OpenVDB: openvdb/tools/FastSweeping.h Source File

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FastSweeping.h
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1// Copyright Contributors to the OpenVDB Project
2// SPDX-License-Identifier: Apache-2.0
3//
4/// @file FastSweeping.h
5///
6/// @author Ken Museth
7///
8/// @brief Defined the six functions {fog,sdf}To{Sdf,Ext,SdfAndExt} in
9/// addition to the two functions maskSdf and dilateSdf. Sdf denotes
10/// a signed-distance field (i.e. negative values are inside), fog
11/// is a scalar fog volume (i.e. higher values are inside), and Ext is
12/// a field (of arbitrary type) that is extended off the iso-surface.
13/// All these functions are implemented with the methods in the class
14/// named FastSweeping.
15///
16/// @note Solves the (simplified) Eikonal Eq: @f$|\nabla \phi|^2 = 1@f$ and
17/// performs velocity extension, @f$\nabla f\nabla \phi = 0@f$, both
18/// by means of the fast sweeping algorithm detailed in:
19/// "A Fast Sweeping Method For Eikonal Equations"
20/// by H. Zhao, Mathematics of Computation, Vol 74(230), pp 603-627, 2004
21///
22/// @details The algorithm used below for parallel fast sweeping was first published in:
23/// "New Algorithm for Sparse and Parallel Fast Sweeping: Efficient
24/// Computation of Sparse Distance Fields" by K. Museth, ACM SIGGRAPH Talk,
25/// 2017, http://www.museth.org/Ken/Publications_files/Museth_SIG17.pdf
26
27#ifndef OPENVDB_TOOLS_FASTSWEEPING_HAS_BEEN_INCLUDED
28#define OPENVDB_TOOLS_FASTSWEEPING_HAS_BEEN_INCLUDED
29
30//#define BENCHMARK_FAST_SWEEPING
31
32#include <openvdb/openvdb.h>
33#include <openvdb/Platform.h>
34#include <openvdb/math/Math.h> // for Abs() and isExactlyEqual()
35#include <openvdb/math/Stencils.h> // for GradStencil
36#include <openvdb/tree/LeafManager.h>
37#include <openvdb/tree/NodeManager.h> // for PruneMinMaxFltKernel
38#include <openvdb/util/Assert.h>
39
40#include "LevelSetUtil.h"
41#include "Morphology.h"
42
43#include "Statistics.h"
44#ifdef BENCHMARK_FAST_SWEEPING
45#include <openvdb/util/CpuTimer.h>
46#endif
47
48#include <tbb/parallel_for.h>
49#include <tbb/enumerable_thread_specific.h>
50#include <tbb/task_group.h>
51
52#include <type_traits>// for static_assert
53#include <cmath>
54#include <limits>
55#include <deque>
56#include <unordered_map>
57#include <utility>// for std::make_pair
58
59namespace openvdb {
60 OPENVDB_USE_VERSION_NAMESPACE
61namespace OPENVDB_VERSION_NAME {
62namespace tools {
63
64/// @brief Fast Sweeping update mode. This is useful to determine
65/// narrow-band extension or field extension in one side
66/// of a signed distance field.
67 enum class FastSweepingDomain {
68 /// Update all voxels affected by the sweeping algorithm
69 SWEEP_ALL,
70 // Update voxels corresponding to an sdf/fog values that are greater than a given isovalue
71 SWEEP_GREATER_THAN_ISOVALUE,
72 // Update voxels corresponding to an sdf/fog values that are less than a given isovalue
73 SWEEP_LESS_THAN_ISOVALUE
74};
75
76/// @brief Converts a scalar fog volume into a signed distance function. Active input voxels
77/// with scalar values above the given isoValue will have NEGATIVE distance
78/// values on output, i.e. they are assumed to be INSIDE the iso-surface.
79///
80/// @return A shared pointer to a signed-distance field defined on the active values
81/// of the input fog volume.
82///
83/// @param fogGrid Scalar (floating-point) volume from which an
84/// iso-surface can be defined.
85///
86/// @param isoValue A value which defines a smooth iso-surface that
87/// intersects active voxels in @a fogGrid.
88///
89/// @param nIter Number of iterations of the fast sweeping algorithm.
90/// Each iteration performs 2^3 = 8 individual sweeps.
91///
92/// @note Strictly speaking a fog volume is normalized to the range [0,1] but this
93/// method accepts a scalar volume with an arbritary range, as long as the it
94/// includes the @a isoValue.
95///
96/// @details Topology of output grid is identical to that of the input grid, except
97/// active tiles in the input grid will be converted to active voxels
98/// in the output grid!
99///
100/// @warning If @a isoValue does not intersect any active values in
101/// @a fogGrid then the returned grid has all its active values set to
102/// plus or minus infinity, depending on if the input values are larger or
103/// smaller than @a isoValue.
104template<typename GridT>
105typename GridT::Ptr
106fogToSdf(const GridT &fogGrid,
107 typename GridT::ValueType isoValue,
108 int nIter = 1);
109
110/// @brief Given an existing approximate SDF it solves the Eikonal equation for all its
111/// active voxels. Active input voxels with a signed distance value above the
112/// given isoValue will have POSITIVE distance values on output, i.e. they are
113/// assumed to be OUTSIDE the iso-surface.
114///
115/// @return A shared pointer to a signed-distance field defined on the active values
116/// of the input sdf volume.
117///
118/// @param sdfGrid An approximate signed distance field to the specified iso-surface.
119///
120/// @param isoValue A value which defines a smooth iso-surface that
121/// intersects active voxels in @a sdfGrid.
122///
123/// @param nIter Number of iterations of the fast sweeping algorithm.
124/// Each iteration performs 2^3 = 8 individual sweeps.
125///
126/// @note The only difference between this method and fogToSdf, defined above, is the
127/// convention of the sign of the output distance field.
128///
129/// @details Topology of output grid is identical to that of the input grid, except
130/// active tiles in the input grid will be converted to active voxels
131/// in the output grid!
132///
133/// @warning If @a isoValue does not intersect any active values in
134/// @a sdfGrid then the returned grid has all its active values set to
135/// plus or minus infinity, depending on if the input values are larger or
136/// smaller than @a isoValue.
137template<typename GridT>
138typename GridT::Ptr
139sdfToSdf(const GridT &sdfGrid,
140 typename GridT::ValueType isoValue = 0,
141 int nIter = 1);
142
143/// @brief Computes the extension of a field (scalar, vector, or int are supported), defined
144/// by the specified functor, off an iso-surface from an input FOG volume.
145///
146/// @return A shared pointer to the extension field defined from the active values in
147/// the input fog volume.
148///
149/// @param fogGrid Scalar (floating-point) volume from which an
150/// iso-surface can be defined.
151///
152/// @param op Functor with signature [](const Vec3R &xyz)->ExtValueT that
153/// defines the Dirichlet boundary condition, on the iso-surface,
154/// of the field to be extended.
155///
156/// @param background Background value of return grid with the extension field.
157///
158/// @param isoValue A value which defines a smooth iso-surface that
159/// intersects active voxels in @a fogGrid.
160///
161/// @param nIter Number of iterations of the fast sweeping algorithm.
162/// Each iteration performs 2^3 = 8 individual sweeps.
163///
164/// @param mode Determines the mode of updating the extension field. SWEEP_ALL
165/// will update all voxels of the extension field affected by the
166/// fast sweeping algorithm. SWEEP_GREATER_THAN_ISOVALUE will update
167/// all voxels corresponding to fog values that are greater than a given
168/// isovalue. SWEEP_LESS_THAN_ISOVALUE will update all voxels corresponding
169/// to fog values that are less than a given isovalue. If a mode other
170/// than SWEEP_ALL is chosen, a user needs to supply @a extGrid.
171///
172/// @param extGrid Optional parameter required to supply a default value for the extension
173/// field when SWEEP_GREATER_THAN_ISOVALUE or SWEEP_LESS_THAN_ISOVALUE
174/// mode is picked for @a mode. When SWEEP_GREATER_THAN_ISOVALUE is supplied
175/// as an argument for @a mode, the extension field voxel will default
176/// to the value of the @a extGrid in that position if it corresponds to a fog
177/// value that is less than the isovalue. Otherwise, the extension
178/// field voxel value will be computed by the Fast Sweeping algorithm.
179/// The opposite convention is implemented when SWEEP_LESS_THAN_ISOVALUE
180/// is supplied as an argument for @a mode.
181///
182/// @note Strictly speaking a fog volume is normalized to the range [0,1] but this
183/// method accepts a scalar volume with an arbritary range, as long as the it
184/// includes the @a isoValue.
185///
186/// @details Topology of output grid is identical to that of the input grid, except
187/// active tiles in the input grid will be converted to active voxels
188/// in the output grid!
189///
190/// @warning If @a isoValue does not intersect any active values in
191/// @a fogGrid then the returned grid has all its active values set to
192/// @a background.
193template<typename FogGridT, typename ExtOpT, typename ExtValueT>
194typename FogGridT::template ValueConverter<ExtValueT>::Type::Ptr
195fogToExt(const FogGridT &fogGrid,
196 const ExtOpT &op,
197 const ExtValueT& background,
198 typename FogGridT::ValueType isoValue,
199 int nIter = 1,
200 FastSweepingDomain mode = FastSweepingDomain::SWEEP_ALL,
201 const typename FogGridT::template ValueConverter<ExtValueT>::Type::ConstPtr extGrid = nullptr);
202
203/// @brief Computes the extension of a field (scalar, vector, or int are supported), defined
204/// by the specified functor, off an iso-surface from an input SDF volume.
205///
206/// @return A shared pointer to the extension field defined on the active values in the
207/// input signed distance field.
208///
209/// @param sdfGrid An approximate signed distance field to the specified iso-surface.
210///
211/// @param op Functor with signature [](const Vec3R &xyz)->ExtValueT that
212/// defines the Dirichlet boundary condition, on the iso-surface,
213/// of the field to be extended.
214///
215/// @param background Background value of return grid with the extension field.
216///
217/// @param isoValue A value which defines a smooth iso-surface that
218/// intersects active voxels in @a sdfGrid.
219///
220/// @param nIter Number of iterations of the fast sweeping algorithm.
221/// Each iteration performs 2^3 = 8 individual sweeps.
222///
223/// @param mode Determines the mode of updating the extension field. SWEEP_ALL
224/// will update all voxels of the extension field affected by the
225/// fast sweeping algorithm. SWEEP_GREATER_THAN_ISOVALUE will update
226/// all voxels corresponding to level set values that are greater than a given
227/// isovalue. SWEEP_LESS_THAN_ISOVALUE will update all voxels corresponding
228/// to level set values that are less than a given isovalue. If a mode other
229/// than SWEEP_ALL is chosen, a user needs to supply @a extGrid.
230///
231/// @param extGrid Optional parameter required to supply a default value for the extension
232/// field when SWEEP_GREATER_THAN_ISOVALUE or SWEEP_LESS_THAN_ISOVALUE
233/// mode is picked for @a mode. When SWEEP_GREATER_THAN_ISOVALUE is supplied
234/// as an argument for @a mode, the extension field voxel will default
235/// to the value of the @a extGrid in that position if it corresponds to a level-set
236/// value that is less than the isovalue. Otherwise, the extension
237/// field voxel value will be computed by the Fast Sweeping algorithm.
238/// The opposite convention is implemented when SWEEP_LESS_THAN_ISOVALUE
239/// is supplied as an argument for @a mode.
240///
241/// @note The only difference between this method and fogToExt, defined above, is the
242/// convention of the sign of the signed distance field.
243///
244/// @details Topology of output grid is identical to that of the input grid, except
245/// active tiles in the input grid will be converted to active voxels
246/// in the output grid!
247///
248/// @warning If @a isoValue does not intersect any active values in
249/// @a sdfGrid then the returned grid has all its active values set to
250/// @a background.
251template<typename SdfGridT, typename ExtOpT, typename ExtValueT>
252typename SdfGridT::template ValueConverter<ExtValueT>::Type::Ptr
253sdfToExt(const SdfGridT &sdfGrid,
254 const ExtOpT &op,
255 const ExtValueT &background,
256 typename SdfGridT::ValueType isoValue = 0,
257 int nIter = 1,
258 FastSweepingDomain mode = FastSweepingDomain::SWEEP_ALL,
259 const typename SdfGridT::template ValueConverter<ExtValueT>::Type::ConstPtr extGrid = nullptr);
260
261/// @brief Computes the signed distance field and the extension of a field (scalar, vector, or
262/// int are supported), defined by the specified functor, off an iso-surface from an input
263/// FOG volume.
264///
265/// @return An pair of two shared pointers to respectively the SDF and extension field
266///
267/// @param fogGrid Scalar (floating-point) volume from which an
268/// iso-surface can be defined.
269///
270/// @param op Functor with signature [](const Vec3R &xyz)->ExtValueT that
271/// defines the Dirichlet boundary condition, on the iso-surface,
272/// of the field to be extended.
273///
274/// @param background Background value of return grid with the extension field.
275///
276/// @param isoValue A value which defines a smooth iso-surface that
277/// intersects active voxels in @a fogGrid.
278///
279/// @param nIter Number of iterations of the fast sweeping algorithm.
280/// Each iteration performs 2^3 = 8 individual sweeps.
281///
282/// @param mode Determines the mode of updating the extension field. SWEEP_ALL
283/// will update all voxels of the extension field affected by the
284/// fast sweeping algorithm. SWEEP_GREATER_THAN_ISOVALUE will update
285/// all voxels corresponding to fog values that are greater than a given
286/// isovalue. SWEEP_LESS_THAN_ISOVALUE will update all voxels corresponding
287/// to fog values that are less than a given isovalue. If a mode other
288/// than SWEEP_ALL is chosen, a user needs to supply @a extGrid.
289///
290/// @param extGrid Optional parameter required to supply a default value for the extension
291/// field when SWEEP_GREATER_THAN_ISOVALUE or SWEEP_LESS_THAN_ISOVALUE
292/// mode is picked for @a mode. When SWEEP_GREATER_THAN_ISOVALUE is supplied
293/// as an argument for @a mode, the extension field voxel will default
294/// to the value of the @a extGrid in that position if it corresponds to a fog
295/// value that is less than the isovalue. Otherwise, the extension
296/// field voxel value will be computed by the Fast Sweeping algorithm.
297/// The opposite convention is implemented when SWEEP_LESS_THAN_ISOVALUE
298/// is supplied as an argument for @a mode.
299///
300/// @note Strictly speaking a fog volume is normalized to the range [0,1] but this
301/// method accepts a scalar volume with an arbritary range, as long as the it
302/// includes the @a isoValue.
303///
304/// @details Topology of output grids are identical to that of the input grid, except
305/// active tiles in the input grid will be converted to active voxels
306/// in the output grids!
307///
308/// @warning If @a isoValue does not intersect any active values in
309/// @a fogGrid then a pair of the following grids is returned: The first
310/// is a signed distance grid with its active values set to plus or minus
311/// infinity depending of whether its input values are above or below @a isoValue.
312/// The second grid, which represents the extension field, has all its active
313/// values set to @a background.
314template<typename FogGridT, typename ExtOpT, typename ExtValueT>
315std::pair<typename FogGridT::Ptr, typename FogGridT::template ValueConverter<ExtValueT>::Type::Ptr>
316 fogToSdfAndExt(const FogGridT &fogGrid,
317 const ExtOpT &op,
318 const ExtValueT &background,
319 typename FogGridT::ValueType isoValue,
320 int nIter = 1,
321 FastSweepingDomain mode = FastSweepingDomain::SWEEP_ALL,
322 const typename FogGridT::template ValueConverter<ExtValueT>::Type::ConstPtr extGrid = nullptr);
323
324/// @brief Computes the signed distance field and the extension of a field (scalar, vector, or
325/// int are supported), defined by the specified functor, off an iso-surface from an input
326/// SDF volume.
327///
328/// @return A pair of two shared pointers to respectively the SDF and extension field
329///
330/// @param sdfGrid Scalar (floating-point) volume from which an
331/// iso-surface can be defined.
332///
333/// @param op Functor with signature [](const Vec3R &xyz)->ExtValueT that
334/// defines the Dirichlet boundary condition, on the iso-surface,
335/// of the field to be extended.
336///
337/// @param background Background value of return grid with the extension field.
338///
339/// @param isoValue A value which defines a smooth iso-surface that
340/// intersects active voxels in @a sdfGrid.
