * (b1->vec.z - b2->vec.z);
|
||||
dist->beacon1 = b1;
|
||||
dist->beacon2 = b2;
|
||||
log_f(1, "scanner %lu new dist : %lu (%ld,%ld,%ld) / (%ld,%ld,%ld)\n",
|
||||
scanner - scanners,
|
||||
dist->dist,
|
||||
b1->vec.x, b1->vec.y, b1->vec.z,
|
||||
b2->vec.x, b2->vec.y, b2->vec.z);
|
||||
insert_dist(scanner, dist);
|
||||
count++;
|
||||
}
|
||||
return count;
|
||||
}
|
||||
|
||||
/* merge scanner s2 (already translated) beacons into scanner s1.
|
||||
* - ignore duplicate beacons
|
||||
* - recalculate all distances for new beacons
|
||||
*/
|
||||
static int merge_scanner(scanner_t *s1, scanner_t *s2)
|
||||
{
|
||||
struct list_head *cur, *tmp;
|
||||
beacon_t *beacon;
|
||||
dist_t *dist;
|
||||
int count = 0;
|
||||
|
||||
//log_f(1, "merging scanner %lu into %lu\n", s2 - scanners, s1 - scanners);
|
||||
log_f(3, "before(%lu -> %lu): count1=%d count2=%d dist1=%d dist2=%d\n\n",
|
||||
s2 - scanners, s1 - scanners,
|
||||
s1->nbeacons, s2->nbeacons, s1->ndists, s2->ndists);
|
||||
|
||||
list_for_each_safe(cur, tmp, &s2->list_beacons) {
|
||||
beacon = list_entry(cur, beacon_t, list_beacons);
|
||||
list_del(cur);
|
||||
s2->nbeacons--;
|
||||
if (beacon->common) {
|
||||
log(2, "common beacon ignored (%ld,%ld,%ld)\n",
|
||||
beacon->vec.x, beacon->vec.y, beacon->vec.z);
|
||||
pool_add(pool_beacon, beacon);
|
||||
} else {
|
||||
log(2, "add new beacon (%ld,%ld,%ld)\n",
|
||||
beacon->vec.x, beacon->vec.y, beacon->vec.z);
|
||||
list_add(cur, &s1->list_beacons);
|
||||
s1->nbeacons++;
|
||||
add_beacon_dists(s1, beacon);
|
||||
count++;
|
||||
}
|
||||
}
|
||||
/* free all dists */
|
||||
list_for_each_safe(cur, tmp, &s2->list_dists) {
|
||||
dist = list_entry(cur, dist_t, list_dists);
|
||||
list_del(cur);
|
||||
s2->ndists--;
|
||||
pool_add(pool_dist, dist);
|
||||
}
|
||||
s2->adjusted = 1;
|
||||
log_f(3, "after(%lu -> %lu): count1=%d count2=%d dist1=%d dist2=%d added=%d\n",
|
||||
s2 - scanners, s1 - scanners,
|
||||
s1->nbeacons, s2->nbeacons, s1->ndists, s2->ndists, count);
|
||||
return count;
|
||||
}
|
||||
|
||||
/* For each scanner, calculate square distances between every beacon,
|
||||
* and generate corresponding list.
|
||||
* For N beacons, we will get (N) * (N-1) / 2 distances.
|
||||
*
|
||||
* Note: To find 12 matching beacons between scanners later, we will need
|
||||
* 66 matching distances (12 * 11 / 2).
|
||||
*/
|
||||
static int count_common_distances(scanner_t *s1, scanner_t *s2)
|
||||
{
|
||||
dist_t *d1 = s1->dists, *d2 = s2->dists;
|
||||
int cur1 = 0, cur2 = 0, i;
|
||||
int ref_triangle = 0;
|
||||
struct list_head *plist1, *plist2;
|
||||
dist_t *pdist1, *pdist2;
|
||||
beacon_t *tmpbeacon;
|
||||
int cur1 = 0, cur2 = 0;
|
||||
u64 dist1, dist2;
|
||||
int ref_triangle = 0, nref = 0;
|
||||
uint count = 0;
|
||||
//beacon_t *beacon1 = s1->beacons, *beacon2 = s2->beacons;
|
||||
|
||||
/* initialize s1 and s2 beacons count
|
||||
*/
|
||||
for (i = 0; i < MAX_BEACONS; ++i) {
|
||||
s1->beacons_count[i] = 0;
|
||||
s2->beacons_count[i] = 0;
|
||||
}
|
||||
|
||||
log_f(1, "(%ld, %ld): \n", s1 - scanners, s2 - scanners);
|
||||
/* We need to find common references A, B, C such as:
|
||||
@@ -288,175 +355,167 @@ static int count_common_distances(scanner_t *s1, scanner_t *s2)
|
||||
* To do so, we find common d1 and d2 such as both have
|
||||
* a common A point.
