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Dynamic chunks for lidar meshing #2140

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0885451
Dynamic chunks for lidar meshing
Jun 17, 2026
1b7793f
e57 debug information
Jun 18, 2026
2e304b3
Debug multiple File management
Jun 18, 2026
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3 changes: 2 additions & 1 deletion meshroom/aliceVision/LidarDecimating.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

from meshroom.core import desc
from meshroom.core.utils import VERBOSE_LEVEL
from pyalicevision import parallelization as avpar

class LidarDecimating(desc.AVCommandLineNode):
"""
Expand All @@ -15,7 +16,7 @@ class LidarDecimating(desc.AVCommandLineNode):

commandLine = "aliceVision_lidarDecimating {allParams}"

size = desc.StaticNodeSize(10)
size = avpar.DynamicLidarMeshingSize("input")
parallelization = desc.Parallelization(blockSize=1)
commandLineRange = "--rangeStart {rangeStart} --rangeSize {rangeFullSize}"

Expand Down
3 changes: 2 additions & 1 deletion meshroom/aliceVision/LidarMeshing.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,13 +2,14 @@

from meshroom.core import desc
from meshroom.core.utils import VERBOSE_LEVEL
from pyalicevision import parallelization as avpar

class LidarMeshing(desc.AVCommandLineNode):
"""This node creates a dense geometric surface representation of the Lidar measurements."""

commandLine = "aliceVision_lidarMeshing {allParams}"

size = desc.StaticNodeSize(10)
size = avpar.DynamicLidarMeshingSize("input")
parallelization = desc.Parallelization(blockSize=1)
commandLineRange = "--rangeStart {rangeStart} --rangeSize {rangeFullSize}"

Expand Down
61 changes: 47 additions & 14 deletions src/aliceVision/dataio/E57Reader.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@
: _paths(paths),
_idPath(-1),
_idMesh(-1),
_idMeshInFile(-1),
_countMeshesForFile(0),
_requiredIntensity(0.0)
{}
Expand All @@ -39,19 +40,23 @@
{
_idPath = -1;
_idMesh = -1;
_idMeshInFile = -1;
_countMeshesForFile = 0;
}

bool getNext(Eigen::Vector3d& sensorPosition, std::vector<PointInfo>& vertices, Eigen::Matrix<size_t, -1, -1>& grid)
{
// Go to next mesh of current file
_idMeshInFile++;

// Keep a unique counter for all files
_idMesh++;

// Load next file if needed
if (_idMesh >= static_cast<int>(_countMeshesForFile))
if (_idMeshInFile >= static_cast<int>(_countMeshesForFile))
{
_idPath++;
_idMesh = 0;
_idMeshInFile = 0;
if (_idPath >= static_cast<int>(_paths.size()))
{
return false;
Expand All @@ -74,7 +79,7 @@
_countMeshesForFile = _reader->GetData3DCount();
}

if (_idMesh >= static_cast<int>(_countMeshesForFile))
if (_idMeshInFile >= static_cast<int>(_countMeshesForFile))
{
return false;
}
Expand All @@ -86,9 +91,9 @@

// Get header
e57::Data3D scanHeader;
if (!_reader->ReadData3D(_idMesh, scanHeader))
if (!_reader->ReadData3D(_idMeshInFile, scanHeader))
{
ALICEVISION_LOG_ERROR("Error reading mesh #" << _idMesh);
ALICEVISION_LOG_ERROR("Error reading mesh #" << _idMeshInFile);
return false;
}

Expand All @@ -109,14 +114,14 @@
int64_t maxGroupSize = 0;
bool isColumnIndex;

if (!_reader->GetData3DSizes(0, maxRows, maxColumns, countPoints, countGroups, maxGroupSize, isColumnIndex))
if (!_reader->GetData3DSizes(_idMeshInFile, maxRows, maxColumns, countPoints, countGroups, maxGroupSize, isColumnIndex))
{
ALICEVISION_LOG_ERROR("Error reading content of mesh #" << _idMesh);
ALICEVISION_LOG_ERROR("Error reading content of mesh #" << _idMeshInFile);
return false;
}

e57::Data3DPointsFloat data3DPoints(scanHeader);
e57::CompressedVectorReader datareader = _reader->SetUpData3DPointsData(_idMesh, countPoints, data3DPoints);
e57::CompressedVectorReader datareader = _reader->SetUpData3DPointsData(_idMeshInFile, countPoints, data3DPoints);