341///
342/// @param nIter Number of iterations of the fast sweeping algorithm.
343/// Each iteration performs 2^3 = 8 individual sweeps.
344///
345/// @param mode Determines the mode of updating the extension field. SWEEP_ALL
346/// will update all voxels of the extension field affected by the
347/// fast sweeping algorithm. SWEEP_GREATER_THAN_ISOVALUE will update
348/// all voxels corresponding to level set values that are greater than a given
349/// isovalue. SWEEP_LESS_THAN_ISOVALUE will update all voxels corresponding
350/// to level set values that are less than a given isovalue. If a mode other
351/// than SWEEP_ALL is chosen, a user needs to supply @a extGrid.
352///
353/// @param extGrid Optional parameter required to supply a default value for the extension
354/// field when SWEEP_GREATER_THAN_ISOVALUE or SWEEP_LESS_THAN_ISOVALUE
355/// mode is picked for @a mode. When SWEEP_GREATER_THAN_ISOVALUE is supplied
356/// as an argument for @a mode, the extension field voxel will default
357/// to the value of the @a extGrid in that position if it corresponds to a level-set
358/// value that is less than the isovalue. Otherwise, the extension
359/// field voxel value will be computed by the Fast Sweeping algorithm.
360/// The opposite convention is implemented when SWEEP_LESS_THAN_ISOVALUE
361/// is supplied as an argument for @a mode.
362///
363/// @note Strictly speaking a fog volume is normalized to the range [0,1] but this
364/// method accepts a scalar volume with an arbritary range, as long as the it
365/// includes the @a isoValue.
366///
367/// @details Topology of output grids are identical to that of the input grid, except
368/// active tiles in the input grid will be converted to active voxels
369/// in the output grids!
370///
371/// @warning If @a isoValue does not intersect any active values in
372/// @a sdfGrid then a pair of the following grids is returned: The first
373/// is a signed distance grid with its active values set to plus or minus
374/// infinity depending of whether its input values are above or below @a isoValue.
375/// The second grid, which represents the extension field, has all its active
376/// values set to @a background.
377template<typename SdfGridT, typename ExtOpT, typename ExtValueT>
378std::pair<typename SdfGridT::Ptr, typename SdfGridT::template ValueConverter<ExtValueT>::Type::Ptr>
379 sdfToSdfAndExt(const SdfGridT &sdfGrid,
380 const ExtOpT &op,
381 const ExtValueT &background,
382 typename SdfGridT::ValueType isoValue = 0,
383 int nIter = 1,
384 FastSweepingDomain mode = FastSweepingDomain::SWEEP_ALL,
385 const typename SdfGridT::template ValueConverter<ExtValueT>::Type::ConstPtr extGrid = nullptr);
386
387/// @brief Dilates the narrow band of an existing signed distance field by
388/// a specified number of voxels (like adding "onion-rings").
389///
390/// @note This operation is not to be confused with morphological dilation
391/// of a level set, which is implemented in LevelSetFilter::offset,
392/// and involves actual interface tracking of the narrow band.
393///
394/// @return A shared pointer to the dilated signed distance field.
395///
396/// @param sdfGrid Input signed distance field to be dilated.
397///
398/// @param dilation Numer of voxels that the narrow band of the input SDF will be dilated.
399///
400/// @param nn Stencil-pattern used for dilation
401///
402/// @param nIter Number of iterations of the fast sweeping algorithm.
403/// Each iteration performs 2^3 = 8 individual sweeps.
404///
405/// @param mode Determines the direction of the dilation. SWEEP_ALL
406/// will dilate in both sides of the signed distance function,
407/// SWEEP_GREATER_THAN_ISOVALUE will dilate in the positive
408/// side of the iso-surface, SWEEP_LESS_THAN_ISOVALUE will dilate
409/// in the negative side of the iso-surface.
410///
411/// @details Topology will change as a result of this dilation. E.g. if
412/// sdfGrid has a width of 3 and @a dilation = 6 then the grid
413/// returned by this method is a narrow band signed distance field
414/// with a total width of 9 units.
415template<typename GridT>
416typename GridT::Ptr
417 dilateSdf(const GridT &sdfGrid,
418 int dilation,
419 NearestNeighbors nn = NN_FACE,
420 int nIter = 1,
421 FastSweepingDomain mode = FastSweepingDomain::SWEEP_ALL);
422
423/// @brief Fills mask by extending an existing signed distance field into
424/// the active values of this input ree of arbitrary value type.
425///
426/// @return A shared pointer to the masked signed distance field.
427///
428/// @param sdfGrid Input signed distance field to be extended into the mask.
429///
430/// @param mask Mask used to identify the topology of the output SDF.
431/// Note this mask is assume to overlap with the sdfGrid.
432///
433/// @param ignoreActiveTiles If false, active tiles in the mask are treated
434/// as active voxels. Else they are ignored.
435///
436/// @param nIter Number of iterations of the fast sweeping algorithm.
437/// Each iteration performs 2^3 = 8 individual sweeps.
438///
439/// @details Topology of the output SDF is determined by the union of the active
440/// voxels (or optionally values) in @a sdfGrid and @a mask.
441template<typename GridT, typename MaskTreeT>
442typename GridT::Ptr
443 maskSdf(const GridT &sdfGrid,
444 const Grid<MaskTreeT> &mask,
445 bool ignoreActiveTiles = false,
446 int nIter = 1);
447
448////////////////////////////////////////////////////////////////////////////////
449/// @brief Computes signed distance values from an initial iso-surface and
450/// optionally performs velocity extension at the same time. This is
451/// done by means of a novel sparse and parallel fast sweeping
452/// algorithm based on a first order Godunov's scheme.
453///
454/// Solves: @f$|\nabla \phi|^2 = 1 @f$
455///
456/// @warning Note, it is important to call one of the initialization methods before
457/// called the sweep function. Failure to do so will throw a RuntimeError.
458/// Consider instead call one of the many higher-level free-standing functions
459/// defined above!
460template<typename SdfGridT, typename ExtValueT = typename SdfGridT::ValueType>
461 class FastSweeping
462{
463 static_assert(std::is_floating_point<typename SdfGridT::ValueType>::value,
464 "FastSweeping requires SdfGridT to have floating-point values");
465 // Defined types related to the signed distance (or fog) grid
466 using SdfValueT = typename SdfGridT::ValueType;
467 using SdfTreeT = typename SdfGridT::TreeType;
468 using SdfAccT = tree::ValueAccessor<SdfTreeT, false>;//don't register accessors
469 using SdfConstAccT = typename tree::ValueAccessor<const SdfTreeT, false>;//don't register accessors
470
471 // define types related to the extension field
472 using ExtGridT = typename SdfGridT::template ValueConverter<ExtValueT>::Type;
473 using ExtTreeT = typename ExtGridT::TreeType;
474 using ExtAccT = tree::ValueAccessor<ExtTreeT, false>;
475
476 // define types related to the tree that masks out the active voxels to be solved for
477 using SweepMaskTreeT = typename SdfTreeT::template ValueConverter<ValueMask>::Type;
478 using SweepMaskAccT = tree::ValueAccessor<SweepMaskTreeT, false>;//don't register accessors
479
480public:
481
482 /// @brief Constructor
483 FastSweeping();
484
485 /// @brief Destructor.
486 ~FastSweeping() { this->clear(); }
487
488 /// @brief Disallow copy construction.
489 FastSweeping(const FastSweeping&) = delete;
490
491 /// @brief Disallow copy assignment.
492 FastSweeping& operator=(const FastSweeping&) = delete;
493
494 /// @brief Returns a shared pointer to the signed distance field computed
495 /// by this class.
496 ///
497 /// @warning This shared pointer might point to NULL if the grid has not been
498 /// initialize (by one of the init methods) or computed (by the sweep
499 /// method).
500 typename SdfGridT::Ptr sdfGrid() { return mSdfGrid; }
501
502 /// @brief Returns a shared pointer to the extension field computed
503 /// by this class.
504 ///
505 /// @warning This shared pointer might point to NULL if the grid has not been
506 /// initialize (by one of the init methods) or computed (by the sweep
507 /// method).
508 typename ExtGridT::Ptr extGrid() { return mExtGrid; }
509
510 /// @brief Returns a shared pointer to the extension grid input. This is non-NULL
511 /// if this class is used to extend a field with a non-default sweep direction.
512 ///
513 /// @warning This shared pointer might point to NULL. This is non-NULL
514 /// if this class is used to extend a field with a non-default sweep direction,
515 /// i.e. SWEEP_LESS_THAN_ISOVALUE or SWEEP_GREATER_THAN_ISOVALUE.
516 typename ExtGridT::Ptr extGridInput() { return mExtGridInput; }
517
518 /// @brief Initializer for input grids that are either a signed distance
519 /// field or a scalar fog volume.
520 ///
521 /// @return True if the initialization succeeded.
522 ///
523 /// @param sdfGrid Input scalar grid that represents an existing signed distance
524 /// field or a fog volume (signified by @a isInputSdf).
525 ///
526 /// @param isoValue Iso-value to be used to define the Dirichlet boundary condition
527 /// of the fast sweeping algorithm (typically 0 for sdfs and a
528 /// positive value for fog volumes).
529 ///
530 /// @param isInputSdf Used to determine if @a sdfGrid is a sigend distance field (true)
531 /// or a scalar fog volume (false).
532 ///
533 /// @details This, or any of ther other initialization methods, should be called
534 /// before any call to sweep(). Failure to do so will throw a RuntimeError.
535 ///
536 /// @warning Note, if this method fails, i.e. returns false, a subsequent call
537 /// to sweep will trow a RuntimeError. Instead call clear and try again.
538 bool initSdf(const SdfGridT &sdfGrid, SdfValueT isoValue, bool isInputSdf);
539
540 /// @brief Initializer used whenever velocity extension is performed in addition
541 /// to the computation of signed distance fields.
542 ///
543 /// @return True if the initialization succeeded.
544 ///
545 ///
546 /// @param sdfGrid Input scalar grid that represents an existing signed distance
547 /// field or a fog volume (signified by @a isInputSdf).
548 ///
549 /// @param op Functor with signature [](const Vec3R &xyz)->ExtValueT that
550 /// defines the Dirichlet boundary condition, on the iso-surface,
551 /// of the field to be extended. Strictly the return type of this functor
552 /// is only required to be convertible to ExtValueT!
553 ///
554 /// @param background Background value of return grid with the extension field.
555 ///
556 /// @param isoValue Iso-value to be used for the boundary condition of the fast
557 /// sweeping algorithm (typically 0 for sdfs and a positive value
558 /// for fog volumes).
559 ///
560 /// @param isInputSdf Used to determine if @a sdfGrid is a sigend distance field (true)
561 /// or a scalar fog volume (false).
562 ///
563 /// @param mode Determines the mode of updating the extension field. SWEEP_ALL
564 /// will update all voxels of the extension field affected by the
565 /// fast sweeping algorithm. SWEEP_GREATER_THAN_ISOVALUE will update
566 /// all voxels corresponding to fog values that are greater than a given
567 /// isovalue. SWEEP_LESS_THAN_ISOVALUE will update all voxels corresponding
568 /// to fog values that are less than a given isovalue. If a mode other
569 /// than SWEEP_ALL is chosen, a user needs to supply @a extGrid.
570 ///
571 /// @param extGrid Optional parameter required to supply a default value for the extension
572 /// field when SWEEP_GREATER_THAN_ISOVALUE or SWEEP_LESS_THAN_ISOVALUE
573 /// mode is picked for @a mode. When SWEEP_GREATER_THAN_ISOVALUE is supplied
574 /// as an argument for @a mode, the extension field voxel will default
575 /// to the value of the @a extGrid in that position if it corresponds to a level-set
576 /// value that is less than the isovalue. Otherwise, the extension
577 /// field voxel value will be computed by the Fast Sweeping algorithm.
578 /// The opposite convention is implemented when SWEEP_LESS_THAN_ISOVALUE
579 /// is supplied as an argument for @a mode.
580 ///
581 /// @details This, or any of ther other initialization methods, should be called
582 /// before any call to sweep(). Failure to do so will throw a RuntimeError.
583 ///
584 /// @warning Note, if this method fails, i.e. returns false, a subsequent call
585 /// to sweep will trow a RuntimeError. Instead call clear and try again.
586 template <typename ExtOpT>
587 bool initExt(const SdfGridT &sdfGrid,
588 const ExtOpT &op,
589 const ExtValueT &background,
590 SdfValueT isoValue,
591 bool isInputSdf,
592 FastSweepingDomain mode = FastSweepingDomain::SWEEP_ALL,
593 const typename ExtGridT::ConstPtr extGrid = nullptr);
594
595 /// @brief Initializer used when dilating an existing signed distance field.
596 ///
597 /// @return True if the initialization succeeded.
598 ///
599 /// @param sdfGrid Input signed distance field to to be dilated.
600 ///
601 /// @param dilation Numer of voxels that the input SDF will be dilated.
602 ///
603 /// @param nn Stencil-pattern used for dilation
604 ///
605 /// @param mode Determines the direction of the dilation. SWEEP_ALL
606 /// will dilate in both sides of the signed distance function,
607 /// SWEEP_GREATER_THAN_ISOVALUE will dilate in the positive
608 /// side of the iso-surface, SWEEP_LESS_THAN_ISOVALUE will dilate
609 /// in the negative side of the iso-surface.
610 ///
611 /// @details This, or any of ther other initialization methods, should be called
612 /// before any call to sweep(). Failure to do so will throw a RuntimeError.
613 ///
614 /// @warning Note, if this method fails, i.e. returns false, a subsequent call
615 /// to sweep will trow a RuntimeError. Instead call clear and try again.
616 bool initDilate(const SdfGridT &sdfGrid,
617 int dilation,
618 NearestNeighbors nn = NN_FACE,
619 FastSweepingDomain mode = FastSweepingDomain::SWEEP_ALL);
620
621 /// @brief Initializer used for the extension of an existing signed distance field
622 /// into the active values of an input mask of arbitrary value type.
623 ///
624 /// @return True if the initialization succeeded.
625 ///
626 /// @param sdfGrid Input signed distance field to be extended into the mask.
627 ///
628 /// @param mask Mask used to identify the topology of the output SDF.
629 /// Note this mask is assume to overlap with the sdfGrid.
630 ///
631 /// @param ignoreActiveTiles If false, active tiles in the mask are treated
632 /// as active voxels. Else they are ignored.
633 ///
634 /// @details This, or any of ther other initialization methods, should be called
635 /// before any call to sweep(). Failure to do so will throw a RuntimeError.
636 ///
637 /// @warning Note, if this method fails, i.e. returns false, a subsequent call
638 /// to sweep will trow a RuntimeError. Instead call clear and try again.
639 template<typename MaskTreeT>
640 bool initMask(const SdfGridT &sdfGrid, const Grid<MaskTreeT> &mask, bool ignoreActiveTiles = false);
641
642 /// @brief Perform @a nIter iterations of the fast sweeping algorithm.
643 ///
644 /// @param nIter Number of iterations of the fast sweeping algorithm.
645 /// Each iteration performs 2^3 = 8 individual sweeps.
646 ///
647 /// @param finalize If true the (possibly asymmetric) inside and outside values of the
648 /// resulting signed distance field are properly set. Unless you're
649 /// an expert this should remain true!
650 ///
651 /// @throw RuntimeError if sweepingVoxelCount() or boundaryVoxelCount() return zero.
652 /// This might happen if none of the initialization methods above were called
653 /// or if that initialization failed.
654 void sweep(int nIter = 1,
655 bool finalize = true);
656
657 /// @brief Clears all the grids and counters so initialization can be called again.
658 void clear();
659
660 /// @brief Return the number of voxels that will be solved for.
661 size_t sweepingVoxelCount() const { return mSweepingVoxelCount; }
662
663 /// @brief Return the number of voxels that defined the boundary condition.
664 size_t boundaryVoxelCount() const { return mBoundaryVoxelCount; }
665
666 /// @brief Return true if there are voxels and boundaries to solve for
667 bool isValid() const { return mSweepingVoxelCount > 0 && mBoundaryVoxelCount > 0; }
668
669 /// @brief Return whether the sweep update is in all direction (SWEEP_ALL),
670 /// greater than isovalue (SWEEP_GREATER_THAN_ISOVALUE), or less than isovalue
671 /// (SWEEP_LESS_THAN_ISOVALUE).
