sync with headers (#15)

* update docker

* update headers

* fix

* init flatbush from headers

* minor fix, more test

* add densify polyline

* more syncs

* more syncs

* lint code

* update headers

* trivial update

* update

* rebase headers

---------

Co-authored-by: TANG ZHIXIONG <zhixiong.tang@momenta.ai>

Author: district10

Makefile

@@ -26,7 +26,7 @@ docs_serve:
 	mkdocs serve -a 0.0.0.0:8088
 
 DOCKER_TAG_WINDOWS ?= ghcr.io/cubao/build-env-windows-x64:v0.0.1
-DOCKER_TAG_LINUX ?= ghcr.io/cubao/build-env-manylinux2014-x64:v0.0.1
+DOCKER_TAG_LINUX ?= ghcr.io/cubao/build-env-manylinux2014-x64:v0.0.3
 DOCKER_TAG_MACOS ?= ghcr.io/cubao/build-env-macos-arm64:v0.0.1
 
 test_in_win:
@@ -36,6 +36,15 @@ test_in_mac:
 test_in_linux:
 	docker run --rm -w `pwd` -v `pwd`:`pwd` -v `pwd`/build/linux:`pwd`/build -it $(DOCKER_TAG_LINUX) bash
 
+DEV_CONTAINER_NAME ?= $(USER)_$(subst /,_,$(PROJECT_NAME)____$(PROJECT_SOURCE_DIR))
+DEV_CONTAINER_IMAG ?= $(DOCKER_TAG_LINUX)
+test_in_dev_container:
+	docker ps | grep $(DEV_CONTAINER_NAME) \
+		&& docker exec -it $(DEV_CONTAINER_NAME) bash \
+		|| docker run --rm --name $(DEV_CONTAINER_NAME) \
+			--network host --security-opt seccomp=unconfined \
+			-v `pwd`:`pwd` -w `pwd` -it $(DEV_CONTAINER_IMAG) bash
+
 PYTHON ?= python3
 python_install:
 	$(PYTHON) setup.py install
@@ -65,11 +74,13 @@ python_build_py39:
 	PYTHON=python conda run --no-capture-output -n py39 make python_build
 python_build_py310:
 	PYTHON=python conda run --no-capture-output -n py310 make python_build
-python_build_all: python_build_py36 python_build_py37 python_build_py38 python_build_py39 python_build_py310
+python_build_py311:
+	PYTHON=python conda run --no-capture-output -n py311 make python_build
+python_build_all: python_build_py36 python_build_py37 python_build_py38 python_build_py39 python_build_py310 python_build_py311
 python_build_all_in_linux:
-	docker run --rm -w `pwd` -v `pwd`:`pwd` -v `pwd`/build/win:`pwd`/build -it $(DOCKER_TAG_LINUX) make python_build_all
+	docker run --rm -w `pwd` -v `pwd`:`pwd` -v `pwd`/build/linux:`pwd`/build -it $(DOCKER_TAG_LINUX) make python_build_all
 	make repair_wheels && rm -rf dist/*.whl && mv wheelhouse/*.whl dist && rm -rf wheelhouse
-python_build_all_in_macos: python_build_py38 python_build_py39 python_build_py310
+python_build_all_in_macos: python_build_py38 python_build_py39 python_build_py310 python_build_py311
 python_build_all_in_windows: python_build_all
 
 repair_wheels:
@@ -102,11 +113,19 @@ benchmark_point_in_polygon:
 		dist/mask_cubao.npy
 .PHONY: benchmark_point_in_polygon
 
-SYNC_OUTPUT_DIR := headers/include/cubao
+SYNC_OUTPUT_DIR ?= headers/include/cubao
 sync_headers:
+	cp src/densify_polyline.hpp $(SYNC_OUTPUT_DIR)
 	cp src/fast_crossing.hpp $(SYNC_OUTPUT_DIR)
+	cp src/flatbush.h $(SYNC_OUTPUT_DIR)
+	cp src/kd_quiver.hpp $(SYNC_OUTPUT_DIR)
+	cp src/nanoflann_kdtree.hpp $(SYNC_OUTPUT_DIR)
+	cp src/polyline_in_polygon.hpp $(SYNC_OUTPUT_DIR)
 	cp src/pybind11_fast_crossing.hpp $(SYNC_OUTPUT_DIR)
 	cp src/pybind11_flatbush.hpp $(SYNC_OUTPUT_DIR)
+	cp src/pybind11_nanoflann_kdtree.hpp $(SYNC_OUTPUT_DIR)
+	cp src/pybind11_quiver.hpp $(SYNC_OUTPUT_DIR)
+	cp src/quiver.hpp $(SYNC_OUTPUT_DIR)
 