// Prepare list of vertices
vertices.clear();
Expand All @@ -129,6 +134,27 @@
unsigned int readCount = 0;
while ((readCount = datareader.read()) > 0)
{
ALICEVISION_LOG_DEBUG("cartesianInvalidState pointer: " << static_cast<void*>(data3DPoints.cartesianInvalidState));
ALICEVISION_LOG_DEBUG("cartesianX pointer: " << static_cast<void*>(data3DPoints.cartesianX));
ALICEVISION_LOG_DEBUG("cartesianY pointer: " << static_cast<void*>(data3DPoints.cartesianY));
ALICEVISION_LOG_DEBUG("cartesianZ pointer: " << static_cast<void*>(data3DPoints.cartesianZ));
ALICEVISION_LOG_DEBUG("colorBlue pointer: " << static_cast<void*>(data3DPoints.colorBlue));
ALICEVISION_LOG_DEBUG("colorGreen pointer: " << static_cast<void*>(data3DPoints.colorGreen));
ALICEVISION_LOG_DEBUG("colorRed pointer: " << static_cast<void*>(data3DPoints.colorRed));
ALICEVISION_LOG_DEBUG("columnIndex pointer: " << static_cast<void*>(data3DPoints.columnIndex));
ALICEVISION_LOG_DEBUG("intensity pointer: " << static_cast<void*>(data3DPoints.intensity));
ALICEVISION_LOG_DEBUG("isColorInvalid pointer: " << static_cast<void*>(data3DPoints.isColorInvalid));
ALICEVISION_LOG_DEBUG("isIntensityInvalid pointer: " << static_cast<void*>(data3DPoints.isIntensityInvalid));
ALICEVISION_LOG_DEBUG("isTimeStampInvalid pointer: " << static_cast<void*>(data3DPoints.isTimeStampInvalid));
ALICEVISION_LOG_DEBUG("returnCount pointer: " << static_cast<void*>(data3DPoints.returnCount));
ALICEVISION_LOG_DEBUG("returnIndex pointer: " << static_cast<void*>(data3DPoints.returnIndex));
ALICEVISION_LOG_DEBUG("rowIndex pointer: " << static_cast<void*>(data3DPoints.rowIndex));
ALICEVISION_LOG_DEBUG("sphericalAzimuth pointer: " << static_cast<void*>(data3DPoints.sphericalAzimuth));
ALICEVISION_LOG_DEBUG("sphericalElevation pointer: " << static_cast<void*>(data3DPoints.sphericalElevation));
ALICEVISION_LOG_DEBUG("sphericalInvalidState pointer: " << static_cast<void*>(data3DPoints.sphericalInvalidState));
ALICEVISION_LOG_DEBUG("sphericalRange pointer: " << static_cast<void*>(data3DPoints.sphericalRange));
ALICEVISION_LOG_DEBUG("timeStamp pointer: " << static_cast<void*>(data3DPoints.timeStamp));

// Check input compatibility
if (data3DPoints.sphericalRange != nullptr)
{
Expand All @@ -141,6 +167,7 @@
ALICEVISION_LOG_ERROR("Data contains no cartesian coordinates");
continue;
}


if (data3DPoints.columnIndex == nullptr)
{
Expand All @@ -159,10 +186,11 @@
ALICEVISION_LOG_ERROR("Data contains no intensities");
continue;
}


for (unsigned int pos = 0; pos < readCount; pos++)
{
if (data3DPoints.cartesianInvalidState[pos])
if (data3DPoints.cartesianInvalidState && data3DPoints.cartesianInvalidState[pos])

Check warning on line 193 in src/aliceVision/dataio/E57Reader.hpp

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SonarQubeCloud / SonarCloud Code Analysis

"&&" right operand should have type 'bool'. 


See more on https://sonarcloud.io/project/issues?id=alicevision_AliceVision&issues=AZ7aCbLwTKl4M7s-ld6-&open=AZ7aCbLwTKl4M7s-ld6-&pullRequest=2140

Check warning on line 193 in src/aliceVision/dataio/E57Reader.hpp

View check run for this annotation

SonarQubeCloud / SonarCloud Code Analysis

"&&" left and right operands should have type 'bool'. 