672 ///
673 /// @note SWEEP_GREATER_THAN_ISOVALUE and SWEEP_LESS_THAN_ISOVALUE modes are used
674 /// in dilating the narrow-band of a levelset or in extending a field.
675 FastSweepingDomain sweepDirection() const { return mSweepDirection; }
676
677 /// @brief Return whether the fast-sweeping input grid a signed distance function or not (fog).
678 bool isInputSdf() { return mIsInputSdf; }
679
680private:
681
682 /// @brief Private method to prune the sweep mask and cache leaf origins.
683 void computeSweepMaskLeafOrigins();
684
685 // Private utility classes
686 template<typename>
687 struct MaskKernel;// initialization to extend a SDF into a mask
688 template<typename>
689 struct InitExt;
690 struct InitSdf;
691 struct DilateKernel;// initialization to dilate a SDF
692 struct MinMaxKernel;
693 struct PruneMinMaxFltKernel;// prune sdf if it has min float or max float
694 struct SweepingKernel;// performs the actual concurrent sparse fast sweeping
695
696 // Define the topology (i.e. stencil) of the neighboring grid points
697 static const Coord mOffset[6];// = {{-1,0,0},{1,0,0},{0,-1,0},{0,1,0},{0,0,-1},{0,0,1}};
698
699 // Private member data of FastSweeping
700 typename SdfGridT::Ptr mSdfGrid;
701 typename ExtGridT::Ptr mExtGrid;
702 typename ExtGridT::Ptr mExtGridInput; // optional: only used in extending a field in one direction
703 SweepMaskTreeT mSweepMask; // mask tree containing all non-boundary active voxels, in the case of dilation, does not include active voxel
704 std::vector<Coord> mSweepMaskLeafOrigins; // cache of leaf node origins for mask tree
705 size_t mSweepingVoxelCount, mBoundaryVoxelCount;
706 FastSweepingDomain mSweepDirection; // only used in dilate and extending a field
707 bool mIsInputSdf;
708};// FastSweeping
709
710////////////////////////////////////////////////////////////////////////////////
711
712// Static member data initialization
713template <typename SdfGridT, typename ExtValueT>
714 const Coord FastSweeping<SdfGridT, ExtValueT>::mOffset[6] = {{-1,0,0},{1,0,0},
715 {0,-1,0},{0,1,0},
716 {0,0,-1},{0,0,1}};
717
718template <typename SdfGridT, typename ExtValueT>
719FastSweeping<SdfGridT, ExtValueT>::FastSweeping()
720 : mSdfGrid(nullptr), mExtGrid(nullptr), mSweepingVoxelCount(0), mBoundaryVoxelCount(0), mSweepDirection(FastSweepingDomain::SWEEP_ALL), mIsInputSdf(true)
721{
722}
723
724template <typename SdfGridT, typename ExtValueT>
725 void FastSweeping<SdfGridT, ExtValueT>::clear()
726{
727 mSdfGrid.reset();
728 mExtGrid.reset();
729 mSweepMask.clear();
730 if (mExtGridInput) mExtGridInput.reset();
731 mSweepingVoxelCount = mBoundaryVoxelCount = 0;
732 mSweepDirection = FastSweepingDomain::SWEEP_ALL;
733 mIsInputSdf = true;
734}
735
736template <typename SdfGridT, typename ExtValueT>
737void FastSweeping<SdfGridT, ExtValueT>::computeSweepMaskLeafOrigins()
738{
739 // replace any inactive leaf nodes with tiles and voxelize any active tiles
740
741 pruneInactive(mSweepMask);
742 mSweepMask.voxelizeActiveTiles();
743
744 using LeafManagerT = tree::LeafManager<SweepMaskTreeT>;
745 using LeafT = typename SweepMaskTreeT::LeafNodeType;
746 LeafManagerT leafManager(mSweepMask);
747
748 mSweepMaskLeafOrigins.resize(leafManager.leafCount());
749 std::atomic<size_t> sweepingVoxelCount{0};
750 auto kernel = [&](const LeafT& leaf, size_t leafIdx) {
751 mSweepMaskLeafOrigins[leafIdx] = leaf.origin();
752 sweepingVoxelCount += leaf.onVoxelCount();
753 };
754 leafManager.foreach(kernel, /*threaded=*/true, /*grainsize=*/1024);
755
756 mBoundaryVoxelCount = 0;
757 mSweepingVoxelCount = sweepingVoxelCount;
758 if (mSdfGrid) {
759 const size_t totalCount = mSdfGrid->constTree().activeVoxelCount();
760 OPENVDB_ASSERT( totalCount >= mSweepingVoxelCount );
761 mBoundaryVoxelCount = totalCount - mSweepingVoxelCount;
762 }
763}// FastSweeping::computeSweepMaskLeafOrigins
764
765template <typename SdfGridT, typename ExtValueT>
766 bool FastSweeping<SdfGridT, ExtValueT>::initSdf(const SdfGridT &fogGrid, SdfValueT isoValue, bool isInputSdf)
767{
768 this->clear();
769 mSdfGrid = fogGrid.deepCopy();//very fast
770 mIsInputSdf = isInputSdf;
771 InitSdf kernel(*this);
772 kernel.run(isoValue);
773 return this->isValid();
774}
775
776template <typename SdfGridT, typename ExtValueT>
777template <typename OpT>
778 bool FastSweeping<SdfGridT, ExtValueT>::initExt(const SdfGridT &fogGrid, const OpT &op, const ExtValueT &background, SdfValueT isoValue, bool isInputSdf, FastSweepingDomain mode, const typename ExtGridT::ConstPtr extGrid)
779{
780 if (mode != FastSweepingDomain::SWEEP_ALL) {
781 if (!extGrid)
782 OPENVDB_THROW(RuntimeError, "FastSweeping::initExt Calling initExt with mode != SWEEP_ALL requires an extension grid!");
783 if (extGrid->transform() != fogGrid.transform())
784 OPENVDB_THROW(RuntimeError, "FastSweeping::initExt extension grid input should have the same transform as Fog/SDF grid!");
785 }
786
787 this->clear();
788 mSdfGrid = fogGrid.deepCopy();//very fast
789 mExtGrid = createGrid<ExtGridT>( background );
790 mSweepDirection = mode;
791 mIsInputSdf = isInputSdf;
792 if (mSweepDirection != FastSweepingDomain::SWEEP_ALL) {
793 mExtGridInput = extGrid->deepCopy();
794 }
795 mExtGrid->topologyUnion( *mSdfGrid );//very fast
796 InitExt<OpT> kernel(*this);
797 kernel.run(isoValue, op);
798 return this->isValid();
799}
800
801
802template <typename SdfGridT, typename ExtValueT>
803 bool FastSweeping<SdfGridT, ExtValueT>::initDilate(const SdfGridT &sdfGrid, int dilate, NearestNeighbors nn, FastSweepingDomain mode)
804{
805 this->clear();
806 mSdfGrid = sdfGrid.deepCopy();//very fast
807 mSweepDirection = mode;
808 DilateKernel kernel(*this);
809 kernel.run(dilate, nn);
810 return this->isValid();
811}
812
813template <typename SdfGridT, typename ExtValueT>
814template<typename MaskTreeT>
815 bool FastSweeping<SdfGridT, ExtValueT>::initMask(const SdfGridT &sdfGrid, const Grid<MaskTreeT> &mask, bool ignoreActiveTiles)
816{
817 this->clear();
818 mSdfGrid = sdfGrid.deepCopy();//very fast
819
820 if (mSdfGrid->transform() != mask.transform()) {
821 OPENVDB_THROW(RuntimeError, "FastSweeping: Mask not aligned with the grid!");
822 }
823
824 if (mask.getGridClass() == GRID_LEVEL_SET) {
825 using T = typename MaskTreeT::template ValueConverter<bool>::Type;
826 typename Grid<T>::Ptr tmp = sdfInteriorMask(mask);//might have active tiles
827 tmp->tree().voxelizeActiveTiles();//multi-threaded
828 MaskKernel<T> kernel(*this);
829 kernel.run(tmp->tree());//multi-threaded
830 } else {
831 if (ignoreActiveTiles || !mask.tree().hasActiveTiles()) {
832 MaskKernel<MaskTreeT> kernel(*this);
833 kernel.run(mask.tree());//multi-threaded
834 } else {
835 using T = typename MaskTreeT::template ValueConverter<ValueMask>::Type;
836 T tmp(mask.tree(), false, TopologyCopy());//multi-threaded
837 tmp.voxelizeActiveTiles(true);//multi-threaded
838 MaskKernel<T> kernel(*this);
839 kernel.run(tmp);//multi-threaded
840 }
841 }
842 return this->isValid();
843}// FastSweeping::initMask
844
845template <typename SdfGridT, typename ExtValueT>
846 void FastSweeping<SdfGridT, ExtValueT>::sweep(int nIter, bool finalize)
847{
848 if (!mSdfGrid) {
849 OPENVDB_THROW(RuntimeError, "FastSweeping::sweep called before initialization!");
850 }
851 if (mExtGrid && mSweepDirection != FastSweepingDomain::SWEEP_ALL && !mExtGridInput) {
852 OPENVDB_THROW(RuntimeError, "FastSweeping: Trying to extend a field in one direction needs"
853 " a non-null reference extension grid input.");
854 }
855 if (this->boundaryVoxelCount() == 0) {
856 OPENVDB_THROW(RuntimeError, "FastSweeping: No boundary voxels found!");
857 } else if (this->sweepingVoxelCount() == 0) {
858 OPENVDB_THROW(RuntimeError, "FastSweeping: No computing voxels found!");
859 }
860
861 // note: Sweeping kernel is non copy-constructible, so use a deque instead of a vector
862 std::deque<SweepingKernel> kernels;
863 for (int i = 0; i < 4; i++) kernels.emplace_back(*this);
864
865 { // compute voxel slices
866#ifdef BENCHMARK_FAST_SWEEPING
867 util::CpuTimer timer("Computing voxel slices");
868#endif
869
870 // Exploiting nested parallelism - all voxel slice data is precomputed
871 tbb::task_group tasks;
872 tasks.run([&] { kernels[0].computeVoxelSlices([](const Coord &a){ return a[0]+a[1]+a[2]; });/*+++ & ---*/ });
873 tasks.run([&] { kernels[1].computeVoxelSlices([](const Coord &a){ return a[0]+a[1]-a[2]; });/*++- & --+*/ });
874 tasks.run([&] { kernels[2].computeVoxelSlices([](const Coord &a){ return a[0]-a[1]+a[2]; });/*+-+ & -+-*/ });
875 tasks.run([&] { kernels[3].computeVoxelSlices([](const Coord &a){ return a[0]-a[1]-a[2]; });/*+-- & -++*/ });
876 tasks.wait();
877
878#ifdef BENCHMARK_FAST_SWEEPING
879 timer.stop();
880#endif
881 }
882
883 // perform nIter iterations of bi-directional sweeping in all directions
884 for (int i = 0; i < nIter; ++i) {
885 for (SweepingKernel& kernel : kernels) kernel.sweep();
886 }
887
888 if (finalize) {
889#ifdef BENCHMARK_FAST_SWEEPING
890 util::CpuTimer timer("Computing extrema values");
891#endif
892 MinMaxKernel kernel;
893 auto e = kernel.run(*mSdfGrid);//multi-threaded
894 //auto e = extrema(mGrid->beginValueOn());// 100x slower!!!!
895 if (kernel.mFltMinExists || kernel.mFltMaxExists) {
896 tree::NodeManager<SdfTreeT> nodeManager(mSdfGrid->tree());
897 PruneMinMaxFltKernel op(e.min(), e.max());
898 nodeManager.foreachTopDown(op, true /* = threaded*/, 1 /* = grainSize*/);
899 }
900#ifdef BENCHMARK_FAST_SWEEPING
901 std::cerr << "Min = " << e.min() << " Max = " << e.max() << std::endl;
902 timer.restart("Changing asymmetric background value");
903#endif
904 changeAsymmetricLevelSetBackground(mSdfGrid->tree(), e.max(), e.min());//multi-threaded
905
906#ifdef BENCHMARK_FAST_SWEEPING
907 timer.stop();
908#endif
909 }
910}// FastSweeping::sweep
911
912/// Private class of FastSweeping to quickly compute the extrema
913/// values of the active voxels in the leaf nodes. Several orders
914/// of magnitude faster than tools::extrema!
915/// Also determines whether there is float max or float min stored
916/// in a voxel.
917template <typename SdfGridT, typename ExtValueT>
918 struct FastSweeping<SdfGridT, ExtValueT>::MinMaxKernel
919{
920 using LeafMgr = tree::LeafManager<const SdfTreeT>;
921 using LeafRange = typename LeafMgr::LeafRange;
922 MinMaxKernel() : mMin(std::numeric_limits<SdfValueT>::max()), mMax(-mMin), mFltMinExists(false), mFltMaxExists(true) {}
923 MinMaxKernel(MinMaxKernel& other, tbb::split) : mMin(other.mMin), mMax(other.mMax), mFltMinExists(other.mFltMinExists), mFltMaxExists(other.mFltMaxExists) {}
924
925 math::MinMax<SdfValueT> run(const SdfGridT &grid)
926 {
927 LeafMgr mgr(grid.tree());// super fast
928 tbb::parallel_reduce(mgr.leafRange(), *this);
929 return math::MinMax<SdfValueT>(mMin, mMax);
930 }
931
932 void operator()(const LeafRange& r)
933 {
934 for (auto leafIter = r.begin(); leafIter; ++leafIter) {
935 for (auto voxelIter = leafIter->beginValueOn(); voxelIter; ++voxelIter) {
936 const SdfValueT v = *voxelIter;
937 const bool vEqFltMin = v == -std::numeric_limits<SdfValueT>::max();
938 const bool vEqFltMax = v == std::numeric_limits<SdfValueT>::max();
939 if (v < mMin && !vEqFltMin) mMin = v;
940 if (v > mMax && !vEqFltMax) mMax = v;
941 if (vEqFltMin) mFltMinExists = true;
942 if (vEqFltMax) mFltMaxExists = true;
943 }
944 }
945 }
946
947 void join(const MinMaxKernel& other)
948 {
949 if (other.mMin < mMin) mMin = other.mMin;
950 if (other.mMax > mMax) mMax = other.mMax;
951 mFltMinExists = other.mFltMinExists || mFltMinExists;
952 mFltMaxExists = other.mFltMaxExists || mFltMaxExists;
953 }
954
955 SdfValueT mMin, mMax;
956 bool mFltMinExists, mFltMaxExists;
957};// FastSweeping::MinMaxKernel
958
959/// Private class of FastSweeping to prune sdf value that is equal to float max or
960/// float min.