|
||||
*/
|
||||
while (cur1 < s1->ndists && cur2 < s2->ndists) {
|
||||
if (d1[cur1].dist == d2[cur2].dist) {
|
||||
log(1, " %u: (%d,%d)= %d-%d %d-%d triangle=%d\n",
|
||||
d1[cur1].dist, cur1, cur2,
|
||||
d1[cur1].beacon1, d1[cur1].beacon2,
|
||||
d2[cur2].beacon1, d2[cur2].beacon2,
|
||||
ref_triangle);
|
||||
if (ref_triangle == 0) {
|
||||
/* both s1 s2 refs may be reversed */
|
||||
s1->reference[0] = d1[cur1].beacon1;
|
||||
s1->reference[1] = d1[cur1].beacon2;
|
||||
if (list_empty(&s1->list_dists) || list_empty(&s2->list_dists))
|
||||
return 0;
|
||||
plist1 = s1->list_dists.next;
|
||||
plist2 = s2->list_dists.next;
|
||||
|
||||
/* initialize second scanner common beacons
|
||||
*/
|
||||
list_for_each_entry(tmpbeacon, &s2->list_beacons, list_beacons) {
|
||||
tmpbeacon->common = 0;
|
||||
}
|
||||
|
||||
//while (count < 66 && plist1 != &s1->list_dists && plist2 != &s2->list_dists) {
|
||||
while (plist1 != &s1->list_dists && plist2 != &s2->list_dists) {
|
||||
pdist1 = list_entry(plist1, dist_t, list_dists);
|
||||
pdist2 = list_entry(plist2, dist_t, list_dists);
|
||||
dist1 = pdist1->dist;
|
||||
dist2 = pdist2->dist;
|
||||
|
||||
if (dist1 == dist2) {
|
||||
log(1, " %lu: (%d,%d)= %d-%d %d-%d triangle=%d\n",
|
||||
dist1,
|
||||
cur1, cur2,
|
||||
pdist1->beacon1->num, pdist1->beacon2->num,
|
||||
pdist2->beacon1->num, pdist2->beacon2->num,
|
||||
ref_triangle);
|
||||
plist1 = plist1->next;
|
||||
plist2 = plist2->next;
|
||||
cur1++;
|
||||
cur2++;
|
||||
count++;
|
||||
|
||||
pdist2->beacon1->common++; /* mark beacons as common in 2nd scanner */
|
||||
pdist2->beacon2->common++;
|
||||
|
||||
switch (nref) {
|
||||
case 0: /* first 2 reference points */
|
||||
s1->ref[0] = pdist1->beacon1;
|
||||
s1->ref[1] = pdist1->beacon2;
|
||||
|
||||
s2->ref[0] = pdist2->beacon1;
|
||||
s2->ref[1] = pdist2->beacon2;
|
||||
nref = 2;
|
||||
log_i(3, "s1_ref=%d,%d,-1 s2_ref=%d,%d,-1\n",
|
||||
s1->ref[0]->num, s1->ref[1]->num,
|
||||
s2->ref[0]->num, s2->ref[1]->num);
|
||||
break;
|
||||
|
||||
case 2: /* third reference point */
|
||||
beacon_t *beacon1 , *beacon2;
|
||||
scanner_t *scanner;
|
||||
|
||||
/* we need to adjust references for the two pairs of
|
||||
* 2 beacons having same distance, for both scanners.
