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Refactor polynomial calculations and remove memory leak #3392

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Oct 1, 2019
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Refactor polynomial calculations and remove memory leak #3392

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116 changes: 40 additions & 76 deletions common/include/pcl/common/impl/polynomial_calculations.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -426,14 +426,10 @@ inline bool
std::vector<Eigen::Matrix<real, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<real, 3, 1> > >& samplePoints, unsigned int polynomial_degree,
pcl::BivariatePolynomialT<real>& ret) const
{
//MEASURE_FUNCTION_TIME;
unsigned int parameters_size = BivariatePolynomialT<real>::getNoOfParametersFromDegree (polynomial_degree);
//std::cout << PVARN (parameters_size);
const auto parameters_size = BivariatePolynomialT<real>::getNoOfParametersFromDegree (polynomial_degree);

//std::cout << "Searching for the "<<parameters_size<<" parameters for the bivariate polynom of degree "
// << polynomial_degree<<" using "<<samplePoints.size ()<<" points.\n";

if (parameters_size > samplePoints.size ()) // Too many parameters for this number of equations (points)?
// Too many parameters for this number of equations (points)?
if (parameters_size > samplePoints.size ())
{
return false;
// Reduce degree of polynomial
Expand All @@ -445,88 +441,57 @@ inline bool

ret.setDegree (polynomial_degree);

//double coeffStuffStartTime=-get_time ();
// A is a symmetric matrix
Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> A (parameters_size, parameters_size);
A.setZero();
Eigen::Matrix<real, Eigen::Dynamic, 1> b (parameters_size);
b.setZero();
real currentX, currentY, currentZ;
real tmpX, tmpY;
real *tmpC = new real[parameters_size];
real* tmpCEndPtr = &tmpC[parameters_size-1];
for (const auto& point: samplePoints)

{
currentX= point[0]; currentY= point[1]; currentZ= point[2];
//std::cout << "current point: "<<currentX<<","<<currentY<<" => "<<currentZ<<"\n";
//unsigned int posInC = parameters_size-1;
real* tmpCPtr = tmpCEndPtr;
tmpX = 1.0;
for (unsigned int xDegree=0; xDegree<=polynomial_degree; ++xDegree)
std::vector<real> C (parameters_size);
for (const auto& point: samplePoints)
{
tmpY = 1.0;
for (unsigned int yDegree=0; yDegree<=polynomial_degree-xDegree; ++yDegree)
real currentX = point[0], currentY = point[1], currentZ = point[2];

{
* (tmpCPtr--) = tmpX*tmpY;
//std::cout << "x="<<currentX<<", y="<<currentY<<", Pos "<<posInC--<<": "<<tmpX<<"*"<<tmpY<<"="<<tmpC[posInC]<<"\n";
tmpY *= currentY;
auto CRevPtr = C.rbegin ();
real tmpX = 1.0;
for (unsigned int xDegree=0; xDegree<=polynomial_degree; ++xDegree)
{
real tmpY = 1.0;
for (unsigned int yDegree=0; yDegree<=polynomial_degree-xDegree; ++yDegree, ++CRevPtr)
{
*CRevPtr = tmpX*tmpY;
tmpY *= currentY;
}
tmpX *= currentX;
}
}
tmpX *= currentX;
}

real* APtr = &A(0,0);
real* bPtr = &b[0];
real* tmpCPtr1=tmpC;
for (unsigned int i=0; i<parameters_size; ++i)
{
* (bPtr++) += currentZ * *tmpCPtr1;

real* tmpCPtr2=tmpC;
for (unsigned int j=0; j<parameters_size; ++j)
for (std::size_t i=0; i<parameters_size; ++i)
{
* (APtr++) += *tmpCPtr1 * * (tmpCPtr2++);
b[i] += currentZ * C[i];
// fill the upper right triangular matrix
for (std::size_t j=i; j<parameters_size; ++j)
{
A (i, j) += C[i] * C[j];
}
}
//A += DMatrix<real>::outProd (C);
//b += currentZ * C;
}
}

++tmpCPtr1;
// The Eigen only solution is slow for small matrices. Maybe file a bug
// A.traingularView<Eigen::StrictlyLower> = A.transpose();
// copy upper-right elements to lower-left
for (std::size_t i = 0; i < parameters_size; ++i)
{
for (std::size_t j = 0; j < i; ++j)
{
A (i, j) = A (j, i);
}
//A += DMatrix<real>::outProd (tmpC);
//b += currentZ * tmpC;
}
//std::cout << "Calculating matrix A and vector b (size "<<b.size ()<<") from "<<samplePoints.size ()<<" points took "
//<< (coeffStuffStartTime+get_time ())*1000<<"ms using constant memory.\n";
//std::cout << PVARC (A)<<PVARN (b);


//double coeffStuffStartTime=-get_time ();
//DMatrix<real> A (parameters_size, parameters_size);
//DVector<real> b (parameters_size);
//real currentX, currentY, currentZ;
//unsigned int posInC;
//real tmpX, tmpY;
//DVector<real> tmpC (parameters_size);
//for (typename std::vector<Eigen::Matrix<real, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<real, 3, 1> > >::const_iterator it=samplePoints.begin ();
// it!=samplePoints.end (); ++it)
//{
//currentX= (*it)[0]; currentY= (*it)[1]; currentZ= (*it)[2];
////std::cout << "x="<<currentX<<", y="<<currentY<<"\n";
//posInC = parameters_size-1;
//tmpX = 1.0;
//for (unsigned int xDegree=0; xDegree<=polynomial_degree; xDegree++)
//{
//tmpY = 1.0;
//for (unsigned int yDegree=0; yDegree<=polynomial_degree-xDegree; yDegree++)
//{
//tmpC[posInC] = tmpX*tmpY;
////std::cout << "x="<<currentX<<", y="<<currentY<<", Pos "<<posInC<<": "<<tmpX<<"*"<<tmpY<<"="<<tmpC[posInC]<<"\n";
//tmpY *= currentY;
//posInC--;
//}
//tmpX *= currentX;
//}
//A += DMatrix<real>::outProd (tmpC);
//b += currentZ * tmpC;
//}
//std::cout << "Calculating matrix A and vector b (size "<<b.size ()<<") from "<<samplePoints.size ()<<" points took "
//<< (coeffStuffStartTime+get_time ())*1000<<"ms.\n";

Eigen::Matrix<real, Eigen::Dynamic, 1> parameters;
//double choleskyStartTime=-get_time ();
Expand All @@ -552,7 +517,6 @@ inline bool

//Test of gradient: ret.calculateGradient ();

delete [] tmpC;
return true;
}

Expand Down