961template <typename SdfGridT, typename ExtValueT>
962 struct FastSweeping<SdfGridT, ExtValueT>::PruneMinMaxFltKernel {
963 PruneMinMaxFltKernel(SdfValueT min, SdfValueT max) : mMin(min), mMax(max) {}
964
965 // Root node
966 void operator()(typename SdfTreeT::RootNodeType& node, size_t = 1) const {
967 for (auto iter = node.beginValueAll(); iter; ++iter) {
968 if (*iter == -std::numeric_limits<SdfValueT>::max()) {
969 iter.setValue(mMin);
970 }
971 if (*iter == std::numeric_limits<SdfValueT>::max()) {
972 iter.setValue(mMax);
973 }
974 }
975 }
976
977 // Internal nodes
978 template<typename NodeT>
979 void operator()(NodeT& node, size_t = 1) const
980 {
981 for (auto iter = node.beginValueAll(); iter; ++iter) {
982 if (*iter == -std::numeric_limits<SdfValueT>::max()) {
983 iter.setValue(mMin);
984 }
985 if (*iter == std::numeric_limits<SdfValueT>::max()) {
986 iter.setValue(mMax);
987 }
988 }
989 }
990
991 // Leaf nodes
992 void operator()(typename SdfTreeT::LeafNodeType& leaf, size_t = 1) const
993 {
994 for (auto iter = leaf.beginValueOn(); iter; ++iter) {
995 if (*iter == -std::numeric_limits<SdfValueT>::max()) {
996 iter.setValue(mMin);
997 }
998 if (*iter == std::numeric_limits<SdfValueT>::max()) {
999 iter.setValue(mMax);
1000 }
1001 }
1002 }
1003 SdfValueT mMin, mMax;
1004};// FastSweeping::PruneMinMaxFltKernel
1005
1006////////////////////////////////////////////////////////////////////////////////
1007
1008/// Private class of FastSweeping to perform multi-threaded initialization
1009template <typename SdfGridT, typename ExtValueT>
1010 struct FastSweeping<SdfGridT, ExtValueT>::DilateKernel
1011{
1012 using LeafRange = typename tree::LeafManager<SdfTreeT>::LeafRange;
1013 DilateKernel(FastSweeping &parent)
1014 : mParent(&parent),
1015 mBackground(parent.mSdfGrid->background())
1016 {
1017 mSdfGridInput = mParent->mSdfGrid->deepCopy();
1018 }
1019 DilateKernel(const DilateKernel &parent) = default;// for tbb::parallel_for
1020 DilateKernel& operator=(const DilateKernel&) = delete;
1021
1022 void run(int dilation, NearestNeighbors nn)
1023 {
1024#ifdef BENCHMARK_FAST_SWEEPING
1025 util::CpuTimer timer("Construct LeafManager");
1026#endif
1027 tree::LeafManager<SdfTreeT> mgr(mParent->mSdfGrid->tree());// super fast
1028
1029#ifdef BENCHMARK_FAST_SWEEPING
1030 timer.restart("Changing background value");
1031#endif
1032 static const SdfValueT Unknown = std::numeric_limits<SdfValueT>::max();
1033 changeLevelSetBackground(mgr, Unknown);//multi-threaded
1034
1035 #ifdef BENCHMARK_FAST_SWEEPING
1036 timer.restart("Dilating and updating mgr (parallel)");
1037 //timer.restart("Dilating and updating mgr (serial)");
1038#endif
1039
1040 const int delta = 5;
1041 for (int i=0, d = dilation/delta; i<d; ++i) dilateActiveValues(mgr, delta, nn, IGNORE_TILES);
1042 dilateActiveValues(mgr, dilation % delta, nn, IGNORE_TILES);
1043 //for (int i=0, n=5, d=dilation/n; i<d; ++i) dilateActiveValues(mgr, n, nn, IGNORE_TILES);
1044 //dilateVoxels(mgr, dilation, nn);
1045
1046#ifdef BENCHMARK_FAST_SWEEPING
1047 timer.restart("Initializing grid and sweep mask");
1048#endif
1049
1050 mParent->mSweepMask.clear();
1051 mParent->mSweepMask.topologyUnion(mParent->mSdfGrid->constTree());
1052
1053 using LeafManagerT = tree::LeafManager<typename SdfGridT::TreeType>;
1054 using LeafT = typename SdfGridT::TreeType::LeafNodeType;
1055
1056 const FastSweepingDomain mode = mParent->mSweepDirection;
1057
1058 LeafManagerT leafManager(mParent->mSdfGrid->tree());
1059
1060 auto kernel = [&](LeafT& leaf, size_t /*leafIdx*/) {
1061 static const SdfValueT Unknown = std::numeric_limits<SdfValueT>::max();
1062 const SdfValueT background = mBackground;//local copy
1063 auto* maskLeaf = mParent->mSweepMask.probeLeaf(leaf.origin());
1064 SdfConstAccT sdfInputAcc(mSdfGridInput->tree());
1065 OPENVDB_ASSERT(maskLeaf);
1066 for (auto voxelIter = leaf.beginValueOn(); voxelIter; ++voxelIter) {
1067 const SdfValueT value = *voxelIter;
1068 SdfValueT inputValue;
1069 const Coord ijk = voxelIter.getCoord();
1070
1071 if (math::Abs(value) < background) {// disable boundary voxels from the mask tree
1072 maskLeaf->setValueOff(voxelIter.pos());
1073 } else {
1074 switch (mode) {
1075 case FastSweepingDomain::SWEEP_ALL :
1076 voxelIter.setValue(value > 0 ? Unknown : -Unknown);
1077 break;
1078 case FastSweepingDomain::SWEEP_GREATER_THAN_ISOVALUE :
1079 if (value > 0) voxelIter.setValue(Unknown);
1080 else {
1081 maskLeaf->setValueOff(voxelIter.pos());
1082 bool isInputOn = sdfInputAcc.probeValue(ijk, inputValue);
1083 if ( !isInputOn ) voxelIter.setValueOff();
1084 else voxelIter.setValue(inputValue);
1085 }
1086 break;
1087 case FastSweepingDomain::SWEEP_LESS_THAN_ISOVALUE :
1088 if (value < 0) voxelIter.setValue(-Unknown);
1089 else {
1090 maskLeaf->setValueOff(voxelIter.pos());
1091 bool isInputOn = sdfInputAcc.probeValue(ijk, inputValue);
1092 if ( !isInputOn ) voxelIter.setValueOff();
1093 else voxelIter.setValue(inputValue);
1094 }
1095 break;
1096 }
1097 }
1098 }
1099 };
1100
1101 leafManager.foreach( kernel );
1102
1103 // cache the leaf node origins for fast lookup in the sweeping kernels
1104 mParent->computeSweepMaskLeafOrigins();
1105
1106#ifdef BENCHMARK_FAST_SWEEPING
1107 timer.stop();
1108#endif
1109 }// FastSweeping::DilateKernel::run
1110
1111 // Private member data of DilateKernel
1112 FastSweeping *mParent;
1113 const SdfValueT mBackground;
1114 typename SdfGridT::ConstPtr mSdfGridInput;
1115};// FastSweeping::DilateKernel
1116
1117////////////////////////////////////////////////////////////////////////////////
1118
1119template <typename SdfGridT, typename ExtValueT>
1120 struct FastSweeping<SdfGridT, ExtValueT>::InitSdf
1121{
1122 using LeafRange = typename tree::LeafManager<SdfTreeT>::LeafRange;
1123 InitSdf(FastSweeping &parent): mParent(&parent),
1124 mSdfGrid(parent.mSdfGrid.get()), mIsoValue(0), mAboveSign(0) {}
1125 InitSdf(const InitSdf&) = default;// for tbb::parallel_for
1126 InitSdf& operator=(const InitSdf&) = delete;
1127
1128 void run(SdfValueT isoValue)
1129 {
1130 mIsoValue = isoValue;
1131 mAboveSign = mParent->mIsInputSdf ? SdfValueT(1) : SdfValueT(-1);
1132 SdfTreeT &tree = mSdfGrid->tree();//sdf
1133 const bool hasActiveTiles = tree.hasActiveTiles();
1134
1135 if (mParent->mIsInputSdf && hasActiveTiles) {
1136 OPENVDB_THROW(RuntimeError, "FastSweeping: A SDF should not have active tiles!");
1137 }
1138
1139#ifdef BENCHMARK_FAST_SWEEPING
1140 util::CpuTimer timer("Initialize voxels");
1141#endif
1142 mParent->mSweepMask.clear();
1143 mParent->mSweepMask.topologyUnion(mParent->mSdfGrid->constTree());
1144
1145 {// Process all voxels
1146 tree::LeafManager<SdfTreeT> mgr(tree, 1);// we need one auxiliary buffer
1147 tbb::parallel_for(mgr.leafRange(32), *this);//multi-threaded
1148 mgr.swapLeafBuffer(1);//swap voxel values
1149 }
1150
1151#ifdef BENCHMARK_FAST_SWEEPING
1152 timer.restart("Initialize tiles - new");
1153#endif
1154 // Process all tiles
1155 tree::NodeManager<SdfTreeT, SdfTreeT::RootNodeType::LEVEL-1> mgr(tree);
1156 mgr.foreachBottomUp(*this);//multi-threaded
1157 tree.root().setBackground(std::numeric_limits<SdfValueT>::max(), false);
1158 if (hasActiveTiles) tree.voxelizeActiveTiles();//multi-threaded
1159
1160 // cache the leaf node origins for fast lookup in the sweeping kernels
1161
1162 mParent->computeSweepMaskLeafOrigins();
1163 }// FastSweeping::InitSdf::run
1164
1165 void operator()(const LeafRange& r) const
1166 {
1167 SweepMaskAccT sweepMaskAcc(mParent->mSweepMask);
1168 math::GradStencil<SdfGridT, false> stencil(*mSdfGrid);
1169 const SdfValueT isoValue = mIsoValue, above = mAboveSign*std::numeric_limits<SdfValueT>::max();//local copy
1170 const SdfValueT h = mAboveSign*static_cast<SdfValueT>(mSdfGrid->voxelSize()[0]);//Voxel size
1171 for (auto leafIter = r.begin(); leafIter; ++leafIter) {
1172 SdfValueT* sdf = leafIter.buffer(1).data();
1173 for (auto voxelIter = leafIter->beginValueAll(); voxelIter; ++voxelIter) {
1174 const SdfValueT value = *voxelIter;
1175 const bool isAbove = value > isoValue;
1176 if (!voxelIter.isValueOn()) {// inactive voxels
1177 sdf[voxelIter.pos()] = isAbove ? above : -above;
1178 } else {// active voxels
1179 const Coord ijk = voxelIter.getCoord();
1180 stencil.moveTo(ijk, value);
1181 const auto mask = stencil.intersectionMask( isoValue );
1182 if (mask.none()) {// most common case
1183 sdf[voxelIter.pos()] = isAbove ? above : -above;
1184 } else {// compute distance to iso-surface
1185 // disable boundary voxels from the mask tree
1186 sweepMaskAcc.setValueOff(ijk);
1187 const SdfValueT delta = value - isoValue;//offset relative to iso-value
1188 if (math::isApproxZero(delta)) {//voxel is on the iso-surface
1189 sdf[voxelIter.pos()] = 0;
1190 } else {//voxel is neighboring the iso-surface
1191 SdfValueT sum = 0;
1192 for (int i=0; i<6;) {
1193 SdfValueT d = std::numeric_limits<SdfValueT>::max(), d2;
1194 if (mask.test(i++)) d = math::Abs(delta/(value-stencil.getValue(i)));
1195 if (mask.test(i++)) {
1196 d2 = math::Abs(delta/(value-stencil.getValue(i)));
1197 if (d2 < d) d = d2;
1198 }
1199 if (d < std::numeric_limits<SdfValueT>::max()) sum += 1/(d*d);
1200 }
1201 sdf[voxelIter.pos()] = isAbove ? h / math::Sqrt(sum) : -h / math::Sqrt(sum);
1202 }// voxel is neighboring the iso-surface
1203 }// intersecting voxels
1204 }// active voxels
1205 }// loop over voxels
1206 }// loop over leaf nodes
1207 }// FastSweeping::InitSdf::operator(const LeafRange&)
1208
1209 template<typename RootOrInternalNodeT>
1210 void operator()(const RootOrInternalNodeT& node) const
1211 {
1212 const SdfValueT isoValue = mIsoValue, above = mAboveSign*std::numeric_limits<SdfValueT>::max();
1213 for (auto it = node.cbeginValueAll(); it; ++it) {
1214 SdfValueT& v = const_cast<SdfValueT&>(*it);
1215 v = v > isoValue ? above : -above;
1216 }//loop over all tiles
1217 }// FastSweeping::InitSdf::operator()(const RootOrInternalNodeT&)
1218
1219 // Public member data
1220 FastSweeping *mParent;
1221 SdfGridT *mSdfGrid;//raw pointer, i.e. lock free
1222 SdfValueT mIsoValue;
1223 SdfValueT mAboveSign;//sign of distance values above the iso-value
1224};// FastSweeping::InitSdf
1225
1226
1227/// Private class of FastSweeping to perform multi-threaded initialization
1228template <typename SdfGridT, typename ExtValueT>
1229template <typename OpT>
1230struct FastSweeping<SdfGridT, ExtValueT>::InitExt
1231{
1232 using LeafRange = typename tree::LeafManager<SdfTreeT>::LeafRange;
1233 using OpPoolT = tbb::enumerable_thread_specific<OpT>;
1234 InitExt(FastSweeping &parent) : mParent(&parent),
1235 mOpPool(nullptr), mSdfGrid(parent.mSdfGrid.get()),
1236 mExtGrid(parent.mExtGrid.get()), mIsoValue(0), mAboveSign(0) {}
1237 InitExt(const InitExt&) = default;// for tbb::parallel_for
1238 InitExt& operator=(const InitExt&) = delete;
1239 void run(SdfValueT isoValue, const OpT &opPrototype)
1240 {
1241 static_assert(std::is_convertible<decltype(opPrototype(Vec3d(0))),ExtValueT>::value, "Invalid return type of functor");
1242 if (!mExtGrid) {
1243 OPENVDB_THROW(RuntimeError, "FastSweeping::InitExt expected an extension grid!");
1244 }
1245
1246 mAboveSign = mParent->mIsInputSdf ? SdfValueT(1) : SdfValueT(-1);
1247 mIsoValue = isoValue;
1248 auto &tree1 = mSdfGrid->tree();
1249 auto &tree2 = mExtGrid->tree();
1250 const bool hasActiveTiles = tree1.hasActiveTiles();//very fast
1251
1252 if (mParent->mIsInputSdf && hasActiveTiles) {
1253 OPENVDB_THROW(RuntimeError, "FastSweeping: A SDF should not have active tiles!");
1254 }
1255
1256#ifdef BENCHMARK_FAST_SWEEPING
1257 util::CpuTimer timer("Initialize voxels");
1258#endif
1259
1260 mParent->mSweepMask.clear();
1261 mParent->mSweepMask.topologyUnion(mParent->mSdfGrid->constTree());
1262
1263 {// Process all voxels
1264 // Define thread-local operators
1265 OpPoolT opPool(opPrototype);
1266 mOpPool = &opPool;
1267
1268 tree::LeafManager<SdfTreeT> mgr(tree1, 1);// we need one auxiliary buffer
1269 tbb::parallel_for(mgr.leafRange(32), *this);//multi-threaded
1270 mgr.swapLeafBuffer(1);//swap out auxiliary buffer
1271 }
1272
1273#ifdef BENCHMARK_FAST_SWEEPING
1274 timer.restart("Initialize tiles");
1275#endif
1276 {// Process all tiles
1277 tree::NodeManager<SdfTreeT, SdfTreeT::RootNodeType::LEVEL-1> mgr(tree1);
1278 mgr.foreachBottomUp(*this);//multi-threaded
1279 tree1.root().setBackground(std::numeric_limits<SdfValueT>::max(), false);
1280 if (hasActiveTiles) {
1281#ifdef BENCHMARK_FAST_SWEEPING
1282 timer.restart("Voxelizing active tiles");
1283#endif
1284 tree1.voxelizeActiveTiles();//multi-threaded
1285 tree2.voxelizeActiveTiles();//multi-threaded
1286 }
1287 }
1288
1289 // cache the leaf node origins for fast lookup in the sweeping kernels
1290
1291 mParent->computeSweepMaskLeafOrigins();
1292
1293#ifdef BENCHMARK_FAST_SWEEPING
1294 timer.stop();
1295#endif
1296 }// FastSweeping::InitExt::run
1297
1298 // int implements an update if minD needs to be updated
1299 template<typename ExtT = ExtValueT, typename SdfT = SdfValueT, typename std::enable_if<std::is_same<ExtT, int>::value, int>::type = 0>
1300 void sumHelper(ExtT& sum2, ExtT ext, bool update, const SdfT& /* d2 */) const { if (update) sum2 = ext; }// int implementation
1301
1302 // non-int implements a weighted sum
1303 template<typename ExtT = ExtValueT, typename SdfT = SdfValueT, typename std::enable_if<!std::is_same<ExtT, int>::value, int>::type = 0>
1304 void sumHelper(ExtT& sum2, ExtT ext, bool /* update */, const SdfT& d2) const { sum2 += static_cast<ExtValueT>(d2 * ext); }// non-int implementation
1305
1306 template<typename ExtT = ExtValueT, typename SdfT = SdfValueT, typename std::enable_if<std::is_same<ExtT, int>::value, int>::type = 0>
1307 ExtT extValHelper(ExtT extSum, const SdfT& /* sdfSum */) const { return extSum; }// int implementation
1308
1309 template<typename ExtT = ExtValueT, typename SdfT = SdfValueT, typename std::enable_if<!std::is_same<ExtT, int>::value, int>::type = 0>
1310 ExtT extValHelper(ExtT extSum, const SdfT& sdfSum) const {return ExtT((SdfT(1) / sdfSum) * extSum); }// non-int implementation
1311
1312 void operator()(const LeafRange& r) const
1313 {
1314 ExtAccT acc(mExtGrid->tree());
1315 SweepMaskAccT sweepMaskAcc(mParent->mSweepMask);
1316 math::GradStencil<SdfGridT, false> stencil(*mSdfGrid);
1317 const math::Transform& xform = mExtGrid->transform();
1318 typename OpPoolT::reference op = mOpPool->local();
1319 const SdfValueT isoValue = mIsoValue, above = mAboveSign*std::numeric_limits<SdfValueT>::max();//local copy
1320 const SdfValueT h = mAboveSign*static_cast<SdfValueT>(mSdfGrid->voxelSize()[0]);//Voxel size