See more on https://sonarcloud.io/project/issues?id=alicevision_AliceVision&issues=AZ7aCbLwTKl4M7s-ld6_&open=AZ7aCbLwTKl4M7s-ld6_&pullRequest=2140
{
continue;
}
Expand All @@ -187,6 +215,7 @@
vertices.push_back(pi);
}
}
datareader.close();

sensorPosition = t;

Expand All @@ -196,13 +225,16 @@
bool getNext(Eigen::Vector3d& sensorPosition)
{
// Go to next mesh of current file
_idMeshInFile++;

// Keep a unique counter for all files
_idMesh++;

// Load next file if needed
if (_idMesh >= static_cast<int>(_countMeshesForFile))
if (_idMeshInFile >= static_cast<int>(_countMeshesForFile))
{
_idPath++;
_idMesh = 0;
_idMeshInFile = 0;
if (_idPath >= static_cast<int>(_paths.size()))
{
return false;
Expand All @@ -225,7 +257,7 @@
_countMeshesForFile = _reader->GetData3DCount();
}

if (_idMesh >= static_cast<int>(_countMeshesForFile))
if (_idMeshInFile >= static_cast<int>(_countMeshesForFile))
{
return false;
}
Expand All @@ -237,9 +269,9 @@

// Get header
e57::Data3D scanHeader;
if (!_reader->ReadData3D(_idMesh, scanHeader))
if (!_reader->ReadData3D(_idMeshInFile, scanHeader))
{
ALICEVISION_LOG_ERROR("Error reading mesh #" << _idMesh);
ALICEVISION_LOG_ERROR("Error reading mesh #" << _idMeshInFile);
return false;
}

Expand All @@ -264,6 +296,7 @@

int _idPath;
int _idMesh;
int _idMeshInFile;
size_t _countMeshesForFile;
double _requiredIntensity;
};
Expand Down
16 changes: 8 additions & 8 deletions src/aliceVision/fuseCut/Octree.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -136,6 +136,14 @@ class SimpleNode
return;
}

for (auto& item : _nodes)
{
if (item)
{
item->regroup(maxPointsPerNode);
}
}

if (count < maxPointsPerNode)
{
_count = count;
Expand All @@ -148,14 +156,6 @@ class SimpleNode

return;
}

for (auto& item : _nodes)
{
if (item)
{
item->regroup(maxPointsPerNode);
}
}
}

const size_t getCount() const
Expand Down
42 changes: 41 additions & 1 deletion src/aliceVision/python/parallelization.py
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Original file line number Diff line number Diff line change
Expand Up @@ -178,4 +178,44 @@ def __call__(self, node):
if not valid:
raise RuntimeError(f"Failed to load file : {param.value}")

return max(1, len(imlist))
return max(1, len(imlist))

class DynamicLidarMeshingSize(object):
"""Compute parallelization size based on a JSON file containing an array of items.

Reads the JSON file referenced by the given node parameter and returns the
number of elements in the root-level array. Returns 1 if the file cannot be
read, is not valid JSON, or its root element is not an array.

Args:
param: Name of the node attribute that holds the path to the JSON file.
"""

def __init__(self, param):
self._param = param

def __call__(self, node):
"""Compute the number of chunks from the JSON array size.

Args:
node: The processing node whose attribute *param* points to a JSON file.

Returns:
int: The number of elements in the root JSON array, or 1 if the file
cannot be loaded or the root is not an array.
"""

import json

param = node.attribute(self._param)

try:
with open(param.value, 'r') as f:
data = json.load(f)
except Exception:
return 1

if not isinstance(data, list):
return 1

return max(1, len(data))
6 changes: 3 additions & 3 deletions src/software/convert/main_importE57.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -192,11 +192,11 @@ int aliceVision_main(int argc, char** argv)
std::map<int, Eigen::Vector3d> cameras;
while (reader.getNext(sensorPosition))
{
cameras[reader.getIdMesh()] = sensorPosition;

// Create pose for sfmData
const int idMesh = reader.getIdMesh();

cameras[idMesh] = sensorPosition;

Eigen::Vector3d correctedSensorPosition;
correctedSensorPosition.x() = sensorPosition.x();
correctedSensorPosition.y() = -sensorPosition.z();
Expand Down Expand Up @@ -352,7 +352,7 @@ int aliceVision_main(int argc, char** argv)
std::vector<fuseCut::SimpleNode::ptr> list;
octree.visit(list);

ALICEVISION_LOG_INFO("Generating " << list.size() << "sub regions");
ALICEVISION_LOG_INFO("Generating " << list.size() << " sub regions");

fuseCut::InputSet inputs;

Expand Down
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