|
||||
*/
|
||||
for (int i = 0; i < 2; i++) {
|
||||
if (i == 0) {
|
||||
beacon1 = pdist1->beacon1;
|
||||
beacon2 = pdist1->beacon2;
|
||||
scanner = s1;
|
||||
} else {
|
||||
beacon1 = pdist2->beacon1;
|
||||
beacon2 = pdist2->beacon2;
|
||||
scanner = s2;
|
||||
}
|
||||
|
||||
log(1, "s%c: beacon1=%p beacon2=%p\n",
|
||||
i + '1', beacon1, beacon2);
|
||||
log(1, " ref1 =%p ref2 =%p\n",
|
||||
scanner->ref[0], scanner->ref[1]);
|
||||
|
||||
if (beacon1 == scanner->ref[0]) {
|
||||
/* ref0----------ref1
|
||||
* ref0----------ref2
|
||||
*/
|
||||
scanner->ref[2] = beacon2;
|
||||
nref++;
|
||||
} else if (beacon1 == scanner->ref[1]) {
|
||||
/* ref1----------ref0
|
||||
* ref0----------ref2
|
||||
* first & second reference beacons must be reversed,
|
||||
* second is ok
|
||||
*/
|
||||
beacon_t *tmp = scanner->ref[0];
|
||||
scanner->ref[0] = scanner->ref[1];
|
||||
scanner->ref[1] = tmp;
|
||||
scanner->ref[2] = beacon2;
|
||||
nref++;
|
||||
} else if (beacon2 == scanner->ref[0]) {
|
||||
/* ref0----------ref1
|
||||
* ref2----------ref0
|
||||
*/
|
||||
scanner->ref[2] = beacon1;
|
||||
nref++;
|
||||
} else if (beacon2 == scanner->ref[1]) {
|
||||
/* ref1----------ref0
|
||||
* ref2----------ref0
|
||||
*/
|
||||
beacon_t *tmp = scanner->ref[0];
|
||||
scanner->ref[0] = scanner->ref[1];
|
||||
scanner->ref[1] = tmp;
|
||||
scanner->ref[2] = beacon1;
|
||||
nref++;
|
||||
}
|
||||
}
|
||||
|
||||
log_i(3, "nref=%d s1_ref=%d,%d,%d s2_ref=%d,%d,%d\n",
|
||||
nref,
|
||||
s1->ref[0]->num,
|
||||
s1->ref[1]->num,
|
||||
s1->ref[2]? s1->ref[2]->num: -1,
|
||||
s2->ref[0]->num,
|
||||
s2->ref[1]->num,
|
||||
s2->ref[2]? s2->ref[2]->num: -1);
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
} else if (dist1 < dist2) {
|
||||
log(7, " dist1=%lu < dist2=%lu : (%d,%d)= %d-%d %d-%d triangle=%d\n",
|
||||
dist1, dist2,
|
||||
cur1, cur2,
|
||||
pdist1->beacon1->num, pdist1->beacon2->num,
|
||||
pdist2->beacon1->num, pdist2->beacon2->num,
|
||||
ref_triangle);
|
||||
plist1 = plist1->next;
|
||||
cur1++;
|
||||
} else { /* dist1 > dist2 */
|
||||
log(7, " dist1=%lu > dist2=%lu : (%d,%d)= %d-%d %d-%d triangle=%d\n",
|
||||
dist1, dist2,
|
||||
cur1, cur2,
|
||||
pdist1->beacon1->num, pdist1->beacon2->num,
|
||||
pdist2->beacon1->num, pdist2->beacon2->num,
|
||||
ref_triangle);
|
||||
plist2 = plist2->next;
|
||||
cur2++;
|
||||
}
|
||||
|
||||
s2->reference[0] = d2[cur2].beacon1;
|
||||
s2->reference[1] = d2[cur2].beacon2;
|
||||
ref_triangle = 2;
|
||||
log(2, "\ts1_ref=%d,%d,%d s2_ref=%d,%d,%d\n",
|
||||
s1->reference[0], s1->reference[1], s1->reference[2],
|
||||
s2->reference[0], s2->reference[1], s2->reference[2]);
|
||||
} else if (ref_triangle == 2) {
|
||||
int beacon1 , beacon2;
|
||||
|
||||
/* we need to adjust references for the two pairs of
|
||||
* 2 beacons having same distance, for scanner 1.