1321 for (auto leafIter = r.begin(); leafIter; ++leafIter) {
1322 SdfValueT *sdf = leafIter.buffer(1).data();
1323 ExtValueT *ext = acc.probeLeaf(leafIter->origin())->buffer().data();//should be safe!
1324 for (auto voxelIter = leafIter->beginValueAll(); voxelIter; ++voxelIter) {
1325 const SdfValueT value = *voxelIter;
1326 const bool isAbove = value > isoValue;
1327 if (!voxelIter.isValueOn()) {// inactive voxels
1328 sdf[voxelIter.pos()] = isAbove ? above : -above;
1329 } else {// active voxels
1330 const Coord ijk = voxelIter.getCoord();
1331 stencil.moveTo(ijk, value);
1332 const auto mask = stencil.intersectionMask( isoValue );
1333 if (mask.none()) {// no zero-crossing neighbors, most common case
1334 sdf[voxelIter.pos()] = isAbove ? above : -above;
1335 // the ext grid already has its active values set to the background value
1336 } else {// compute distance to iso-surface
1337 // disable boundary voxels from the mask tree
1338 sweepMaskAcc.setValueOff(ijk);
1339 const SdfValueT delta = value - isoValue;//offset relative to iso-value
1340 if (math::isApproxZero(delta)) {//voxel is on the iso-surface
1341 sdf[voxelIter.pos()] = 0;
1342 ext[voxelIter.pos()] = ExtValueT(op(xform.indexToWorld(ijk)));
1343 } else {//voxel is neighboring the iso-surface
1344 SdfValueT sum1 = 0;
1345 ExtValueT sum2 = zeroVal<ExtValueT>();
1346 // minD is used to update sum2 in the integer case,
1347 // where we choose the value of the extension grid corresponding to
1348 // the smallest value of d in the 6 direction neighboring the current
1349 // voxel.
1350 SdfValueT minD = std::numeric_limits<SdfValueT>::max();
1351 for (int n=0, i=0; i<6;) {
1352 SdfValueT d = std::numeric_limits<SdfValueT>::max(), d2;
1353 if (mask.test(i++)) {
1354 d = math::Abs(delta/(value-stencil.getValue(i)));
1355 n = i - 1;
1356 }
1357 if (mask.test(i++)) {
1358 d2 = math::Abs(delta/(value-stencil.getValue(i)));
1359 if (d2 < d) {
1360 d = d2;
1361 n = i - 1;
1362 }
1363 }
1364 if (d < std::numeric_limits<SdfValueT>::max()) {
1365 d2 = 1/(d*d);
1366 sum1 += d2;
1367 const Vec3R xyz(static_cast<SdfValueT>(ijk[0])+d*static_cast<SdfValueT>(FastSweeping::mOffset[n][0]),
1368 static_cast<SdfValueT>(ijk[1])+d*static_cast<SdfValueT>(FastSweeping::mOffset[n][1]),
1369 static_cast<SdfValueT>(ijk[2])+d*static_cast<SdfValueT>(FastSweeping::mOffset[n][2]));
1370 // If current d is less than minD, update minD
1371 sumHelper(sum2, ExtValueT(op(xform.indexToWorld(xyz))), d < minD, d2);
1372 if (d < minD) minD = d;
1373 }
1374 }//look over six cases
1375 ext[voxelIter.pos()] = extValHelper(sum2, sum1);
1376 sdf[voxelIter.pos()] = isAbove ? h / math::Sqrt(sum1) : -h / math::Sqrt(sum1);
1377 }// voxel is neighboring the iso-surface
1378 }// intersecting voxels
1379 }// active voxels
1380 }// loop over voxels
1381 }// loop over leaf nodes
1382 }// FastSweeping::InitExt::operator(const LeafRange& r)
1383
1384 template<typename RootOrInternalNodeT>
1385 void operator()(const RootOrInternalNodeT& node) const
1386 {
1387 const SdfValueT isoValue = mIsoValue, above = mAboveSign*std::numeric_limits<SdfValueT>::max();
1388 for (auto it = node.cbeginValueAll(); it; ++it) {
1389 SdfValueT& v = const_cast<SdfValueT&>(*it);
1390 v = v > isoValue ? above : -above;
1391 }//loop over all tiles
1392 }
1393 // Public member data
1394 FastSweeping *mParent;
1395 OpPoolT *mOpPool;
1396 SdfGridT *mSdfGrid;
1397 ExtGridT *mExtGrid;
1398 SdfValueT mIsoValue;
1399 SdfValueT mAboveSign;//sign of distance values above the iso-value
1400};// FastSweeping::InitExt
1401
1402/// Private class of FastSweeping to perform multi-threaded initialization
1403template <typename SdfGridT, typename ExtValueT>
1404template <typename MaskTreeT>
1405struct FastSweeping<SdfGridT, ExtValueT>::MaskKernel
1406{
1407 using LeafRange = typename tree::LeafManager<const MaskTreeT>::LeafRange;
1408 MaskKernel(FastSweeping &parent) : mParent(&parent),
1409 mSdfGrid(parent.mSdfGrid.get()) {}
1410 MaskKernel(const MaskKernel &parent) = default;// for tbb::parallel_for
1411 MaskKernel& operator=(const MaskKernel&) = delete;
1412
1413 void run(const MaskTreeT &mask)
1414 {
1415#ifdef BENCHMARK_FAST_SWEEPING
1416 util::CpuTimer timer;
1417#endif
1418 auto &lsTree = mSdfGrid->tree();
1419
1420 static const SdfValueT Unknown = std::numeric_limits<SdfValueT>::max();
1421
1422#ifdef BENCHMARK_FAST_SWEEPING
1423 timer.restart("Changing background value");
1424#endif
1425 changeLevelSetBackground(lsTree, Unknown);//multi-threaded
1426
1427#ifdef BENCHMARK_FAST_SWEEPING
1428 timer.restart("Union with mask");//multi-threaded
1429#endif
1430 lsTree.topologyUnion(mask);//multi-threaded
1431
1432 // ignore active tiles since the input grid is assumed to be a level set
1433 tree::LeafManager<const MaskTreeT> mgr(mask);// super fast
1434
1435#ifdef BENCHMARK_FAST_SWEEPING
1436 timer.restart("Initializing grid and sweep mask");
1437#endif
1438
1439 mParent->mSweepMask.clear();
1440 mParent->mSweepMask.topologyUnion(mParent->mSdfGrid->constTree());
1441
1442 using LeafManagerT = tree::LeafManager<SweepMaskTreeT>;
1443 using LeafT = typename SweepMaskTreeT::LeafNodeType;
1444 LeafManagerT leafManager(mParent->mSweepMask);
1445
1446 auto kernel = [&](LeafT& leaf, size_t /*leafIdx*/) {
1447 static const SdfValueT Unknown = std::numeric_limits<SdfValueT>::max();
1448 SdfAccT acc(mSdfGrid->tree());
1449 // The following hack is safe due to the topology union in
1450 // init and the fact that SdfValueT is known to be a floating point!
1451 SdfValueT *data = acc.probeLeaf(leaf.origin())->buffer().data();
1452 for (auto voxelIter = leaf.beginValueOn(); voxelIter; ++voxelIter) {// mask voxels
1453 if (math::Abs( data[voxelIter.pos()] ) < Unknown ) {
1454 // disable boundary voxels from the mask tree
1455 voxelIter.setValue(false);
1456 }
1457 }
1458 };
1459 leafManager.foreach( kernel );
1460
1461 // cache the leaf node origins for fast lookup in the sweeping kernels
1462 mParent->computeSweepMaskLeafOrigins();
1463
1464#ifdef BENCHMARK_FAST_SWEEPING
1465 timer.stop();
1466#endif
1467 }// FastSweeping::MaskKernel::run
1468
1469 // Private member data of MaskKernel
1470 FastSweeping *mParent;
1471 SdfGridT *mSdfGrid;//raw pointer, i.e. lock free
1472};// FastSweeping::MaskKernel
1473
1474/// @brief Private class of FastSweeping to perform concurrent fast sweeping in two directions
1475template <typename SdfGridT, typename ExtValueT>
1476 struct FastSweeping<SdfGridT, ExtValueT>::SweepingKernel
1477{
1478 SweepingKernel(FastSweeping &parent) : mParent(&parent) {}
1479 SweepingKernel(const SweepingKernel&) = delete;
1480 SweepingKernel& operator=(const SweepingKernel&) = delete;
1481
1482 /// Main method that performs concurrent bi-directional sweeps
1483 template<typename HashOp>
1484 void computeVoxelSlices(HashOp hash)
1485 {
1486#ifdef BENCHMARK_FAST_SWEEPING
1487 util::CpuTimer timer;
1488#endif
1489
1490 // mask of the active voxels to be solved for, i.e. excluding boundary voxels
1491 const SweepMaskTreeT& maskTree = mParent->mSweepMask;
1492
1493 using LeafManagerT = typename tree::LeafManager<const SweepMaskTreeT>;
1494 using LeafT = typename SweepMaskTreeT::LeafNodeType;
1495 LeafManagerT leafManager(maskTree);
1496
1497 // compute the leaf node slices that have active voxels in them
1498 // the sliding window of the has keys is -14 to 21 (based on an 8x8x8 leaf node
1499 // and the extrema hash values i-j-k and i+j+k), but we use a larger mask window here to
1500 // easily accommodate any leaf dimension. The mask offset is used to be able to
1501 // store this in a fixed-size byte array
1502 constexpr int maskOffset = LeafT::DIM * 3;
1503 constexpr int maskRange = maskOffset * 2;
1504
1505 // mark each possible slice in each leaf node that has one or more active voxels in it
1506 std::vector<int8_t> leafSliceMasks(leafManager.leafCount()*maskRange);
1507 auto kernel1 = [&](const LeafT& leaf, size_t leafIdx) {
1508 const size_t leafOffset = leafIdx * maskRange;
1509 for (auto voxelIter = leaf.cbeginValueOn(); voxelIter; ++voxelIter) {
1510 const Coord ijk = LeafT::offsetToLocalCoord(voxelIter.pos());
1511 leafSliceMasks[leafOffset + hash(ijk) + maskOffset] = uint8_t(1);
1512 }
1513 };
1514 leafManager.foreach( kernel1 );
1515
1516 // compute the voxel slice map using a thread-local-storage hash map
1517 // the key of the hash map is the slice index of the voxel coord (ijk.x() + ijk.y() + ijk.z())
1518 // the values are an array of indices for every leaf that has active voxels with this slice index
1519 using ThreadLocalMap = std::unordered_map</*voxelSliceKey=*/int64_t, /*leafIdx=*/std::deque<size_t>>;
1520 tbb::enumerable_thread_specific<ThreadLocalMap> pool;
1521 auto kernel2 = [&](const LeafT& leaf, size_t leafIdx) {
1522 ThreadLocalMap& map = pool.local();
1523 const Coord& origin = leaf.origin();
1524 const int64_t leafKey = hash(origin);
1525 const size_t leafOffset = leafIdx * maskRange;
1526 for (int sliceIdx = 0; sliceIdx < maskRange; sliceIdx++) {
1527 if (leafSliceMasks[leafOffset + sliceIdx] == uint8_t(1)) {
1528 const int64_t voxelSliceKey = leafKey+sliceIdx-maskOffset;
1529 map[voxelSliceKey].emplace_back(leafIdx);
1530 }
1531 }
1532 };
1533 leafManager.foreach( kernel2 );
1534
1535 // combine into a single ordered map keyed by the voxel slice key
1536 // note that this is now stored in a map ordered by voxel slice key,
1537 // so sweep slices can be processed in order
1538 for (auto poolIt = pool.begin(); poolIt != pool.end(); ++poolIt) {
1539 const ThreadLocalMap& map = *poolIt;
1540 for (const auto& it : map) {
1541 for (const size_t leafIdx : it.second) {
1542 mVoxelSliceMap[it.first].emplace_back(leafIdx, NodeMaskPtrT());
1543 }
1544 }
1545 }
1546
1547 // extract the voxel slice keys for random access into the map
1548 mVoxelSliceKeys.reserve(mVoxelSliceMap.size());
1549 for (const auto& it : mVoxelSliceMap) {
1550 mVoxelSliceKeys.push_back(it.first);
1551 }
1552
1553 // allocate the node masks in parallel, as the map is populated in serial
1554 auto kernel3 = [&](tbb::blocked_range<size_t>& range) {
1555 for (size_t i = range.begin(); i < range.end(); i++) {
1556 const int64_t key = mVoxelSliceKeys[i];
1557 for (auto& it : mVoxelSliceMap[key]) {
1558 it.second = std::make_unique<NodeMaskT>();
1559 }
1560 }
1561 };
1562 tbb::parallel_for(tbb::blocked_range<size_t>(0, mVoxelSliceKeys.size()), kernel3);
1563
1564 // each voxel slice contains a leafIdx-nodeMask pair,
1565 // this routine populates these node masks to select only the active voxels
1566 // from the mask tree that have the same voxel slice key
1567 // TODO: a small optimization here would be to union this leaf node mask with
1568 // a pre-computed one for this particular slice pattern
1569 auto kernel4 = [&](tbb::blocked_range<size_t>& range) {
1570 for (size_t i = range.begin(); i < range.end(); i++) {
1571 const int64_t voxelSliceKey = mVoxelSliceKeys[i];
1572 LeafSliceArray& leafSliceArray = mVoxelSliceMap[voxelSliceKey];
1573 for (LeafSlice& leafSlice : leafSliceArray) {
1574 const size_t leafIdx = leafSlice.first;
1575 NodeMaskPtrT& nodeMask = leafSlice.second;
1576 const LeafT& leaf = leafManager.leaf(leafIdx);
1577 const Coord& origin = leaf.origin();
1578 const int64_t leafKey = hash(origin);
1579 for (auto voxelIter = leaf.cbeginValueOn(); voxelIter; ++voxelIter) {
1580 const Index voxelIdx = voxelIter.pos();
1581 const Coord ijk = LeafT::offsetToLocalCoord(voxelIdx);
1582 const int64_t key = leafKey + hash(ijk);
1583 if (key == voxelSliceKey) {
1584 nodeMask->setOn(voxelIdx);
1585 }
1586 }
1587 }
1588 }
1589 };
1590 tbb::parallel_for(tbb::blocked_range<size_t>(0, mVoxelSliceKeys.size()), kernel4);
1591 }// FastSweeping::SweepingKernel::computeVoxelSlices
1592
1593 // Private struct for nearest neighbor grid points (very memory light!)
