// the coordinator of the application
void coordinator(void)
{
// we need to establish what power is used in the hypercube this
// tells us how many communication directions we have
int power = hypercubePower(world_size);
std::cout << power << std::endl;
// an array that will house the various offsets that we need to
// connect with the appropriate nodes in each direction
int comms_offsets[16];
initArray(comms_offsets, 0, 16);
// we need to determine our communication directions based on the
// bits in our rank
computeDirections(comms_offsets, world_rank, power);
for(unsigned int i = 0; i < power; i++)
std::cout << "rank " << world_rank << " offset " << i << ": " <<
comms_offsets[i] << std::endl;
// to start the computation we need to distribute a message for
// starting the computation in this case we will send a single
// integer that will represent the dimension that we need to
// communicate on. this will state which channel we need to send on
int message = 0;
for (unsigned int i = 0; i < power; i++)
{
MPI_Send(&i, 1, MPI_INT, world_rank + comms_offsets[i], 0, MPI_COMM_WORLD);
std::cout << "rank " << world_rank << "send message to rank " << world_rank +
comms_offsets[i] << std::endl;
}
//calculate the average of 100 random numbers
srand(world_rank);
int sum = randomSum();
float average = sum / 100.f;
std::cout << "rank " << world_rank << " average is: " << average << std::endl;
// send a message to all the other nodes to tell them to sum up their averages
for( unsigned int i = 0; i < power; i++)
{
MPI_Send(&i, 1, MPI_INT, world_rank + comms_offsets[i], 0, MPI_COMM_WORLD);
std::cout << "rank " << world_rank << "send total message to rank " <<
world_rank + comms_offsets[i] << std::endl;
}
// we need to get the averages from each direction
float total_average = average;
for(int message = power - 1; message >= 0; message--)
{
MPI_Recv(&average, 1, MPI_FLOAT, world_rank + comms_offsets[message],
0, MPI_COMM_WORLD, MPI_STATUS_IGNORE);
std::cout << "rank " << world_rank << " received total from " <<
world_rank + comms_offsets[message] << std::endl;
total_average += average;
}
// print out the overall average
std::cout << "rank " << world_rank << " total and average: " <<
total_average << " " << total_average / world_size << std::endl;
}
void PlaneSegmenter::update()
{
if(!rgb_img.rows || !depth_img.rows) return;
rgb_mutex.lock(); depth_mutex.lock();
computeNormals();
computeDirections();
planes.clear();
for(unsigned int d=0; d<directions.size();++d)
{
float px_avg = 0.f;
float py_avg = 0.f;
float pz_avg = 0.f;
float nx_avg = 0.f;
float ny_avg = 0.f;
float nz_avg = 0.f;
for(unsigned int p=0; p<directions.at(d).size(); ++p)
{
px_avg += directions.at(d).at(p).pos.x/directions.at(d).size();
py_avg += directions.at(d).at(p).pos.y/directions.at(d).size();
pz_avg += directions.at(d).at(p).pos.z/directions.at(d).size();
nx_avg += directions.at(d).at(p).norm.x/directions.at(d).size();
ny_avg += directions.at(d).at(p).norm.y/directions.at(d).size();
nz_avg += directions.at(d).at(p).norm.z/directions.at(d).size();
}
planes.push_back(PlaneSegmenter::Point(-d,cv::Point3f(px_avg,py_avg,pz_avg), cv::Point3f(nx_avg,ny_avg,nz_avg)));
}
// std::cout<<"planes num: "<< planes.size() << std::endl;
std::cerr<<"-";
drawPlanes();
// cv::imshow("update depth", depth_img);
cv::imshow("update rgb", rgb_img);
depth_mutex.unlock(); rgb_mutex.unlock();
cv::waitKey(1);
}
// a participant in the application
void participant(void)
{
// we need to establish what power is used in the hypercube this
// tells us how many communication directions we have
int power = hypercubePower(world_size);
std::cout << power << std::endl;
// an array that will house the various offsets that we need to
// connect with the appropriate nodes in each direction
int comms_offsets[16];
initArray(comms_offsets, 0, 16);
// we need to determine our communication directions based on the
// bits in our rank
computeDirections(comms_offsets, world_rank, power);
for(unsigned int i = 0; i < power; i++)
std::cout << "rank " << world_rank << " offset " << i << ": " <<
comms_offsets[i] << std::endl;
// we need to receive a message to start computation from another
// node and then propogate it on further
int message = 0;
MPI_Recv(&message, 1, MPI_INT, MPI_ANY_SOURCE, 0, MPI_COMM_WORLD,
MPI_STATUS_IGNORE);
for (message++; message < power; message++)
{
MPI_Send(&message, 1, MPI_INT, world_rank + comms_offsets[message],
0, MPI_COMM_WORLD);
std::cout << "rank " << world_rank << " send message to rank " <<
world_rank + comms_offsets[message] << std::endl;
}
// calculate the average of 100 random numbers
srand(world_rank);
int sum = randomSum();
float average = sum / 100.f;
std::cout << "rank " << world_rank << " average is: " << average << std::endl;
// we need to get a message that will tell us to total our average
// get this message and retain it
// send a messafe to all the other nodes to tell them to sum up their averages
MPI_Recv(&message, 1, MPI_INT, MPI_ANY_SOURCE, 0, MPI_COMM_WORLD, MPI_STATUS_IGNORE);
for(int i = message + 1; i < power; i++)
{
MPI_Send(&i, 1, MPI_INT, world_rank + comms_offsets[i], 0, MPI_COMM_WORLD);
std::cout << "rank " << world_rank << " sent total messages to rank " <<
world_rank + comms_offsets[i] << std::endl;
}
// we need to get the averages from each direction
float total_average = average;
for ( int i = power - 1; i > message; i--)
{
MPI_Recv(&average, 1, MPI_FLOAT, world_rank + comms_offsets[i],
0, MPI_COMM_WORLD, MPI_STATUS_IGNORE);
std::cout << "rank " << world_rank << " received total from " << world_rank +
comms_offsets[i] << std::endl;
total_average += average;
}
// print out the overall average
std::cout << "rank " << world_rank << " total and average: " <<
total_average << " " << total_average / world_size << std::endl;
// send our average onto the next node
std::cout << "rank " << world_rank << " " << comms_offsets[message] << std::endl;
MPI_Send(&total_average, 1, MPI_FLOAT, world_rank + comms_offsets[message], 0, MPI_COMM_WORLD);
std::cout << "rank " << world_rank << " sent total average to rank " << world_rank + comms_offsets[message] << std::endl;
}