|
||||
*/
|
||||
beacon1 = d1[cur1].beacon1;
|
||||
beacon2 = d1[cur1].beacon2;
|
||||
log(2, "\ts1 bea1=%d bea2=%d\n\t ref0=%d ref1=%d\n",
|
||||
beacon1, beacon2, s1->reference[0], s1->reference[1]);
|
||||
|
||||
if (beacon1 == s1->reference[0]) {
|
||||
/* ref0----------ref1
|
||||
* ref0----------ref2
|
||||
*/
|
||||
s1->reference[2] = beacon2;
|
||||
ref_triangle++;
|
||||
} else if (beacon1 == s1->reference[1]) {
|
||||
/* ref1----------ref0
|
||||
* ref0----------ref2
|
||||
* first & second reference beacons must be reversed,
|
||||
* second is ok
|
||||
*/
|
||||
int tmp = s1->reference[0];
|
||||
s1->reference[0] = s1->reference[1];
|
||||
s1->reference[1] = tmp;
|
||||
s1->reference[2] = beacon2;
|
||||
ref_triangle++;
|
||||
} else if (beacon2 == s1->reference[0]) {
|
||||
/* ref0----------ref1
|
||||
* ref2----------ref0
|
||||
*/
|
||||
s1->reference[2] = beacon1;
|
||||
ref_triangle++;
|
||||
} else if (beacon2 == s1->reference[1]) {
|
||||
/* ref1----------ref0
|
||||
* ref2----------ref0
|
||||
*/
|
||||
int tmp = s1->reference[0];
|
||||
s1->reference[0] = s1->reference[1];
|
||||
s1->reference[1] = tmp;
|
||||
s1->reference[2] = beacon1;
|
||||
ref_triangle++;
|
||||
}
|
||||
|
||||
/* we do the same for second scanner */
|
||||
beacon1 = d2[cur2].beacon1;
|
||||
beacon2 = d2[cur2].beacon2;
|
||||
if (beacon1 == s2->reference[0]) {
|
||||
/* ref0----------ref1
|
||||
* ref0----------ref2
|
||||
*/
|
||||
s2->reference[2] = beacon2;
|
||||
ref_triangle++;
|
||||
} else if (beacon1 == s2->reference[1]) {
|
||||
/* ref1----------ref0
|
||||
* ref0----------ref2
|
||||
* first & second reference beacons must be reversed,
|
||||
* second is ok
|
||||
*/
|
||||
int tmp = s2->reference[0];
|
||||
s2->reference[0] = s2->reference[1];
|
||||
s2->reference[1] = tmp;
|
||||
s2->reference[2] = beacon2;
|
||||
ref_triangle++;
|
||||
} else if (beacon2 == s2->reference[0]) {
|
||||
/* ref0----------ref1
|
||||
* ref2----------ref0
|
||||
*/
|
||||
s2->reference[2] = beacon1;
|
||||
ref_triangle++;
|
||||
} else if (beacon2 == s2->reference[1]) {
|
||||
/* ref1----------ref0
|
||||
* ref2----------ref0
|
||||
*/
|
||||
int tmp = s2->reference[0];
|
||||
s2->reference[0] = s2->reference[1];
|
||||
s2->reference[1] = tmp;
|
||||
s2->reference[2] = beacon1;
|
||||
ref_triangle++;
|
||||
}
|
||||
|
||||
log(2, "\ttriangle=%d s1_ref=%d,%d,%d s2_ref=%d,%d,%d\n",
|
||||
ref_triangle,
|
||||
s1->reference[0], s1->reference[1], s1->reference[2],
|
||||
s2->reference[0], s2->reference[1], s2->reference[2]);
|
||||
}
|
||||
/*
|
||||
if (ref_triangle == 3) {
|
||||
if (d1[cur1].beacon1 == s1->reference[0] ||
|
||||
d1[cur1].beacon1 == s1->reference[1]) {
|
||||
s1->reference[2] = d2[cur1].beacon2;
|
||||
ref_triangle++;
|
||||
} else if (d1[cur1].beacon2 == s1->reference[0] ||
|
||||
d1[cur1].beacon2 == s1->reference[1]) {
|
||||
s1->reference[2] = d1[cur1].beacon1;
|
||||
ref_triangle++;
|
||||
}
|
||||
}
|
||||
*/
|
||||
++s1->beacons_count[d1[cur1].beacon1];
|
||||
++s1->beacons_count[d1[cur1].beacon2];
|
||||
|
||||
++s2->beacons_count[d2[cur2].beacon1];
|
||||
++s2->beacons_count[d2[cur2].beacon2];
|
||||
++count;
|
||||
++cur1;
|
||||
++cur2;
|
||||
}
|
||||
else if (d1[cur1].dist < d2[cur2].dist) {
|
||||
++cur1;
|
||||
} else {
|
||||
++cur2;
|
||||
}
|
||||
}
|
||||
log_i(1, "\n");
|
||||
return count;
|
||||
}
|
||||
|
||||
/* For each scanner, calculate square distances between every beacon,
|
||||
* and generate corresponding list.
|
||||
* For N beacons, we will get (N) * (N-1) / 2 distances.
|
||||
*
|
||||
* Note: To find 12 matching beacons between scanners later, we will need
|
||||
* 66 matching distances (= 12 * 11 / 2).