1594 struct NN {
1595 SdfValueT v;
1596 int n;
1597 inline static Coord ijk(const Coord &p, int i) { return p + FastSweeping::mOffset[i]; }
1598 NN() : v(), n() {}
1599 NN(const SdfAccT &a, const Coord &p, int i) : v(math::Abs(a.getValue(ijk(p,i)))), n(i) {}
1600 inline Coord operator()(const Coord &p) const { return ijk(p, n); }
1601 inline bool operator<(const NN &rhs) const { return v < rhs.v; }
1602 inline operator bool() const { return v < SdfValueT(1000); }
1603 };// NN
1604
1605 /// @note Extending an integer field is based on the nearest-neighbor interpolation
1606 template<typename ExtT = ExtValueT, typename SdfT = SdfValueT, typename std::enable_if<std::is_same<ExtT, int>::value, int>::type = 0>
1607 ExtT twoNghbr(const NN& d1, const NN& d2, const SdfT& /* w */, const ExtT& v1, const ExtT& v2) const { return d1.v < d2.v ? v1 : v2; }// int implementation
1608
1609 /// @note Extending a non-integer field is based on a weighted interpolation
1610 template<typename ExtT = ExtValueT, typename SdfT = SdfValueT, typename std::enable_if<!std::is_same<ExtT, int>::value, int>::type = 0>
1611 ExtT twoNghbr(const NN& d1, const NN& d2, const SdfT& w, const ExtT& v1, const ExtT& v2) const { return ExtT(w*(d1.v*v1 + d2.v*v2)); }// non-int implementation
1612
1613 /// @note Extending an integer field is based on the nearest-neighbor interpolation
1614 template<typename ExtT = ExtValueT, typename SdfT = SdfValueT, typename std::enable_if<std::is_same<ExtT, int>::value, int>::type = 0>
1615 ExtT threeNghbr(const NN& d1, const NN& d2, const NN& d3, const SdfT& /* w */, const ExtT& v1, const ExtT& v2, const ExtT& v3) const {
1616 math::Vec3<SdfT> d(d1.v, d2.v, d3.v);
1617 math::Vec3<ExtT> v(v1, v2, v3);
1618 return v[static_cast<int>(math::MinIndex(d))];
1619 }// int implementation
1620
1621 /// @note Extending a non-integer field is based on a weighted interpolation
1622 template<typename ExtT = ExtValueT, typename SdfT = SdfValueT, typename std::enable_if<!std::is_same<ExtT, int>::value, int>::type = 0>
1623 ExtT threeNghbr(const NN& d1, const NN& d2, const NN& d3, const SdfT& w, const ExtT& v1, const ExtT& v2, const ExtT& v3) const {
1624 return ExtT(w*(d1.v*v1 + d2.v*v2 + d3.v*v3));
1625 }// non-int implementation
1626
1627 void sweep()
1628 {
1629 typename ExtGridT::TreeType *tree2 = mParent->mExtGrid ? &mParent->mExtGrid->tree() : nullptr;
1630 typename ExtGridT::TreeType *tree3 = mParent->mExtGridInput ? &mParent->mExtGridInput->tree() : nullptr;
1631
1632 const SdfValueT h = static_cast<SdfValueT>(mParent->mSdfGrid->voxelSize()[0]);
1633 const SdfValueT sqrt2h = math::Sqrt(SdfValueT(2))*h;
1634 const FastSweepingDomain mode = mParent->mSweepDirection;
1635 const bool isInputSdf = mParent->mIsInputSdf;
1636
1637 // If we are using an extension in one direction, we need a reference grid
1638 // for the default value of the extension for the voxels that are not
1639 // intended to be updated by the sweeping algorithm.
1640 if (tree2 && mode != FastSweepingDomain::SWEEP_ALL) OPENVDB_ASSERT(tree3);
1641
1642 const std::vector<Coord>& leafNodeOrigins = mParent->mSweepMaskLeafOrigins;
1643
1644 int64_t voxelSliceIndex(0);
1645
1646 auto kernel = [&](const tbb::blocked_range<size_t>& range) {
1647 using LeafT = typename SdfGridT::TreeType::LeafNodeType;
1648
1649 SdfAccT acc1(mParent->mSdfGrid->tree());
1650 auto acc2 = std::unique_ptr<ExtAccT>(tree2 ? new ExtAccT(*tree2) : nullptr);
1651 auto acc3 = std::unique_ptr<ExtAccT>(tree3 ? new ExtAccT(*tree3) : nullptr);
1652 SdfValueT absV, sign, update, D;
1653 NN d1, d2, d3;//distance values and coordinates of closest neighbor points
1654
1655 const LeafSliceArray& leafSliceArray = mVoxelSliceMap[voxelSliceIndex];
1656
1657 // Solves Godunov's scheme: [x-d1]^2 + [x-d2]^2 + [x-d3]^2 = h^2
1658 // where [X] = (X>0?X:0) and ai=min(di+1,di-1)
1659 for (size_t i = range.begin(); i < range.end(); ++i) {
1660
1661 // iterate over all leafs in the slice and extract the leaf
1662 // and node mask for each slice pattern
1663
1664 const LeafSlice& leafSlice = leafSliceArray[i];
1665 const size_t leafIdx = leafSlice.first;
1666 const NodeMaskPtrT& nodeMask = leafSlice.second;
1667
1668 const Coord& origin = leafNodeOrigins[leafIdx];
1669
1670 Coord ijk;
1671 for (auto indexIter = nodeMask->beginOn(); indexIter; ++indexIter) {
1672
1673 // Get coordinate of center point of the FD stencil
1674 ijk = origin + LeafT::offsetToLocalCoord(indexIter.pos());
1675
1676 // Find the closes neighbors in the three axial directions
1677 d1 = std::min(NN(acc1, ijk, 0), NN(acc1, ijk, 1));
1678 d2 = std::min(NN(acc1, ijk, 2), NN(acc1, ijk, 3));
1679 d3 = std::min(NN(acc1, ijk, 4), NN(acc1, ijk, 5));
1680
1681 if (!(d1 || d2 || d3)) continue;//no valid neighbors
1682
1683 // Get the center point of the FD stencil (assumed to be an active voxel)
1684 // Note this const_cast is normally unsafe but by design we know the tree
1685 // to be static, of floating-point type and containing active voxels only!
1686 SdfValueT &value = const_cast<SdfValueT&>(acc1.getValue(ijk));
1687
1688 // Extract the sign
1689 sign = value >= SdfValueT(0) ? SdfValueT(1) : SdfValueT(-1);
1690
1691 // Absolute value
1692 absV = math::Abs(value);
1693
1694 // sort values so d1 <= d2 <= d3
1695 if (d2 < d1) std::swap(d1, d2);
1696 if (d3 < d2) std::swap(d2, d3);
1697 if (d2 < d1) std::swap(d1, d2);
1698
1699 // Test if there is a solution depending on ONE of the neighboring voxels
1700 // if d2 - d1 >= h => d2 >= d1 + h then:
1701 // (x-d1)^2=h^2 => x = d1 + h
1702 update = d1.v + h;
1703 if (update <= d2.v) {
1704 if (update < absV) {
1705 value = sign * update;
1706 if (acc2) {
1707 // There is an assert upstream to check if mExtGridInput exists if mode != SWEEP_ALL
1708 ExtValueT updateExt = acc2->getValue(d1(ijk));
1709 if (mode == FastSweepingDomain::SWEEP_GREATER_THAN_ISOVALUE) {
1710 if (isInputSdf) updateExt = (value >= SdfValueT(0)) ? acc2->getValue(d1(ijk)) : acc3->getValue(ijk);
1711 else updateExt = (value <= SdfValueT(0)) ? acc2->getValue(d1(ijk)) : acc3->getValue(ijk);
1712 } // SWEEP_GREATER_THAN_ISOVALUE
1713 else if (mode == FastSweepingDomain::SWEEP_LESS_THAN_ISOVALUE) {
1714 if (isInputSdf) updateExt = (value <= SdfValueT(0)) ? acc2->getValue(d1(ijk)) : acc3->getValue(ijk);
1715 else updateExt = (value >= SdfValueT(0)) ? acc2->getValue(d1(ijk)) : acc3->getValue(ijk);
1716 } // SWEEP_LESS_THAN_ISOVALUE
1717 acc2->setValue(ijk, updateExt);
1718 }//update ext?
1719 }//update sdf?
1720 continue;
1721 }// one neighbor case
1722
1723 // Test if there is a solution depending on TWO of the neighboring voxels
1724 // (x-d1)^2 + (x-d2)^2 = h^2
1725 //D = SdfValueT(2) * h * h - math::Pow2(d1.v - d2.v);// = 2h^2-(d1-d2)^2
1726 //if (D >= SdfValueT(0)) {// non-negative discriminant
1727 if (d2.v <= sqrt2h + d1.v) {
1728 D = SdfValueT(2) * h * h - math::Pow2(d1.v - d2.v);// = 2h^2-(d1-d2)^2
1729 update = SdfValueT(0.5) * (d1.v + d2.v + std::sqrt(D));
1730 if (update > d2.v && update <= d3.v) {
1731 if (update < absV) {
1732 value = sign * update;
1733 if (acc2) {
1734 d1.v -= update;
1735 d2.v -= update;
1736 // affine combination of two neighboring extension values
1737 const SdfValueT w = SdfValueT(1)/(d1.v+d2.v);
1738 const ExtValueT v1 = acc2->getValue(d1(ijk));
1739 const ExtValueT v2 = acc2->getValue(d2(ijk));
1740 const ExtValueT extVal = twoNghbr(d1, d2, w, v1, v2);
1741
1742 ExtValueT updateExt = extVal;
1743 if (mode == FastSweepingDomain::SWEEP_GREATER_THAN_ISOVALUE) {
1744 if (isInputSdf) updateExt = (value >= SdfValueT(0)) ? extVal : acc3->getValue(ijk);
1745 else updateExt = (value <= SdfValueT(0)) ? extVal : acc3->getValue(ijk);
1746 } // SWEEP_GREATER_THAN_ISOVALUE
1747 else if (mode == FastSweepingDomain::SWEEP_LESS_THAN_ISOVALUE) {
1748 if (isInputSdf) updateExt = (value <= SdfValueT(0)) ? extVal : acc3->getValue(ijk);
1749 else updateExt = (value >= SdfValueT(0)) ? extVal : acc3->getValue(ijk);
1750 } // SWEEP_LESS_THAN_ISOVALUE
1751 acc2->setValue(ijk, updateExt);
1752 }//update ext?
1753 }//update sdf?
1754 continue;
1755 }//test for two neighbor case
1756 }//test for non-negative determinant
1757
1758 // Test if there is a solution depending on THREE of the neighboring voxels
1759 // (x-d1)^2 + (x-d2)^2 + (x-d3)^2 = h^2
1760 // 3x^2 - 2(d1 + d2 + d3)x + d1^2 + d2^2 + d3^2 = h^2
1761 // ax^2 + bx + c=0, a=3, b=-2(d1+d2+d3), c=d1^2 + d2^2 + d3^2 - h^2
1762 const SdfValueT d123 = d1.v + d2.v + d3.v;
1763 D = d123*d123 - SdfValueT(3)*(d1.v*d1.v + d2.v*d2.v + d3.v*d3.v - h * h);
1764 if (D >= SdfValueT(0)) {// non-negative discriminant
1765 update = SdfValueT(1.0/3.0) * (d123 + std::sqrt(D));//always passes test
1766 //if (update > d3.v) {//disabled due to round-off errors
1767 if (update < absV) {
1768 value = sign * update;
1769 if (acc2) {
1770 d1.v -= update;
1771 d2.v -= update;
1772 d3.v -= update;
1773 // affine combination of three neighboring extension values
1774 const SdfValueT w = SdfValueT(1)/(d1.v+d2.v+d3.v);
1775 const ExtValueT v1 = acc2->getValue(d1(ijk));
1776 const ExtValueT v2 = acc2->getValue(d2(ijk));
1777 const ExtValueT v3 = acc2->getValue(d3(ijk));
1778 const ExtValueT extVal = threeNghbr(d1, d2, d3, w, v1, v2, v3);
1779
1780 ExtValueT updateExt = extVal;
1781 if (mode == FastSweepingDomain::SWEEP_GREATER_THAN_ISOVALUE) {
1782 if (isInputSdf) updateExt = (value >= SdfValueT(0)) ? extVal : acc3->getValue(ijk);
1783 else updateExt = (value <= SdfValueT(0)) ? extVal : acc3->getValue(ijk);
1784 } // SWEEP_GREATER_THAN_ISOVALUE
1785 else if (mode == FastSweepingDomain::SWEEP_LESS_THAN_ISOVALUE) {
1786 if (isInputSdf) updateExt = (value <= SdfValueT(0)) ? extVal : acc3->getValue(ijk);
1787 else updateExt = (value >= SdfValueT(0)) ? extVal : acc3->getValue(ijk);
1788 } // SWEEP_LESS_THAN_ISOVALUE
1789 acc2->setValue(ijk, updateExt);
1790 }//update ext?
1791 }//update sdf?