 # https://stackoverflow.com/a/25817631
 echo-%  : ; @echo -n $($*)

docs/about/release-notes.md

@@ -10,6 +10,10 @@ To upgrade `fast-crossing` to the latest version, use pip:
 pip install -U fast-crossing
 ```
 
+## Version 0.0.8 (2023-06-23)
+
+*   Sync with headers
+
 ## Version 0.0.7 (2023-03-18)
 
 *   Add polyline-in-polygon test, [youtube](https://www.youtube.com/watch?v=1dPJ3P84FxE), [bilibili](https://www.bilibili.com/video/BV1D24y1u7uB)

headers

@@ -124,7 +124,7 @@ def build_extension(self, ext):
 # logic and declaration, and simpler if you include description/version in a file.
 setup(
     name="fast_crossing",
-    version="0.0.7",
+    version="0.0.8",
     author="tzx",
     author_email="dvorak4tzx@gmail.com",
     url="https://fast-crossing.readthedocs.io",

setup.py

@@ -0,0 +1,50 @@
+// should sync
+// - https://github.com/cubao/fast-crossing/blob/master/src/densify_polyline.hpp
+// -
+// https://github.com/cubao/headers/tree/main/include/cubao/densify_polyline.hpp
+
+#ifndef CUBAO_DENSIFY_POLYLINE_HPP
+#define CUBAO_DENSIFY_POLYLINE_HPP
+
+#include <Eigen/Core>
+
+namespace cubao
+{
+using RowVectors = Eigen::Matrix<double, Eigen::Dynamic, 3, Eigen::RowMajor>;
+inline RowVectors densify_polyline(const Eigen::Ref<const RowVectors> &coords,
+                                   double max_gap)
+{
+    if (coords.rows() < 2 || max_gap <= 0) {
+        return coords;
+    }
+    std::vector<Eigen::Vector3d> xyzs;
+    const int N = coords.rows();
+    xyzs.reserve(N);
+    for (int i = 0; i < N - 1; i++) {
+        const Eigen::RowVector3d &curr = coords.row(i);
+        const Eigen::RowVector3d &next = coords.row(i + 1);
+        Eigen::RowVector3d dir = next - curr;
+        double gap = dir.norm();
+        if (gap == 0) {
+            continue;
+        }
+        dir /= gap;
+        if (gap <= max_gap) {
+            xyzs.push_back(curr);
+            continue;
+        }
+        RowVectors pos(1 + int(std::ceil(gap / max_gap)), 3);
+        pos.col(0) = Eigen::ArrayXd::LinSpaced(pos.rows(), curr[0], next[0]);
+        pos.col(1) = Eigen::ArrayXd::LinSpaced(pos.rows(), curr[1], next[1]);
+        pos.col(2) = Eigen::ArrayXd::LinSpaced(pos.rows(), curr[2], next[2]);
+        int M = pos.rows() - 1;
+        int N = xyzs.size();
+        xyzs.resize(N + M);
+        Eigen::Map<RowVectors>(&xyzs[N][0], M, 3) = pos.topRows(M);
+    }
+    xyzs.push_back(coords.row(N - 1));
+    return Eigen::Map<const RowVectors>(&xyzs[0][0], xyzs.size(), 3);
+}
+} // namespace cubao
+
+#endif

src/densify_polyline.hpp

@@ -1,3 +1,8 @@
+// should sync
+// - https://github.com/cubao/fast-crossing/blob/master/src/fast_crossing.hpp
+// -
+// https://github.com/cubao/headers/tree/main/include/cubao/fast_crossing.hpp
+
 #ifndef CUBAO_FAST_CROSSING_HPP
 #define CUBAO_FAST_CROSSING_HPP