|
||||
*/
|
||||
static void calc_square_distances()
|
||||
{
|
||||
scanner_t *scanner;
|
||||
beacon_t *b1, *b2;
|
||||
uint dist;
|
||||
beacon_t *beacon;
|
||||
|
||||
log_f(1, "nscanners: %d\n", nscanners);
|
||||
for (int i = 0; i < nscanners; ++i) {
|
||||
scanner = scanners + i;
|
||||
for (int j = 0; j < scanner->nbeacons; ++j) {
|
||||
b1 = scanner->beacons + j;
|
||||
for (int k = j + 1; k < scanner->nbeacons; ++k) {
|
||||
scanner->dists[scanner->ndists].beacon1 = j;
|
||||
scanner->dists[scanner->ndists].beacon2 = k;
|
||||
|
||||
b2 = scanner->beacons + k;
|
||||
dist = (b1->x - b2->x) * (b1->x - b2->x) +
|
||||
(b1->y - b2->y) * (b1->y - b2->y) +
|
||||
(b1->z - b2->z) * (b1->z - b2->z);
|
||||
scanner->dists[scanner->ndists].dist = dist;
|
||||
scanner->ndists++;
|
||||
log(5, "\tdist(%d/%d) = %u\n",
|
||||
j, k,
|
||||
dist);
|
||||
}
|
||||
|
||||
list_for_each_entry(beacon, &scanner->list_beacons, list_beacons) {
|
||||
add_beacon_dists(scanner, beacon);
|
||||
}
|
||||
//scanners_print_dists();
|
||||
mergesort(scanner->dists, 0, scanner->ndists - 1);
|
||||
}
|
||||
scanners_print_dists();
|
||||
//log(1, "\n");
|
||||
}
|
||||
|
||||
/* match all scanners
|
||||
@@ -466,7 +525,34 @@ static void match_scanners()
|
||||
int finished = 0;
|
||||
|
||||
scanners[0].adjusted = 1;
|
||||
log_f(1, "nscanners=%d\n", nscanners);
|
||||
while (!finished) {
|
||||
finished = 1;
|
||||
for (int j = 1; j < nscanners; ++j) {
|
||||
if (scanners[j].adjusted) /* already translated */
|
||||
continue;
|
||||
|
||||
int count = count_common_distances(scanners, scanners + j);
|
||||
log(1, "common(%d, %d) = %d\n\n", 0, j, count);
|
||||
if (count >= 66) {
|
||||
adjust_scanner(scanners, scanners + j);
|
||||
scanners_print_refs(scanners, scanners + j);
|
||||
|
||||
merge_scanner(scanners, scanners + j);
|
||||
finished = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
scanners_print_dists();
|
||||
//scanners_print_dists(scanners + 2);
|
||||
}
|
||||
|
||||
static void match_scanners1()
|
||||
{
|
||||
int finished = 0;
|
||||
|
||||
scanners[0].adjusted = 1;
|
||||
log_f(1, "nscanners=%d\n", nscanners);
|
||||
while (!finished) {
|
||||
finished = 1;
|
||||
for (int i = 0; i < nscanners - 1; ++i) {
|
||||
@@ -480,69 +566,55 @@ static void match_scanners()
|
||||
int count = count_common_distances(scanners + i, scanners + j);
|
||||
log(1, "common(%d, %d) = %d\n", i, j, count);
|
||||
if (count >= 66) {
|
||||
/*
|
||||
beacon_t *beacon;
|
||||
for (int k = 0; k < scanners[i].nbeacons; ++k) {
|
||||
beacon = scanners[i].beacons + k;
|
||||
//if (beacon->count >= 11)
|
||||
log(1, "s1(%d, %d, %d): %d\n", beacon->x, beacon->y,
|
||||
beacon->z, scanners[i].beacons_count[k]);
|
||||
}
|
||||
for (int k = 0; k < scanners[j].nbeacons; ++k) {
|
||||
beacon = scanners[j].beacons + k;
|
||||
//if (beacon->count >= 11)
|
||||
log(1, "s2(%d, %d, %d): %d\n", beacon->x, beacon->y,
|
||||
beacon->z, scanners[j].beacons_count[k]);
|
||||
}
|
||||
*/
|
||||
adjust_scanner(scanners + i, scanners + j);
|
||||
scanners[j].adjusted = 1;
|
||||
scanners_print_refs(scanners + i, scanners + j);
|
||||
|
||||