1792 }//test for non-negative determinant
1793 }//loop over coordinates
1794 }
1795 };
1796
1797#ifdef BENCHMARK_FAST_SWEEPING
1798 util::CpuTimer timer("Forward sweep");
1799#endif
1800
1801 for (size_t i = 0; i < mVoxelSliceKeys.size(); i++) {
1802 voxelSliceIndex = mVoxelSliceKeys[i];
1803 tbb::parallel_for(tbb::blocked_range<size_t>(0, mVoxelSliceMap[voxelSliceIndex].size()), kernel);
1804 }
1805
1806#ifdef BENCHMARK_FAST_SWEEPING
1807 timer.restart("Backward sweeps");
1808#endif
1809 for (size_t i = mVoxelSliceKeys.size(); i > 0; i--) {
1810 voxelSliceIndex = mVoxelSliceKeys[i-1];
1811 tbb::parallel_for(tbb::blocked_range<size_t>(0, mVoxelSliceMap[voxelSliceIndex].size()), kernel);
1812 }
1813
1814#ifdef BENCHMARK_FAST_SWEEPING
1815 timer.stop();
1816#endif
1817 }// FastSweeping::SweepingKernel::sweep
1818
1819private:
1820 using NodeMaskT = typename SweepMaskTreeT::LeafNodeType::NodeMaskType;
1821 using NodeMaskPtrT = std::unique_ptr<NodeMaskT>;
1822 // using a unique ptr for the NodeMask allows for parallel allocation,
1823 // but makes this class not copy-constructible
1824 using LeafSlice = std::pair</*leafIdx=*/size_t, /*leafMask=*/NodeMaskPtrT>;
1825 using LeafSliceArray = std::deque<LeafSlice>;
1826 using VoxelSliceMap = std::map</*voxelSliceKey=*/int64_t, LeafSliceArray>;
1827
1828 // Private member data of SweepingKernel
1829 FastSweeping *mParent;
1830 VoxelSliceMap mVoxelSliceMap;
1831 std::vector<int64_t> mVoxelSliceKeys;
1832};// FastSweeping::SweepingKernel
1833
1834////////////////////////////////////////////////////////////////////////////////
1835
1836template<typename GridT>
1837typename GridT::Ptr
1838fogToSdf(const GridT &fogGrid,
1839 typename GridT::ValueType isoValue,
1840 int nIter)
1841{
1842 FastSweeping<GridT> fs;
1843 if (fs.initSdf(fogGrid, isoValue, /*isInputSdf*/false)) fs.sweep(nIter);
1844 return fs.sdfGrid();
1845}
1846
1847template<typename GridT>
1848typename GridT::Ptr
1849sdfToSdf(const GridT &sdfGrid,
1850 typename GridT::ValueType isoValue,
1851 int nIter)
1852{
1853 FastSweeping<GridT> fs;
1854 if (fs.initSdf(sdfGrid, isoValue, /*isInputSdf*/true)) fs.sweep(nIter);
1855 return fs.sdfGrid();
1856}
1857
1858template<typename FogGridT, typename ExtOpT, typename ExtValueT>
1859typename FogGridT::template ValueConverter<ExtValueT>::Type::Ptr
1860fogToExt(const FogGridT &fogGrid,
1861 const ExtOpT &op,
1862 const ExtValueT& background,
1863 typename FogGridT::ValueType isoValue,
1864 int nIter,
1865 FastSweepingDomain mode,
1866 const typename FogGridT::template ValueConverter<ExtValueT>::Type::ConstPtr extGrid)
1867{
1868 FastSweeping<FogGridT, ExtValueT> fs;
1869 if (fs.initExt(fogGrid, op, background, isoValue, /*isInputSdf*/false, mode, extGrid))
1870 fs.sweep(nIter, /*finalize*/true);
1871 return fs.extGrid();
1872}
1873
1874template<typename SdfGridT, typename OpT, typename ExtValueT>
1875typename SdfGridT::template ValueConverter<ExtValueT>::Type::Ptr
1876 sdfToExt(const SdfGridT &sdfGrid,
1877 const OpT &op,
1878 const ExtValueT &background,
1879 typename SdfGridT::ValueType isoValue,
1880 int nIter,
1881 FastSweepingDomain mode,
1882 const typename SdfGridT::template ValueConverter<ExtValueT>::Type::ConstPtr extGrid)
1883{
1884 FastSweeping<SdfGridT, ExtValueT> fs;
1885 if (fs.initExt(sdfGrid, op, background, isoValue, /*isInputSdf*/true, mode, extGrid))
1886 fs.sweep(nIter, /*finalize*/true);
1887 return fs.extGrid();
1888}
1889
1890template<typename FogGridT, typename ExtOpT, typename ExtValueT>
1891std::pair<typename FogGridT::Ptr, typename FogGridT::template ValueConverter<ExtValueT>::Type::Ptr>
1892fogToSdfAndExt(const FogGridT &fogGrid,
1893 const ExtOpT &op,
1894 const ExtValueT &background,
1895 typename FogGridT::ValueType isoValue,
1896 int nIter,
1897 FastSweepingDomain mode,
1898 const typename FogGridT::template ValueConverter<ExtValueT>::Type::ConstPtr extGrid)
1899{
1900 FastSweeping<FogGridT, ExtValueT> fs;
1901 if (fs.initExt(fogGrid, op, background, isoValue, /*isInputSdf*/false, mode, extGrid))
1902 fs.sweep(nIter, /*finalize*/true);
1903 return std::make_pair(fs.sdfGrid(), fs.extGrid());
1904}
1905
1906template<typename SdfGridT, typename ExtOpT, typename ExtValueT>
1907std::pair<typename SdfGridT::Ptr, typename SdfGridT::template ValueConverter<ExtValueT>::Type::Ptr>
1908sdfToSdfAndExt(const SdfGridT &sdfGrid,
1909 const ExtOpT &op,
1910 const ExtValueT &background,
1911 typename SdfGridT::ValueType isoValue,
1912 int nIter,
1913 FastSweepingDomain mode,
1914 const typename SdfGridT::template ValueConverter<ExtValueT>::Type::ConstPtr extGrid)
1915{
1916 FastSweeping<SdfGridT, ExtValueT> fs;
1917 if (fs.initExt(sdfGrid, op, background, isoValue, /*isInputSdf*/true, mode, extGrid))
1918 fs.sweep(nIter, /*finalize*/true);
1919 return std::make_pair(fs.sdfGrid(), fs.extGrid());
1920}
1921
1922template<typename GridT>
1923typename GridT::Ptr
1924dilateSdf(const GridT &sdfGrid,
1925 int dilation,
1926 NearestNeighbors nn,
1927 int nIter,
1928 FastSweepingDomain mode)
1929{
1930 FastSweeping<GridT> fs;
1931 if (fs.initDilate(sdfGrid, dilation, nn, /*sweep direction*/ mode)) fs.sweep(nIter);
1932 return fs.sdfGrid();
1933}
1934
1935template<typename GridT, typename MaskTreeT>
1936typename GridT::Ptr
1937maskSdf(const GridT &sdfGrid,
1938 const Grid<MaskTreeT> &mask,
1939 bool ignoreActiveTiles,
1940 int nIter)
1941{
1942 FastSweeping<GridT> fs;
1943 if (fs.initMask(sdfGrid, mask, ignoreActiveTiles)) fs.sweep(nIter);
1944 return fs.sdfGrid();
1945}
1946
1947
1948////////////////////////////////////////
1949
1950
1951// Explicit Template Instantiation
1952
1953#ifdef OPENVDB_USE_EXPLICIT_INSTANTIATION
1954
1955#ifdef OPENVDB_INSTANTIATE_FASTSWEEPING
1956#include <openvdb/util/ExplicitInstantiation.h>
1957#endif
1958
1959#define _FUNCTION(TreeT) \
1960 Grid<TreeT>::Ptr fogToSdf(const Grid<TreeT>&, TreeT::ValueType, int)
1961 OPENVDB_REAL_TREE_INSTANTIATE(_FUNCTION)
1962#undef _FUNCTION
1963
1964#define _FUNCTION(TreeT) \
1965 Grid<TreeT>::Ptr sdfToSdf(const Grid<TreeT>&, TreeT::ValueType, int)
1966 OPENVDB_REAL_TREE_INSTANTIATE(_FUNCTION)
1967#undef _FUNCTION
1968
1969#define _FUNCTION(TreeT) \
1970 Grid<TreeT>::Ptr dilateSdf(const Grid<TreeT>&, int, NearestNeighbors, int, FastSweepingDomain)
1971 OPENVDB_REAL_TREE_INSTANTIATE(_FUNCTION)
1972#undef _FUNCTION
1973
1974#endif // OPENVDB_USE_EXPLICIT_INSTANTIATION
1975
1976
1977} // namespace tools
1978} // namespace OPENVDB_VERSION_NAME
1979} // namespace openvdb
1980
1981#endif // OPENVDB_TOOLS_FASTSWEEPING_HAS_BEEN_INCLUDED
Assert.h
OPENVDB_ASSERT
#define OPENVDB_ASSERT(X)
Definition Assert.h:41
ExplicitInstantiation.h
LeafManager.h
A LeafManager manages a linear array of pointers to a given tree's leaf nodes, as well as optional au...
LevelSetUtil.h
Miscellaneous utility methods that operate primarily or exclusively on level set grids.
Math.h
General-purpose arithmetic and comparison routines, most of which accept arbitrary value types (or at...
Morphology.h
Implementation of morphological dilation and erosion.
Platform.h
Statistics.h
Functions to efficiently compute histograms, extrema (min/max) and statistics (mean,...
openvdb::v12_0::GridBase::transform
math::Transform & transform()
Return a reference to this grid's transform, which might be shared with other grids.
Definition Grid.h:411
openvdb::v12_0::GridBase::getGridClass
GridClass getGridClass() const
Return the class of volumetric data (level set, fog volume, etc.) that is stored in this grid.
openvdb::v12_0::Grid
Container class that associates a tree with a transform and metadata.
Definition Grid.h:571
openvdb::v12_0::Grid::tree
TreeType & tree()
Return a reference to this grid's tree, which might be shared with other grids.
Definition Grid.h:908
openvdb::v12_0::Grid::Ptr
SharedPtr< Grid > Ptr
Definition Grid.h:573
openvdb::v12_0::RuntimeError
Definition Exceptions.h:63
openvdb::v12_0::TopologyCopy
Tag dispatch class that distinguishes topology copy constructors from deep copy constructors.
Definition Types.h:683
openvdb::v12_0::math::BaseStencil::getValue
const ValueType & getValue(unsigned int pos=0) const
Return the value from the stencil buffer with linear offset pos.
Definition Stencils.h:97
openvdb::v12_0::math::BaseStencil::intersectionMask
std::bitset< 6 > intersectionMask(const ValueType &isoValue=zeroVal< ValueType >()) const
Return true a bit-mask where the 6 bits indicates if the center of the stencil intersects the iso-con...
Definition Stencils.h:188
openvdb::v12_0::math::BaseStencil::moveTo
void moveTo(const Coord &ijk)
Initialize the stencil buffer with the values of voxel (i, j, k) and its neighbors.
Definition Stencils.h:47
openvdb::v12_0::math::Coord
Signed (x, y, z) 32-bit integer coordinates.
Definition Coord.h:26
openvdb::v12_0::math::GradStencil
Definition Stencils.h:1232
openvdb::v12_0::math::MinMax
Templated class to compute the minimum and maximum values.
Definition Stats.h:32
openvdb::v12_0::math::Vec3
Definition Vec3.h:25
openvdb::v12_0::tools::FastSweeping
Computes signed distance values from an initial iso-surface and optionally performs velocity extensio...
Definition FastSweeping.h:462
openvdb::v12_0::tools::FastSweeping::initMask
bool initMask(const SdfGridT &sdfGrid, const Grid< MaskTreeT > &mask, bool ignoreActiveTiles=false)
Initializer used for the extension of an existing signed distance field into the active values of an ...
Definition FastSweeping.h:815
openvdb::v12_0::tools::FastSweeping::boundaryVoxelCount
size_t boundaryVoxelCount() const
Return the number of voxels that defined the boundary condition.
Definition FastSweeping.h:664
openvdb::v12_0::tools::FastSweeping::sweepDirection
FastSweepingDomain sweepDirection() const
Return whether the sweep update is in all direction (SWEEP_ALL), greater than isovalue (SWEEP_GREATER...
Definition FastSweeping.h:675
openvdb::v12_0::tools::FastSweeping::DilateKernel::isInputSdf
bool isInputSdf()
Definition FastSweeping.h:678
openvdb::v12_0::tools::FastSweeping::extGridInput
ExtGridT::Ptr extGridInput()
Returns a shared pointer to the extension grid input. This is non-NULL if this class is used to exten...
Definition FastSweeping.h:516
openvdb::v12_0::tools::FastSweeping::FastSweeping
FastSweeping()
Constructor.
Definition FastSweeping.h:719
openvdb::v12_0::tools::FastSweeping::isValid
bool isValid() const
Return true if there are voxels and boundaries to solve for.
Definition FastSweeping.h:667
openvdb::v12_0::tools::FastSweeping::sweepingVoxelCount
size_t sweepingVoxelCount() const
Return the number of voxels that will be solved for.
Definition FastSweeping.h:661
openvdb::v12_0::tools::FastSweeping::~FastSweeping
~FastSweeping()
Destructor.
Definition FastSweeping.h:486
openvdb::v12_0::tools::FastSweeping::initSdf
bool initSdf(const SdfGridT &sdfGrid, SdfValueT isoValue, bool isInputSdf)
Initializer for input grids that are either a signed distance field or a scalar fog volume.
Definition FastSweeping.h:766
openvdb::v12_0::tools::FastSweeping::operator=
FastSweeping & operator=(const FastSweeping &)=delete
Disallow copy assignment.
openvdb::v12_0::tools::FastSweeping::sdfGrid
SdfGridT::Ptr sdfGrid()
Returns a shared pointer to the signed distance field computed by this class.
Definition FastSweeping.h:500
openvdb::v12_0::tools::FastSweeping::sweep
void sweep(int nIter=1, bool finalize=true)
Perform nIter iterations of the fast sweeping algorithm.
Definition FastSweeping.h:846
openvdb::v12_0::tools::FastSweeping::extGrid
ExtGridT::Ptr extGrid()
Returns a shared pointer to the extension field computed by this class.
Definition FastSweeping.h:508
openvdb::v12_0::tools::FastSweeping::clear
void clear()
Clears all the grids and counters so initialization can be called again.
Definition FastSweeping.h:725
openvdb::v12_0::tools::FastSweeping::FastSweeping
FastSweeping(const FastSweeping &)=delete
Disallow copy construction.
openvdb::v12_0::tools::FastSweeping::initDilate
bool initDilate(const SdfGridT &sdfGrid, int dilation, NearestNeighbors nn=NN_FACE, FastSweepingDomain mode=FastSweepingDomain::SWEEP_ALL)
Initializer used when dilating an existing signed distance field.
Definition FastSweeping.h:803
openvdb::v12_0::tools::FastSweeping::initExt
bool initExt(const SdfGridT &sdfGrid, const ExtOpT &op, const ExtValueT &background, SdfValueT isoValue, bool isInputSdf, FastSweepingDomain mode=FastSweepingDomain::SWEEP_ALL, const typename ExtGridT::ConstPtr extGrid=nullptr)
Initializer used whenever velocity extension is performed in addition to the computation of signed di...
openvdb::v12_0::tree::LeafManager::LeafRange
Definition LeafManager.h:103
openvdb::v12_0::tree::LeafManager
This class manages a linear array of pointers to a given tree's leaf nodes, as well as optional auxil...
Definition LeafManager.h:86
openvdb::v12_0::tree::LeafManager::swapLeafBuffer
bool swapLeafBuffer(size_t bufferIdx, bool serial=false)
Swap each leaf node's buffer with the nth corresponding auxiliary buffer, where n = bufferIdx.
Definition LeafManager.h:360
openvdb::v12_0::tree::LeafManager::leafRange
LeafRange leafRange(size_t grainsize=1) const
Return a TBB-compatible LeafRange.
Definition LeafManager.h:346
openvdb::v12_0::tree::NodeManager
To facilitate threading over the nodes of a tree, cache node pointers in linear arrays,...
Definition NodeManager.h:532
openvdb::v12_0::tree::NodeManager::foreachTopDown
void foreachTopDown(const NodeOp &op, bool threaded=true, size_t grainSize=1)
Definition NodeManager.h:632
openvdb::v12_0::tree::ValueAccessorImpl::setValueOff
void setValueOff(const Coord &xyz, const ValueType &value)
Set a particular value at the given coordinate and mark the coordinate as inactive.
Definition ValueAccessor.h:607
openvdb::v12_0::tree::ValueAccessorImpl::getValue
const ValueType & getValue(const Coord &xyz) const
Return the value of the voxel at the given coordinates.
Definition ValueAccessor.h:455
openvdb::v12_0::util::CpuTimer
Simple timer for basic profiling.
Definition CpuTimer.h:67
openvdb::v12_0::util::CpuTimer::stop
double stop() const
Returns and prints time in milliseconds since construction or start was called.
Definition CpuTimer.h:128
openvdb::v12_0::util::CpuTimer::restart
double restart()
Re-start timer.
Definition CpuTimer.h:150
hash
__hostdev__ uint32_t hash(uint32_t x)
Definition common.h:14
nanovdb::GridType::Unknown
@ Unknown
Definition NanoVDB.h:219
openvdb::v12_0::ax::run
OPENVDB_AX_API void run(const char *ax, openvdb::GridBase &grid, const AttributeBindings &bindings={})
Run a full AX pipeline (parse, compile and execute) on a single OpenVDB Grid.
openvdb::v12_0::math
Definition Types.h:28
openvdb::v12_0::math::isApproxZero
bool isApproxZero(const Type &x)
Return true if x is equal to zero to within the default floating-point comparison tolerance.
Definition Math.h:349
openvdb::v12_0::math::Sqrt
float Sqrt(float x)
Return the square root of a floating-point value.
Definition Math.h:761
openvdb::v12_0::math::MinIndex
size_t MinIndex(const Vec3T &v)
Return the index [0,1,2] of the smallest value in a 3D vector.
Definition Math.h:930
openvdb::v12_0::math::Vec3d
Vec3< double > Vec3d
Definition Vec3.h:665
openvdb::v12_0::math::Abs
Coord Abs(const Coord &xyz)
Definition Coord.h:518
openvdb::v12_0::math::Pow2
Type Pow2(Type x)
Return x2.
Definition Math.h:548
openvdb::v12_0::tools::fogToSdf
GridT::Ptr fogToSdf(const GridT &fogGrid, typename GridT::ValueType isoValue, int nIter=1)
Converts a scalar fog volume into a signed distance function. Active input voxels with scalar values ...
Definition FastSweeping.h:1838
openvdb::v12_0::tools::bool
OutGridT const XformOp bool bool
Definition ValueTransformer.h:610
openvdb::v12_0::tools::sdfToSdfAndExt
std::pair< typename SdfGridT::Ptr, typename SdfGridT::template ValueConverter< ExtValueT >::Type::Ptr > sdfToSdfAndExt(const SdfGridT &sdfGrid, const ExtOpT &op, const ExtValueT &background, typename SdfGridT::ValueType isoValue=0, int nIter=1, FastSweepingDomain mode=FastSweepingDomain::SWEEP_ALL, const typename SdfGridT::template ValueConverter< ExtValueT >::Type::ConstPtr extGrid=nullptr)
Computes the signed distance field and the extension of a field (scalar, vector, or int are supported...
Definition FastSweeping.h:1908
openvdb::v12_0::tools::NearestNeighbors
NearestNeighbors
Voxel topology of nearest neighbors.
Definition Morphology.h:60
openvdb::v12_0::tools::NN_FACE
@ NN_FACE
Definition Morphology.h:60
openvdb::v12_0::tools::sdfToExt
SdfGridT::template ValueConverter< ExtValueT >::Type::Ptr sdfToExt(const SdfGridT &sdfGrid, const ExtOpT &op, const ExtValueT &background, typename SdfGridT::ValueType isoValue=0, int nIter=1, FastSweepingDomain mode=FastSweepingDomain::SWEEP_ALL, const typename SdfGridT::template ValueConverter< ExtValueT >::Type::ConstPtr extGrid=nullptr)
Computes the extension of a field (scalar, vector, or int are supported), defined by the specified fu...
openvdb::v12_0::tools::dilateSdf
GridT::Ptr dilateSdf(const GridT &sdfGrid, int dilation, NearestNeighbors nn=NN_FACE, int nIter=1, FastSweepingDomain mode=FastSweepingDomain::SWEEP_ALL)
Dilates the narrow band of an existing signed distance field by a specified number of voxels (like ad...