//merge_scanner(scanners + i, scanners + j);
|
||||
finished = 0;
|
||||
//scanners_print_refs(scanners + i, scanners + j);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
scanners_print_dists();
|
||||
//scanners_print_dists(scanners + 2);
|
||||
}
|
||||
|
||||
/* read input
|
||||
*/
|
||||
static int read_lines()
|
||||
static int scanners_read()
|
||||
{
|
||||
size_t alloc = 0;
|
||||
ssize_t buflen;
|
||||
char *buf = NULL;
|
||||
beacon_t *beacon;
|
||||
scanner_t *scanner = NULL;
|
||||
//int nbeacon = 0;
|
||||
|
||||
while ((buflen = getline(&buf, &alloc, stdin)) > 0) {
|
||||
//buf[--buflen] = 0;
|
||||
switch (buf[1]) {
|
||||
case '-':
|
||||
scanner = scanners + nscanners;
|
||||
log_f(2, "[%c] nscanners = %d %p/%p\n", *buf, nscanners,
|
||||
log_f(9, "[%c] nscanners = %d %p/%p\n", *buf, nscanners,
|
||||
scanner, scanners);
|
||||
//INIT_LIST_HEAD(&scanner->list_beacons);
|
||||
INIT_LIST_HEAD(&scanner->list_beacons);
|
||||
INIT_LIST_HEAD(&scanner->list_dists);
|
||||
nscanners++;
|
||||
scanner->nbeacons = 0;
|
||||
break;
|
||||
case '\0':
|
||||
log_f(2, "NULL line\n");
|
||||
log_f(9, "NULL line\n");
|
||||
break;
|
||||
default:
|
||||
//log_f(2, "[%c] beacon = %d\n", *buf, nscanners);
|
||||
//beacon = pool_get(pool_beacon);
|
||||
//list_add_tail(&beacon->list_beacons, &scanner->list_beacons);
|
||||
beacon = &scanner->beacons[scanner->nbeacons];
|
||||
sscanf(buf, "%d,%d,%d", &beacon->x, &beacon->y, &beacon->z);
|
||||
//log_f(2, "beacon %d = %d/%d/%d\n", nbeacon, beacon->x, beacon->y, beacon->z);
|
||||
beacon = pool_get(pool_beacon);
|
||||
beacon->scanner = nscanners;
|
||||
beacon->num = scanner->nbeacons;
|
||||
list_add_tail(&beacon->list_beacons, &scanner->list_beacons);
|
||||
sscanf(buf, "%ld,%ld,%ld", &beacon->vec.x, &beacon->vec.y, &beacon->vec.z);
|
||||
scanner->nbeacons++;
|
||||
|
||||
}
|
||||
}
|
||||
free(buf);
|
||||
calc_square_distances();
|
||||
scanners_print();
|
||||
return nscanners;
|
||||
}
|
||||
|
||||
@@ -583,15 +655,26 @@ int main(int ac, char **av)
|
||||
if (optind < ac)
|
||||
return usage(*av);
|
||||
|
||||
log_f(1, "sizeof(rotations)=%lu, sizeof2=%lu sizeof3=%lu rot=%lu\n",
|
||||
sizeof(rotations), sizeof(*rotations),
|
||||
sizeof(rotations) / sizeof(*rotations),
|
||||
NROTATIONS);
|
||||
if (!(pool_beacon = pool_create("beacons", 1024, sizeof(beacon_t)))) {
|
||||
log(1, "pool create error, errno=%d\n", errno);
|
||||
exit(1);
|
||||
}
|
||||
read_lines();
|
||||
if (!(pool_dist = pool_create("dists", 1024, sizeof(dist_t)))) {
|
||||
log(1, "pool create error, errno=%d\n", errno);
|
||||
exit(1);
|
||||
}
|
||||
scanners_read();
|
||||
calc_square_distances();
|
||||
match_scanners();
|
||||
log_f(1, "sizeof(rotations)=%lu, sizeof2=%lu sizeof2=%lu\n", sizeof(rotations),
|
||||
sizeof(*rotations), sizeof(rotations) / sizeof(*rotations));
|
||||
scanners_print();
|
||||
printf("%s : res=%ld\n", *av, part == 1? part1(): part2());
|
||||
pool_stats(pool_beacon);
|
||||
pool_destroy(pool_beacon);
|
||||
pool_stats(pool_dist);
|
||||
pool_destroy(pool_dist);
|
||||
exit(0);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user