Definition FastSweeping.h:1924
openvdb::v12_0::tools::Abs
MeshToVoxelEdgeData::EdgeData Abs(const MeshToVoxelEdgeData::EdgeData &x)
Definition MeshToVolume.h:3921
openvdb::v12_0::tools::mOffset
const Coord FastSweeping< SdfGridT, ExtValueT >::mOffset[6]
Definition FastSweeping.h:714
openvdb::v12_0::tools::sdfInteriorMask
GridOrTreeType::template ValueConverter< bool >::Type::Ptr sdfInteriorMask(const GridOrTreeType &volume, typename GridOrTreeType::ValueType isovalue=lsutilGridZero< GridOrTreeType >())
Threaded method to construct a boolean mask that represents interior regions in a signed distance fie...
Definition LevelSetUtil.h:2275
openvdb::v12_0::tools::op
OutGridT XformOp & op
Definition ValueTransformer.h:140
openvdb::v12_0::tools::sdfToSdf
GridT::Ptr sdfToSdf(const GridT &sdfGrid, typename GridT::ValueType isoValue=0, int nIter=1)
Given an existing approximate SDF it solves the Eikonal equation for all its active voxels....
Definition FastSweeping.h:1849
openvdb::v12_0::tools::FastSweepingDomain
FastSweepingDomain
Fast Sweeping update mode. This is useful to determine narrow-band extension or field extension in on...
Definition FastSweeping.h:67
openvdb::v12_0::tools::FastSweepingDomain::SWEEP_GREATER_THAN_ISOVALUE
@ SWEEP_GREATER_THAN_ISOVALUE
Definition FastSweeping.h:71
openvdb::v12_0::tools::FastSweepingDomain::SWEEP_ALL
@ SWEEP_ALL
Update all voxels affected by the sweeping algorithm.
Definition FastSweeping.h:69
openvdb::v12_0::tools::FastSweepingDomain::SWEEP_LESS_THAN_ISOVALUE
@ SWEEP_LESS_THAN_ISOVALUE
Definition FastSweeping.h:73
openvdb::v12_0::tools::changeAsymmetricLevelSetBackground
void changeAsymmetricLevelSetBackground(TreeOrLeafManagerT &tree, const typename TreeOrLeafManagerT::ValueType &outsideWidth, const typename TreeOrLeafManagerT::ValueType &insideWidth, bool threaded=true, size_t grainSize=32)
Replace the background values in all the nodes of a floating-point tree containing a possibly asymmet...
Definition ChangeBackground.h:218
openvdb::v12_0::tools::dilateActiveValues
void dilateActiveValues(TreeOrLeafManagerT &tree, const int iterations=1, const NearestNeighbors nn=NN_FACE, const TilePolicy mode=PRESERVE_TILES, const bool threaded=true)
Topologically dilate all active values (i.e. both voxels and tiles) in a tree using one of three near...
Definition Morphology.h:1057
openvdb::v12_0::tools::fogToSdfAndExt
std::pair< typename FogGridT::Ptr, typename FogGridT::template ValueConverter< ExtValueT >::Type::Ptr > fogToSdfAndExt(const FogGridT &fogGrid, const ExtOpT &op, const ExtValueT &background, typename FogGridT::ValueType isoValue, int nIter=1, FastSweepingDomain mode=FastSweepingDomain::SWEEP_ALL, const typename FogGridT::template ValueConverter< ExtValueT >::Type::ConstPtr extGrid=nullptr)
Computes the signed distance field and the extension of a field (scalar, vector, or int are supported...
Definition FastSweeping.h:1892
openvdb::v12_0::tools::maskSdf
GridT::Ptr maskSdf(const GridT &sdfGrid, const Grid< MaskTreeT > &mask, bool ignoreActiveTiles=false, int nIter=1)
Fills mask by extending an existing signed distance field into the active values of this input ree of...
Definition FastSweeping.h:1937
openvdb::v12_0::tools::fogToExt
FogGridT::template ValueConverter< ExtValueT >::Type::Ptr fogToExt(const FogGridT &fogGrid, const ExtOpT &op, const ExtValueT &background, typename FogGridT::ValueType isoValue, int nIter=1, FastSweepingDomain mode=FastSweepingDomain::SWEEP_ALL, const typename FogGridT::template ValueConverter< ExtValueT >::Type::ConstPtr extGrid=nullptr)
Computes the extension of a field (scalar, vector, or int are supported), defined by the specified fu...
Definition FastSweeping.h:1860
openvdb::v12_0::tools::IGNORE_TILES
@ IGNORE_TILES
Definition Morphology.h:82
openvdb::v12_0::tools::pruneInactive
void pruneInactive(TreeT &tree, bool threaded=true, size_t grainSize=1)
Reduce the memory footprint of a tree by replacing with background tiles any nodes whose values are a...
Definition Prune.h:355
openvdb::v12_0::tools::changeLevelSetBackground
void changeLevelSetBackground(TreeOrLeafManagerT &tree, const typename TreeOrLeafManagerT::ValueType &halfWidth, bool threaded=true, size_t grainSize=32)
Replace the background value in all the nodes of a floating-point tree containing a symmetric narrow-...
Definition ChangeBackground.h:234
openvdb::v12_0::tree
Definition PointDataGrid.h:170
openvdb::v12_0::tree::ValueAccessor
ValueAccessorImpl< TreeType, IsSafe, MutexType, openvdb::make_index_sequence< CacheLevels > > ValueAccessor
Default alias for a ValueAccessor. This is simply a helper alias for the generic definition but takes...
Definition ValueAccessor.h:86
openvdb::v12_0::Index
Index32 Index
Definition Types.h:54
openvdb::v12_0::GRID_LEVEL_SET
@ GRID_LEVEL_SET
Definition Types.h:455
openvdb::v12_0::zeroVal
constexpr T zeroVal()
Return the value of type T that corresponds to zero.
Definition Math.h:70
openvdb::v12_0::Vec3R
math::Vec3< Real > Vec3R
Definition Types.h:72
openvdb::v12_0::createGrid
GridType::Ptr createGrid()
Create a new grid of type GridType with background value zero.
Definition Grid.h:1765
openvdb
Definition Exceptions.h:13
std
Definition Coord.h:590
OPENVDB_THROW
#define OPENVDB_THROW(exception, message)
Definition Exceptions.h:74
Stencils.h
Defines various finite difference stencils by means of the "curiously recurring template pattern" on ...
NodeManager.h
NodeManager produces linear arrays of all tree nodes allowing for efficient threading and bottom-up p...
CpuTimer.h
openvdb.h
openvdb::v12_0::tools::FastSweeping::DilateKernel
Private class of FastSweeping to perform multi-threaded initialization.
Definition FastSweeping.h:1011
openvdb::v12_0::tools::FastSweeping::DilateKernel::mBackground
const SdfValueT mBackground
Definition FastSweeping.h:1113
openvdb::v12_0::tools::FastSweeping::DilateKernel::LeafRange
typename tree::LeafManager< SdfTreeT >::LeafRange LeafRange
Definition FastSweeping.h:1012
openvdb::v12_0::tools::FastSweeping::DilateKernel::operator=
DilateKernel & operator=(const DilateKernel &)=delete
openvdb::v12_0::tools::FastSweeping::DilateKernel::mSdfGridInput
SdfGridT::ConstPtr mSdfGridInput
Definition FastSweeping.h:1114
openvdb::v12_0::tools::FastSweeping::DilateKernel::run
void run(int dilation, NearestNeighbors nn)
Definition FastSweeping.h:1022
openvdb::v12_0::tools::FastSweeping::DilateKernel::DilateKernel
DilateKernel(const DilateKernel &parent)=default
openvdb::v12_0::tools::FastSweeping::DilateKernel::DilateKernel
DilateKernel(FastSweeping &parent)
Definition FastSweeping.h:1013
openvdb::v12_0::tools::FastSweeping::DilateKernel::mParent
FastSweeping * mParent
Definition FastSweeping.h:1112
openvdb::v12_0::tools::FastSweeping::InitSdf
Definition FastSweeping.h:1121
openvdb::v12_0::tools::FastSweeping::InitSdf::LeafRange
typename tree::LeafManager< SdfTreeT >::LeafRange LeafRange
Definition FastSweeping.h:1122
openvdb::v12_0::tools::FastSweeping::InitSdf::InitSdf
InitSdf(const InitSdf &)=default
openvdb::v12_0::tools::FastSweeping::InitSdf::operator()
void operator()(const RootOrInternalNodeT &node) const
Definition FastSweeping.h:1210
openvdb::v12_0::tools::FastSweeping::InitSdf::operator()
void operator()(const LeafRange &r) const
Definition FastSweeping.h:1165
openvdb::v12_0::tools::FastSweeping::InitSdf::run
void run(SdfValueT isoValue)
Definition FastSweeping.h:1128
openvdb::v12_0::tools::FastSweeping::InitSdf::mSdfGrid
SdfGridT * mSdfGrid
Definition FastSweeping.h:1221
openvdb::v12_0::tools::FastSweeping::InitSdf::operator=
InitSdf & operator=(const InitSdf &)=delete
openvdb::v12_0::tools::FastSweeping::InitSdf::mAboveSign
SdfValueT mAboveSign
Definition FastSweeping.h:1223
openvdb::v12_0::tools::FastSweeping::InitSdf::mIsoValue
SdfValueT mIsoValue
Definition FastSweeping.h:1222
openvdb::v12_0::tools::FastSweeping::InitSdf::InitSdf
InitSdf(FastSweeping &parent)
Definition FastSweeping.h:1123
openvdb::v12_0::tools::FastSweeping::InitSdf::mParent
FastSweeping * mParent
Definition FastSweeping.h:1220
openvdb::v12_0::tools::FastSweeping::MinMaxKernel
Definition FastSweeping.h:919
openvdb::v12_0::tools::FastSweeping::MinMaxKernel::mMin
SdfValueT mMin
Definition FastSweeping.h:955
openvdb::v12_0::tools::FastSweeping::MinMaxKernel::LeafMgr
tree::LeafManager< const SdfTreeT > LeafMgr
Definition FastSweeping.h:920
openvdb::v12_0::tools::FastSweeping::MinMaxKernel::MinMaxKernel
MinMaxKernel(MinMaxKernel &other, tbb::split)
Definition FastSweeping.h:923
openvdb::v12_0::tools::FastSweeping::MinMaxKernel::run
math::MinMax< SdfValueT > run(const SdfGridT &grid)
Definition FastSweeping.h:925
openvdb::v12_0::tools::FastSweeping::MinMaxKernel::operator()
void operator()(const LeafRange &r)
Definition FastSweeping.h:932
openvdb::v12_0::tools::FastSweeping::MinMaxKernel::join
void join(const MinMaxKernel &other)
Definition FastSweeping.h:947
openvdb::v12_0::tools::FastSweeping::MinMaxKernel::LeafRange
typename LeafMgr::LeafRange LeafRange
Definition FastSweeping.h:921
openvdb::v12_0::tools::FastSweeping::MinMaxKernel::mFltMinExists
bool mFltMinExists
Definition FastSweeping.h:956
openvdb::v12_0::tools::FastSweeping::MinMaxKernel::mMax
SdfValueT mMax
Definition FastSweeping.h:955
openvdb::v12_0::tools::FastSweeping::MinMaxKernel::mFltMaxExists
bool mFltMaxExists
Definition FastSweeping.h:956
openvdb::v12_0::tools::FastSweeping::MinMaxKernel::MinMaxKernel
MinMaxKernel()
Definition FastSweeping.h:922
openvdb::v12_0::tools::FastSweeping::PruneMinMaxFltKernel
Definition FastSweeping.h:962
openvdb::v12_0::tools::FastSweeping::PruneMinMaxFltKernel::mMin
SdfValueT mMin
Definition FastSweeping.h:1003
openvdb::v12_0::tools::FastSweeping::PruneMinMaxFltKernel::operator()
void operator()(NodeT &node, size_t=1) const
Definition FastSweeping.h:979
openvdb::v12_0::tools::FastSweeping::PruneMinMaxFltKernel::PruneMinMaxFltKernel
PruneMinMaxFltKernel(SdfValueT min, SdfValueT max)
Definition FastSweeping.h:963
openvdb::v12_0::tools::FastSweeping::PruneMinMaxFltKernel::operator()
void operator()(typename SdfTreeT::LeafNodeType &leaf, size_t=1) const
Definition FastSweeping.h:992
openvdb::v12_0::tools::FastSweeping::PruneMinMaxFltKernel::mMax
SdfValueT mMax
Definition FastSweeping.h:1003
openvdb::v12_0::tools::FastSweeping::PruneMinMaxFltKernel::operator()
void operator()(typename SdfTreeT::RootNodeType &node, size_t=1) const
Definition FastSweeping.h:966
openvdb::v12_0::tools::FastSweeping::SweepingKernel::NN
Definition FastSweeping.h:1594
openvdb::v12_0::tools::FastSweeping::SweepingKernel::NN::NN
NN()
Definition FastSweeping.h:1598
openvdb::v12_0::tools::FastSweeping::SweepingKernel::NN::v
SdfValueT v
Definition FastSweeping.h:1595
openvdb::v12_0::tools::FastSweeping::SweepingKernel::NN::operator()
Coord operator()(const Coord &p) const
Definition FastSweeping.h:1600
openvdb::v12_0::tools::FastSweeping::SweepingKernel::NN::n
int n
Definition FastSweeping.h:1596
openvdb::v12_0::tools::FastSweeping::SweepingKernel::NN::operator<
bool operator<(const NN &rhs) const
Definition FastSweeping.h:1601
openvdb::v12_0::tools::FastSweeping::SweepingKernel::NN::NN
NN(const SdfAccT &a, const Coord &p, int i)
Definition FastSweeping.h:1599
openvdb::v12_0::tools::FastSweeping::SweepingKernel::NN::ijk
static Coord ijk(const Coord &p, int i)
Definition FastSweeping.h:1597
openvdb::v12_0::tools::FastSweeping::SweepingKernel
Private class of FastSweeping to perform concurrent fast sweeping in two directions.
Definition FastSweeping.h:1477
openvdb::v12_0::tools::FastSweeping::SweepingKernel::operator=
SweepingKernel & operator=(const SweepingKernel &)=delete
openvdb::v12_0::tools::FastSweeping::SweepingKernel::threeNghbr
ExtT threeNghbr(const NN &d1, const NN &d2, const NN &d3, const SdfT &, const ExtT &v1, const ExtT &v2, const ExtT &v3) const
Definition FastSweeping.h:1615
openvdb::v12_0::tools::FastSweeping::SweepingKernel::twoNghbr
ExtT twoNghbr(const NN &d1, const NN &d2, const SdfT &w, const ExtT &v1, const ExtT &v2) const
Definition FastSweeping.h:1611
openvdb::v12_0::tools::FastSweeping::SweepingKernel::sweep
void sweep()
Definition FastSweeping.h:1627
openvdb::v12_0::tools::FastSweeping::SweepingKernel::SweepingKernel
SweepingKernel(const SweepingKernel &)=delete
openvdb::v12_0::tools::FastSweeping::SweepingKernel::SweepingKernel
SweepingKernel(FastSweeping &parent)
Definition FastSweeping.h:1478
openvdb::v12_0::tools::FastSweeping::SweepingKernel::twoNghbr
ExtT twoNghbr(const NN &d1, const NN &d2, const SdfT &, const ExtT &v1, const ExtT &v2) const
Definition FastSweeping.h:1607
openvdb::v12_0::tools::FastSweeping::SweepingKernel::threeNghbr
ExtT threeNghbr(const NN &d1, const NN &d2, const NN &d3, const SdfT &w, const ExtT &v1, const ExtT &v2, const ExtT &v3) const
Definition FastSweeping.h:1623
openvdb::v12_0::tools::FastSweeping::SweepingKernel::computeVoxelSlices
void computeVoxelSlices(HashOp hash)
Main method that performs concurrent bi-directional sweeps.
Definition FastSweeping.h:1484
OPENVDB_VERSION_NAME
#define OPENVDB_VERSION_NAME
The version namespace name for this library version.
Definition version.h.in:121
OPENVDB_USE_VERSION_NAMESPACE
#define OPENVDB_USE_VERSION_NAMESPACE
Definition version.h.in:218
OPENVDB_REAL_TREE_INSTANTIATE
#define OPENVDB_REAL_TREE_INSTANTIATE(Function)
Definition version.h.in:162